version: 66.08
glider: 176
mission: 2
dive: 227
start: 10 9 110 17 40 17
data:
$ID,176
$MISSION,2
$DIVE,227
$N_DIVES,239
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,110
$T_MISSION,150
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5057.292
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2590
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,45
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3027
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.249977
$PRESSURE_SLOPE,0.0001162977
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00432827
$SEABIRD_T_H,0.00062557345
$SEABIRD_T_I,2.4575895e-05
$SEABIRD_T_J,2.763237e-06
$SEABIRD_C_G,-10.125947
$SEABIRD_C_H,1.1501343
$SEABIRD_C_I,-0.00052266428
$SEABIRD_C_J,0.00012672807
$GPS1,091010,173528,2425.634,12705.027,10,6.5,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-73.9
$GPS2,091010,173950,2425.666,12705.032,15,1.7,15,-3.7
$SPEED_LIMITS,0.262,0.357
$TGT_NAME,NORTH_EDGE
$TGT_LATLONG,2430.000,12705.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,331.0,8028,-20.3,-15.152
$D_GRID,4643
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,73,0.00,0.00,-56.80,0.000,2,0.000,0.000,205,2430,2556,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.3,-5.2,7,118,8.38,2.03,-25.58,0.000,4,0.236,0.065,2349,3766,3920,0,0,0,0,0,0
$GC,219,-0.71,-219.0,47.2,-26.1,29,229,0.05,2.05,0.00,0.000,6,0.161,0.028,2367,2355,3922,0,0,0,0,0,0
$GC,585,-0.70,-219.0,140.2,-23.7,90,594,0.00,2.03,0.00,0.000,4,0.000,0.034,2367,957,3924,0,0,0,0,0,0
$GC,614,-0.70,-219.0,146.9,-22.6,94,623,0.00,2.22,0.00,0.000,6,0.000,0.047,2367,2416,3924,0,0,0,0,0,0
$GC,964,-0.69,-219.0,215.6,-19.0,155,970,0.00,2.03,0.00,0.000,4,0.000,0.057,2364,3777,3925,0,0,0,0,0,0
$GC,1051,-0.70,-219.0,230.0,-14.0,170,1059,0.00,2.05,0.00,0.000,6,0.000,0.028,2364,2349,3925,0,0,0,0,0,0
$GC,1398,-0.70,-219.0,290.2,-16.1,231,1405,0.00,2.12,0.00,0.000,4,0.000,0.055,2364,3766,3925,0,0,0,0,0,0
$GC,1441,-0.71,-219.0,296.8,-14.6,238,1449,0.00,2.03,0.00,0.000,6,0.000,0.028,2364,2348,3925,0,0,0,0,0,0
$GC,1776,-0.71,-219.0,350.3,-15.4,271,1780,0.00,2.12,0.00,0.000,4,0.000,0.056,2363,3766,3924,0,0,0,0,0,0
$GC,1829,-0.71,-219.0,357.8,-12.6,275,1833,0.00,1.98,0.00,0.000,6,0.000,0.028,2363,2349,3924,0,0,0,0,0,0
$GC,2162,-0.72,-219.0,406.6,-14.6,306,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2344,3924,0,0,0,0,0,0
$GC,2481,-0.72,-219.0,450.9,-14.0,336,2485,0.00,2.15,0.00,0.000,4,0.000,0.056,2363,3773,3922,0,0,0,0,0,0
$GC,2545,-0.74,-219.0,458.6,-9.8,341,2550,0.08,2.03,0.00,0.000,6,0.127,0.028,2308,2339,3921,0,0,0,0,0,0
$STATE,2774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2774,begin apogee
$GC,2778,-0.11,0.0,500.7,18.7,362,2949,0.73,0.17,165.07,0.854,6,0.127,0.073,2556,2152,3027,0,0,0,0,0,0
$STATE,2950,end apogee,CONTROL_FINISHED_OK
$STATE,2950,begin climb
$GC,2952,0.72,219.0,510.3,0.0,376,3130,0.70,2.38,169.93,0.840,4,0.038,0.043,2874,663,2133,0,0,0,0,0,0
$GC,3384,0.70,219.0,450.0,22.2,413,3389,0.22,2.20,0.00,0.000,6,0.165,0.036,2810,2134,2124,0,0,0,0,0,0
$GC,3711,0.74,260.9,399.5,13.2,443,3752,0.08,0.00,32.35,0.773,6,0.127,0.000,2860,2134,1961,0,0,0,0,0,0
$GC,4069,0.72,260.9,331.1,19.6,477,4074,0.15,2.17,0.00,0.000,4,0.170,0.044,2828,661,1955,0,0,0,0,0,0
$GC,4112,0.71,260.9,322.3,17.4,480,4122,0.03,2.20,0.00,0.000,6,0.182,0.037,2818,2120,1953,0,0,0,0,0,0
$GC,4449,0.70,260.9,265.4,15.6,529,4457,0.00,2.10,0.00,0.000,4,0.000,0.049,2818,3537,1951,0,0,0,0,0,0
$GC,4578,0.69,260.9,242.9,17.2,551,4585,0.08,2.12,0.00,0.000,6,0.210,0.033,2807,2065,1950,0,0,0,0,0,0
$GC,4925,0.72,282.8,195.1,14.1,612,4949,0.08,2.08,16.70,0.640,4,0.129,0.040,2876,657,1874,0,0,0,0,0,0
$GC,5031,0.70,282.8,177.1,16.8,629,5040,0.22,2.17,0.00,0.000,6,0.152,0.034,2807,2128,1870,0,0,0,0,0,0
$GC,5387,0.78,343.6,129.8,12.3,690,5444,0.12,2.15,48.70,0.614,4,0.086,0.047,2887,3532,1624,0,0,0,0,0,0
$GC,5512,0.77,343.6,104.6,22.2,708,5521,0.20,2.20,0.00,0.000,6,0.145,0.034,2832,2071,1619,0,0,0,0,0,0
$GC,5879,0.89,436.3,54.8,10.8,769,5961,0.15,2.17,70.97,0.552,4,0.078,0.043,2930,656,1246,0,0,0,0,0,0
$GC,6013,0.92,462.9,33.8,13.9,787,6040,0.15,2.22,21.25,0.513,6,0.132,0.034,2878,2121,1139,0,0,0,0,0,0
$STATE,6254,end climb,SURFACE_DEPTH_REACHED
$STATE,6254,begin surface coast
$FINISH,0.5,0.998749
$STATE,6279,end surface coast,CONTROL_FINISHED_OK
$STATE,6279,begin surface
$SM_CCo,6354,0.00,0.000,0,0,1132,464.84
$SM_GC,1.34,6.68,0.00,0.00,0.033,0.000,0.000,194,2434,1132,-7.39,0.99,464.84
$IRIDIUM_FIX,2415.74,12704.97,091010,151500
$TT8_MAMPS,0.026215
$HUMID,53.89
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.5,30.021
$10V_AH,10.6,25.943
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.075,52.000,524.975,0.000,0.000,28.588,20.913,112.028,0.000,0.000,17.979,1957.342,1503.380,476.025,2548.171,134.240,0.000,1300.416,0.000,2386.739,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,72.675,853.740,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.040,0.000,1751.188,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,50313,831
$CAP_FILE_SIZE,85017,0
$CFSIZE,260165632,242356224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162, 97.9,1
$GPS,091010,192707,2426.380,12705.124,30,0.9,30,-3.7