version: 66.08
glider: 176
mission: 2
dive: 116
start: 10 1 110 6 6 28
data:
$ID,176
$MISSION,2
$DIVE,116
$N_DIVES,125
$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,610
$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,-4901.3999
$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
$GPS1,011010,060204,2305.094,12554.269,9,3.5,28,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-66.8
$GPS2,011010,060204,2305.094,12554.269,9,3.5,28,-3.3
$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,85.5,197320,-20.3,-15.152
$D_GRID,1000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,89,0.00,0.00,-72.22,0.000,2,0.000,0.000,202,2448,2723,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.8,-7.3,9,126,8.60,0.00,-20.73,0.000,6,0.249,0.000,2356,2447,3924,0,0,0,0,0,0
$GC,475,-0.71,-219.0,131.3,-26.5,73,483,0.00,2.03,0.00,0.000,4,0.000,0.060,2356,3760,3927,0,0,0,0,0,0
$GC,503,-0.69,-219.0,139.4,-25.9,77,512,0.03,2.03,0.00,0.000,6,0.187,0.029,2366,2352,3927,0,0,0,0,0,0
$GC,852,-0.69,-219.0,214.2,-18.7,138,861,0.00,2.17,0.00,0.000,4,0.000,0.057,2364,3759,3928,0,0,0,0,0,0
$GC,909,-0.69,-219.0,223.8,-15.3,147,916,0.00,1.98,0.00,0.000,6,0.000,0.030,2364,2352,3928,0,0,0,0,0,0
$GC,1257,-0.69,-219.0,287.7,-17.2,208,1264,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2347,3928,0,0,0,0,0,0
$GC,1594,-0.69,-219.0,345.2,-16.9,245,1598,0.00,2.12,0.00,0.000,4,0.000,0.057,2363,3765,3927,0,0,0,0,0,0
$GC,1670,-0.70,-219.0,356.1,-12.5,251,1673,0.00,2.00,0.00,0.000,6,0.000,0.030,2363,2344,3926,0,0,0,0,0,0
$GC,2001,-0.71,-219.0,408.2,-16.4,282,2005,0.00,2.15,0.00,0.000,4,0.000,0.057,2363,3771,3926,0,0,0,0,0,0
$GC,2043,-0.72,-219.0,414.7,-15.1,285,2047,0.00,2.03,0.00,0.000,6,0.000,0.030,2363,2350,3926,0,0,0,0,0,0
$GC,2376,-0.72,-219.0,463.8,-14.6,316,2379,0.00,1.98,0.00,0.000,4,0.000,0.037,2363,957,3924,0,0,0,0,0,0
$GC,2403,-0.73,-219.0,468.1,-13.9,318,2412,0.03,2.20,0.00,0.000,6,0.119,0.046,2324,2413,3924,0,0,0,0,0,0
$STATE,2601,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2601,begin apogee
$GC,2605,-0.11,0.0,501.4,16.9,337,2776,0.68,0.17,165.75,0.839,6,0.120,0.073,2560,2149,3027,0,0,0,0,0,0
$STATE,2777,end apogee,CONTROL_FINISHED_OK
$STATE,2777,begin climb
$GC,2778,0.72,219.0,511.6,0.0,351,2962,0.70,2.25,171.60,0.826,4,0.041,0.048,2861,3525,2132,0,0,0,0,0,0
$GC,3168,0.69,219.0,454.0,25.0,384,3173,0.22,2.17,0.00,0.000,6,0.187,0.033,2811,2055,2127,0,0,0,0,0,0
$GC,3493,0.68,219.0,399.2,15.4,414,3497,0.00,2.08,0.00,0.000,4,0.000,0.045,2818,658,2122,0,0,0,0,0,0
$GC,3557,0.67,219.0,389.6,15.3,419,3562,0.08,2.17,0.00,0.000,6,0.196,0.038,2800,2133,2120,0,0,0,0,0,0
$GC,3885,0.69,240.2,343.7,14.2,449,3910,0.08,2.15,15.82,0.711,4,0.125,0.049,2850,3529,2047,0,0,0,0,0,0
$GC,3960,0.67,240.2,328.6,21.0,455,3968,0.17,2.17,0.00,0.000,6,0.162,0.034,2805,2070,2045,0,0,0,0,0,0
$GC,4301,0.67,240.2,274.9,15.8,499,4308,0.00,2.05,0.00,0.000,4,0.000,0.045,2815,662,2041,0,0,0,0,0,0
$GC,4390,0.66,240.2,260.4,16.2,514,4399,0.05,2.17,0.00,0.000,6,0.155,0.037,2796,2119,2040,0,0,0,0,0,0
$GC,4749,0.73,302.3,210.5,12.3,575,4807,0.10,2.17,49.33,0.658,4,0.103,0.049,2858,3539,1791,0,0,0,0,0,0
$GC,4850,0.72,302.3,192.2,21.3,590,4860,0.15,2.22,0.00,0.000,6,0.152,0.034,2815,2067,1788,0,0,0,0,0,0
$GC,5208,0.79,354.5,141.8,12.7,651,5259,0.10,2.15,40.88,0.601,4,0.105,0.044,2887,666,1578,0,0,0,0,0,0
$GC,5383,0.78,354.5,112.0,15.9,678,5392,0.15,2.20,0.00,0.000,6,0.133,0.037,2834,2119,1572,0,0,0,0,0,0
$GC,5748,0.84,401.2,60.5,13.0,739,5790,0.10,2.20,35.95,0.538,4,0.105,0.049,2904,3526,1390,0,0,0,0,0,0
$GC,5829,0.84,401.2,46.7,18.9,750,5838,0.17,2.20,0.00,0.000,6,0.138,0.035,2852,2069,1386,0,0,0,0,0,0
$GC,6196,0.99,518.1,11.0,9.7,811,6255,0.17,0.00,56.35,0.496,2,0.069,0.000,2947,2064,1084,0,0,0,0,0,0
$STATE,6256,end climb,SURFACE_DEPTH_REACHED
$STATE,6256,begin surface coast
$FINISH,0.5,1.021052
$STATE,6275,end surface coast,CONTROL_FINISHED_OK
$STATE,6276,begin surface
$SM_CCo,6289,72.70,0.067,0,0,540,610.06
$SM_GC,1.42,0.00,0.00,72.70,0.000,0.000,0.067,205,2444,540,-7.45,1.24,610.06
$IRIDIUM_FIX,2255.72,12552.69,011010,040427
$TT8_MAMPS,0.026964
$HUMID,49.37
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.5,16.373
$10V_AH,10.8,13.639
$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,18.575,52.275,535.675,72.700,0.000,24.366,17.801,109.640,0.000,0.000,15.312,1929.159,1481.765,560.043,2525.922,109.159,0.000,1394.457,0.000,2371.556,0.000,0.542,0.000
$DEVICE_MAMPS,248.625,73.440,839.205,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.652,0.000,1738.479,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334048
$DATA_FILE_SIZE,50345,821
$CAP_FILE_SIZE,86246,0
$CFSIZE,260165632,247541760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.329,304.7,1
$GPS,011010,075308,2305.706,12554.281,9,1.5,10,-3.3