version: 66.08
glider: 176
mission: 2
dive: 117
start: 10 1 110 7 57 58
data:
$ID,176
$MISSION,2
$DIVE,117
$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,-4902.7471
$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
$GPS1,011010,075308,2305.706,12554.281,9,1.5,10,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-66.4
$GPS2,011010,075731,2305.717,12554.194,12,1.6,17,-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,85.7,196477,-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,-219.0,0.0,0.0,0,91,0.00,0.00,-73.95,0.000,2,0.000,0.000,202,2445,2788,0,0,0,0,0,0
$GC,93,-0.72,-219.0,3.9,-7.5,9,128,8.50,2.17,-18.85,0.000,4,0.244,0.041,2354,934,3922,0,0,0,0,0,0
$GC,136,-0.65,-219.0,21.3,-41.0,14,145,0.10,2.30,0.00,0.000,6,0.181,0.048,2384,2422,3923,0,0,0,0,0,0
$GC,501,-0.64,-219.0,129.6,-26.9,75,511,0.00,2.05,0.00,0.000,4,0.000,0.058,2381,3762,3925,0,0,0,0,0,0
$GC,588,-0.64,-219.0,149.6,-19.6,89,596,0.00,2.03,0.00,0.000,6,0.000,0.029,2380,2358,3925,0,0,0,0,0,0
$GC,935,-0.64,-219.0,219.8,-18.4,150,943,0.00,2.15,0.00,0.000,4,0.000,0.055,2380,3760,3926,0,0,0,0,0,0
$GC,979,-0.65,-219.0,226.6,-14.6,157,986,0.00,1.98,0.00,0.000,6,0.000,0.028,2380,2350,3927,0,0,0,0,0,0
$GC,1325,-0.65,-219.0,284.4,-16.2,218,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2346,3926,0,0,0,0,0,0
$GC,1665,-0.66,-219.0,340.3,-16.6,257,1668,0.00,2.12,0.00,0.000,4,0.000,0.055,2380,3766,3925,0,0,0,0,0,0
$GC,1705,-0.67,-219.0,346.5,-14.4,260,1709,0.00,2.00,0.00,0.000,6,0.000,0.029,2380,2343,3925,0,0,0,0,0,0
$GC,2038,-0.67,-219.0,390.4,-12.2,291,2042,0.00,2.12,0.00,0.000,4,0.000,0.054,2379,3766,3923,0,0,0,0,0,0
$GC,2107,-0.69,-219.0,397.6,-8.8,297,2111,0.08,2.00,0.00,0.000,6,0.129,0.029,2323,2335,3922,0,0,0,0,0,0
$GC,2433,-0.69,-219.0,454.5,-17.8,327,2435,0.17,0.00,0.00,0.000,6,0.152,0.000,2376,2329,3921,0,0,0,0,0,0
$GC,2752,-0.70,-219.0,495.6,-12.4,357,2756,0.08,2.17,0.00,0.000,4,0.131,0.056,2330,3766,3918,0,0,0,0,0,0
$STATE,2784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2784,begin apogee
$GC,2791,-0.11,0.0,500.6,14.7,360,2962,0.65,0.10,165.00,0.842,6,0.115,0.100,2560,2142,3026,0,0,0,0,0,0
$STATE,2963,end apogee,CONTROL_FINISHED_OK
$STATE,2963,begin climb
$GC,2965,0.72,219.0,511.9,0.0,374,3144,0.70,2.33,171.48,0.828,4,0.049,0.042,2846,656,2133,0,0,0,0,0,0
$GC,3317,0.70,219.0,475.9,18.2,403,3326,0.10,2.22,0.00,0.000,6,0.153,0.036,2813,2120,2125,0,0,0,0,0,0
$GC,3643,0.69,219.0,419.3,17.2,434,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2120,2121,0,0,0,0,0,0
$GC,3962,0.68,219.0,364.8,16.0,464,3966,0.00,2.15,0.00,0.000,4,0.000,0.043,2818,660,2118,0,0,0,0,0,0
$GC,3991,0.67,219.0,360.1,16.4,466,3996,0.08,2.15,0.00,0.000,6,0.197,0.037,2799,2129,2118,0,0,0,0,0,0
$GC,4316,0.72,268.6,316.9,12.8,496,4365,0.10,2.20,37.33,0.725,4,0.102,0.049,2860,3533,1930,0,0,0,0,0,0
$GC,4419,0.71,268.6,297.7,20.4,505,4427,0.22,2.17,0.00,0.000,6,0.174,0.032,2807,2066,1928,0,0,0,0,0,0
$GC,4768,0.70,269.5,243.9,15.1,566,4776,0.00,2.08,0.00,0.000,4,0.000,0.043,2817,670,1923,0,0,0,0,0,0
$GC,4891,0.70,269.5,225.0,15.5,587,4899,0.00,2.12,0.00,0.000,6,0.000,0.037,2817,2121,1921,0,0,0,0,0,0
$GC,5238,0.73,296.2,176.1,13.9,648,5267,0.00,2.10,22.00,0.620,4,0.000,0.046,2817,3527,1818,0,0,0,0,0,0
$GC,5324,0.76,323.7,164.1,13.9,662,5354,0.05,2.17,22.92,0.604,6,0.073,0.033,2873,2060,1707,0,0,0,0,0,0
$GC,5708,0.75,323.7,97.6,17.6,726,5717,0.17,2.08,0.00,0.000,4,0.171,0.044,2832,669,1698,0,0,0,0,0,0
$GC,5820,0.87,409.6,83.7,11.2,744,5895,0.10,2.17,66.10,0.558,6,0.051,0.037,2911,2124,1355,0,0,0,0,0,0
$GC,6245,0.86,409.6,9.5,15.9,813,6254,0.17,2.20,0.00,0.000,4,0.155,0.045,2859,670,1347,0,0,0,0,0,0
$STATE,6302,end climb,SURFACE_DEPTH_REACHED
$STATE,6303,begin surface coast
$FINISH,0.6,1.010506
$STATE,6339,end surface coast,CONTROL_FINISHED_OK
$STATE,6340,begin surface
$SM_CCo,6355,104.38,0.067,0,0,540,610.06
$SM_GC,1.28,0.00,0.00,104.38,0.000,0.000,0.067,186,2433,540,-7.51,0.93,610.06
$IRIDIUM_FIX,2255.72,12554.58,011010,060614
$TT8_MAMPS,0.026964
$HUMID,49.92
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,16.489
$10V_AH,10.8,13.753
$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,17.950,56.500,484.825,104.375,0.000,28.666,37.214,102.740,0.000,0.000,19.797,1958.986,1550.491,569.592,2536.954,113.318,0.000,1380.491,0.000,2365.794,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,100.215,841.500,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.643,0.000,1716.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50220,828
$CAP_FILE_SIZE,86101,0
$CFSIZE,260165632,247492608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.373,309.5,1
$GPS,011010,094637,2306.426,12554.173,32,1.0,32,-3.3