version: 66.08
glider: 176
mission: 2
dive: 229
start: 10 9 110 21 23 58
data:
$ID,176
$MISSION,2
$DIVE,229
$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,-5067.2759
$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
$GPS1,091010,211914,2427.206,12705.381,7,1.3,7,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-70.3
$GPS2,091010,212331,2427.237,12705.443,7,1.3,12,-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,326.6,5171,-20.3,-15.152
$D_GRID,4321
$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,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,76,0.00,0.00,-59.65,0.000,2,0.000,0.000,202,2439,2720,0,0,0,0,0,0
$GC,79,-0.72,-219.0,3.7,-6.5,7,114,8.75,2.10,-21.00,0.000,4,0.252,0.068,2349,3778,3924,0,0,0,0,0,0
$GC,164,-0.71,-219.0,35.1,-36.2,19,173,0.05,2.10,0.00,0.000,6,0.151,0.034,2367,2365,3925,0,0,0,0,0,0
$GC,530,-0.70,-219.0,134.5,-24.2,80,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2361,3926,0,0,0,0,0,0
$GC,881,-0.69,-219.0,215.1,-19.8,141,888,0.00,2.10,0.00,0.000,4,0.000,0.054,2367,3766,3927,0,0,0,0,0,0
$GC,930,-0.70,-219.0,223.7,-15.6,149,938,0.00,2.00,0.00,0.000,6,0.000,0.028,2367,2337,3928,0,0,0,0,0,0
$GC,1278,-0.70,-219.0,287.3,-16.9,210,1286,0.00,2.20,0.00,0.000,4,0.000,0.055,2366,3767,3928,0,0,0,0,0,0
$GC,1311,-0.70,-219.0,292.6,-16.4,215,1317,0.00,2.00,0.00,0.000,6,0.000,0.027,2366,2345,3928,0,0,0,0,0,0
$GC,1644,-0.70,-219.0,346.9,-15.4,250,1648,0.00,2.15,0.00,0.000,4,0.000,0.055,2366,3773,3928,0,0,0,0,0,0
$GC,1719,-0.71,-219.0,356.8,-12.2,256,1722,0.00,2.00,0.00,0.000,6,0.000,0.028,2366,2342,3928,0,0,0,0,0,0
$GC,2051,-0.71,-219.0,405.7,-15.0,287,2055,0.00,1.98,0.00,0.000,4,0.000,0.031,2366,938,3926,0,0,0,0,0,0
$GC,2076,-0.72,-219.0,409.5,-15.2,289,2080,0.00,2.20,0.00,0.000,6,0.000,0.043,2363,2421,3926,0,0,0,0,0,0
$GC,2407,-0.72,-219.0,455.2,-13.0,320,2411,0.00,2.00,0.00,0.000,4,0.000,0.057,2362,3765,3925,0,0,0,0,0,0
$GC,2468,-0.74,-219.0,462.2,-9.9,325,2477,0.05,2.03,0.00,0.000,6,0.177,0.028,2318,2329,3925,0,0,0,0,0,0
$STATE,2708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2712,-0.11,0.0,501.3,16.7,348,2885,0.70,0.17,165.68,0.852,6,0.122,0.071,2560,2153,3027,0,0,0,0,0,0
$STATE,2886,end apogee,CONTROL_FINISHED_OK
$STATE,2886,begin climb
$GC,2887,0.72,219.0,509.1,0.0,362,3065,0.68,2.17,170.23,0.838,4,0.037,0.047,2863,3527,2133,0,0,0,0,0,0
$GC,3219,0.70,219.0,467.8,23.1,390,3224,0.25,2.17,0.00,0.000,6,0.174,0.032,2804,2054,2127,0,0,0,0,0,0
$GC,3544,0.75,269.8,419.1,12.8,420,3594,0.10,2.15,39.67,0.784,4,0.104,0.043,2878,659,1924,0,0,0,0,0,0
$GC,3676,0.73,269.8,394.7,20.3,431,3680,0.20,2.20,0.00,0.000,6,0.165,0.034,2821,2122,1919,0,0,0,0,0,0
$GC,4002,0.72,269.8,335.7,17.2,461,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2124,1915,0,0,0,0,0,0
$GC,4326,0.71,269.8,279.5,18.5,501,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2124,1914,0,0,0,0,0,0
$GC,4674,0.70,269.8,221.9,15.6,562,4682,0.00,2.20,0.00,0.000,4,0.000,0.044,2830,666,1912,0,0,0,0,0,0
$GC,4838,0.73,294.9,197.0,14.0,590,4868,0.03,2.17,19.23,0.645,6,0.181,0.037,2820,2120,1823,0,0,0,0,0,0
$GC,5211,0.76,327.4,144.3,13.6,654,5246,0.08,2.12,26.45,0.614,4,0.128,0.047,2880,3534,1690,0,0,0,0,0,0
$GC,5277,0.75,327.4,131.8,20.5,663,5287,0.20,2.20,0.00,0.000,6,0.148,0.033,2824,2064,1688,0,0,0,0,0,0
$GC,5644,0.89,445.2,87.1,9.7,724,5742,0.17,2.20,91.05,0.572,4,0.071,0.043,2928,659,1210,0,0,0,0,0,0
$GC,5921,0.90,450.5,40.1,14.9,766,5938,0.15,2.22,5.10,0.399,6,0.129,0.037,2875,2128,1188,0,0,0,0,0,0
$STATE,6194,end climb,SURFACE_DEPTH_REACHED
$STATE,6194,begin surface coast
$FINISH,0.6,1.021190
$STATE,6220,end surface coast,CONTROL_FINISHED_OK
$STATE,6220,begin surface
$SM_CCo,6294,0.00,0.000,0,0,1184,452.33
$SM_GC,1.37,6.72,0.00,0.00,0.041,0.000,0.000,211,2429,1184,-7.38,0.82,452.33
$IRIDIUM_FIX,2418.11,12745.23,091010,191935
$TT8_MAMPS,0.026964
$HUMID,52.59
$INTERNAL_PRESSURE,8.80191
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,30.268
$10V_AH,10.6,26.168
$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,18.125,47.650,517.400,0.000,0.000,26.051,22.440,108.172,0.000,0.000,15.731,1920.746,1525.228,468.685,2500.814,138.541,0.000,1273.275,0.000,2350.262,0.000,0.544,0.000
$DEVICE_MAMPS,251.685,74.205,852.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.089,0.000,1719.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50257,816
$CAP_FILE_SIZE,82066,0
$CFSIZE,260165632,242257920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214, 90.3,1
$GPS,091010,231000,2428.088,12705.749,37,1.2,42,-3.7