version: 66.08
glider: 176
mission: 2
dive: 120
start: 10 1 110 13 31 33
data:
$ID,176
$MISSION,2
$DIVE,120
$N_DIVES,130
$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,-4906.6973
$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
$GPS1,011010,132500,2307.784,12554.443,38,1.3,38,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.8
$GPS2,011010,133107,2307.856,12554.330,9,1.3,15,-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,86.4,193204,-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,12,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,-71.43,0.000,2,0.000,0.000,199,2450,2679,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.5,-6.5,9,133,8.55,2.03,-21.67,0.000,4,0.246,0.069,2348,3762,3923,0,0,0,0,0,0
$GC,141,-0.67,-219.0,22.6,-39.6,15,151,0.08,2.05,0.00,0.000,6,0.177,0.028,2372,2335,3923,0,0,0,0,0,0
$GC,507,-0.66,-219.0,128.8,-22.8,76,515,0.00,2.20,0.00,0.000,4,0.000,0.055,2372,3763,3925,0,0,0,0,0,0
$GC,554,-0.66,-219.0,138.2,-18.9,83,563,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2358,3925,0,0,0,0,0,0
$GC,905,-0.65,-219.0,211.8,-22.0,144,914,0.03,2.17,0.00,0.000,4,0.305,0.056,2381,3760,3926,0,0,0,0,0,0
$GC,965,-0.66,-219.0,223.0,-15.4,154,973,0.00,2.03,0.00,0.000,6,0.000,0.029,2381,2350,3926,0,0,0,0,0,0
$GC,1314,-0.66,-219.0,279.7,-16.9,215,1321,0.00,2.15,0.00,0.000,4,0.000,0.055,2380,3774,3926,0,0,0,0,0,0
$GC,1341,-0.67,-219.0,284.1,-16.3,219,1349,0.00,2.00,0.00,0.000,6,0.000,0.028,2380,2341,3926,0,0,0,0,0,0
$GC,1677,-0.67,-219.0,331.0,-13.9,259,1681,0.00,2.15,0.00,0.000,4,0.000,0.054,2380,3778,3925,0,0,0,0,0,0
$GC,1707,-0.68,-219.0,334.9,-12.9,261,1712,0.05,2.03,0.00,0.000,6,0.175,0.028,2334,2345,3924,0,0,0,0,0,0
$GC,2034,-0.68,-219.0,394.2,-18.3,291,2036,0.15,0.00,0.00,0.000,6,0.158,0.000,2379,2339,3922,0,0,0,0,0,0
$GC,2352,-0.68,-219.0,434.4,-11.9,321,2354,0.05,0.00,0.00,0.000,6,0.178,0.000,2340,2340,3921,0,0,0,0,0,0
$GC,2670,-0.69,-219.0,484.4,-15.5,351,2675,0.12,2.15,0.00,0.000,4,0.158,0.056,2377,3766,3918,0,0,0,0,0,0
$GC,2739,-0.71,-219.0,492.2,-9.2,357,2744,0.08,2.00,0.00,0.000,6,0.129,0.029,2321,2338,3917,0,0,0,0,0,0
$STATE,2797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2797,begin apogee
$GC,2801,-0.11,0.0,500.9,15.9,362,2974,0.68,0.15,164.38,0.838,6,0.122,0.081,2555,2139,3027,0,0,0,0,0,0
$STATE,2974,end apogee,CONTROL_FINISHED_OK
$STATE,2974,begin climb
$GC,2976,0.72,219.0,511.0,0.0,376,3155,0.70,2.20,171.40,0.825,4,0.050,0.046,2838,3534,2133,0,0,0,0,0,0
$GC,3329,0.70,219.0,467.2,22.3,405,3333,0.15,2.20,0.00,0.000,6,0.190,0.031,2809,2054,2127,0,0,0,0,0,0
$GC,3655,0.69,219.0,410.6,16.4,435,3659,0.00,2.05,0.00,0.000,4,0.000,0.043,2818,664,2123,0,0,0,0,0,0
$GC,3752,0.68,219.0,394.7,15.8,443,3759,0.08,2.15,0.00,0.000,6,0.197,0.036,2800,2133,2120,0,0,0,0,0,0
$GC,4077,0.72,260.9,350.5,13.2,474,4111,0.10,0.00,32.03,0.737,6,0.102,0.000,2861,2134,1962,0,0,0,0,0,0
$GC,4433,0.70,260.9,283.0,19.6,514,4442,0.17,2.20,0.00,0.000,4,0.171,0.044,2818,673,1954,0,0,0,0,0,0
$GC,4562,0.74,292.1,263.8,13.7,535,4591,0.00,2.15,25.10,0.679,6,0.000,0.037,2818,2126,1836,0,0,0,0,0,0
$GC,4942,0.77,320.6,204.0,13.8,599,4973,0.08,2.20,23.62,0.636,4,0.135,0.049,2872,3534,1716,0,0,0,0,0,0
$GC,5014,0.75,320.6,189.3,22.6,610,5023,0.15,2.20,0.00,0.000,6,0.158,0.033,2830,2068,1714,0,0,0,0,0,0
$GC,5376,0.75,320.6,129.8,16.0,671,5385,0.00,2.10,0.00,0.000,4,0.000,0.044,2834,659,1710,0,0,0,0,0,0
$GC,5522,0.79,357.1,108.9,13.5,695,5557,0.03,2.17,28.42,0.573,6,0.109,0.037,2874,2120,1571,0,0,0,0,0,0
$GC,5907,0.86,411.5,43.7,12.6,759,5958,0.05,2.20,42.22,0.529,4,0.241,0.040,2871,662,1347,0,0,0,0,0,0
$GC,6116,1.06,566.1,22.5,8.0,792,6224,0.15,2.20,101.47,0.506,2,0.041,0.037,2965,2124,795,0,0,0,0,0,0
$STATE,6224,end climb,SURFACE_DEPTH_REACHED
$STATE,6225,begin surface coast
$FINISH,0.4,1.021162
$STATE,6239,end surface coast,CONTROL_FINISHED_OK
$STATE,6240,begin surface
$SM_CCo,6253,35.03,0.068,0,0,540,610.06
$SM_GC,1.37,0.00,0.00,35.03,0.000,0.000,0.068,212,2449,540,-7.43,1.41,610.06
$IRIDIUM_FIX,2258.07,12552.69,011010,131310
$TT8_MAMPS,0.026964
$HUMID,51.57
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,16.860
$10V_AH,10.7,14.090
$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,18.650,51.975,588.650,35.025,0.000,55.489,51.765,104.622,0.000,0.000,17.946,1883.630,1589.181,554.047,2519.027,113.879,0.000,1385.646,0.000,2308.718,0.000,0.543,0.000
$DEVICE_MAMPS,305.235,81.090,838.440,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.800,0.000,1690.377,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,47061,807
$CAP_FILE_SIZE,86225,0
$CFSIZE,260165632,247349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.239,331.5,1
$GPS,011010,151702,2308.576,12554.964,13,1.8,13,-3.4