version: 66.08
glider: 176
mission: 2
dive: 122
start: 10 1 110 17 11 29
data:
$ID,176
$MISSION,2
$DIVE,122
$N_DIVES,140
$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,-4909.3955
$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
$GPS1,011010,170706,2309.578,12555.683,38,1.3,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.6
$GPS2,011010,171102,2309.661,12555.646,13,1.5,13,-3.4
$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,78.5,189204,-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,14,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-72.00,0.000,2,0.000,0.000,203,2423,2715,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.6,-6.5,9,127,8.55,2.10,-21.25,0.000,4,0.246,0.067,2349,3771,3923,0,0,0,0,0,0
$GC,142,-0.67,-219.0,22.1,-41.2,15,152,0.08,2.05,0.00,0.000,6,0.181,0.028,2372,2333,3924,0,0,0,0,0,0
$GC,508,-0.66,-219.0,140.0,-26.1,76,517,0.00,2.20,0.00,0.000,4,0.000,0.057,2372,3759,3927,0,0,0,0,0,0
$GC,622,-0.66,-219.0,164.4,-17.8,95,630,0.00,1.98,0.00,0.000,6,0.000,0.029,2373,2350,3927,0,0,0,0,0,0
$GC,968,-0.66,-219.0,238.0,-21.1,156,977,0.00,2.17,0.00,0.000,4,0.000,0.055,2373,3768,3927,0,0,0,0,0,0
$GC,1017,-0.66,-219.0,246.6,-16.0,164,1025,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2352,3928,0,0,0,0,0,0
$GC,1367,-0.66,-219.0,310.3,-17.7,221,1371,0.00,2.12,0.00,0.000,4,0.000,0.055,2372,3769,3928,0,0,0,0,0,0
$GC,1397,-0.66,-219.0,315.5,-17.4,223,1401,0.00,2.00,0.00,0.000,6,0.000,0.029,2373,2340,3928,0,0,0,0,0,0
$GC,1727,-0.66,-219.0,369.7,-15.8,254,1731,0.00,1.98,0.00,0.000,4,0.000,0.036,2373,953,3927,0,0,0,0,0,0
$GC,1751,-0.67,-219.0,373.3,-16.0,256,1755,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,2428,3927,0,0,0,0,0,0
$GC,2077,-0.67,-219.0,422.9,-14.7,286,2081,0.00,1.98,0.00,0.000,4,0.000,0.056,2373,3764,3926,0,0,0,0,0,0
$GC,2136,-0.69,-219.0,430.5,-11.7,291,2139,0.00,2.00,0.00,0.000,6,0.000,0.030,2373,2343,3925,0,0,0,0,0,0
$GC,2468,-0.70,-219.0,474.1,-14.2,322,2469,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2339,3923,0,0,0,0,0,0
$STATE,2676,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2676,begin apogee
$GC,2680,-0.11,0.0,501.2,12.0,342,2852,0.52,0.15,165.40,0.838,6,0.108,0.082,2563,2151,3027,0,0,0,0,0,0
$STATE,2852,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin climb
$GC,2854,0.72,219.0,510.3,0.0,356,3040,0.70,2.40,171.20,0.826,4,0.047,0.041,2859,659,2132,0,0,0,0,0,0
$GC,3225,0.70,219.0,466.5,18.6,387,3230,0.17,2.20,0.00,0.000,6,0.168,0.035,2810,2125,2125,0,0,0,0,0,0
$GC,3552,0.69,219.0,408.2,17.6,417,3556,0.00,2.20,0.00,0.000,4,0.000,0.043,2818,655,2122,0,0,0,0,0,0
$GC,3596,0.68,219.0,400.6,15.3,420,3607,0.03,2.20,0.00,0.000,6,0.187,0.036,2807,2125,2121,0,0,0,0,0,0
$GC,3923,0.70,241.6,352.6,14.1,451,3949,0.00,2.20,17.20,0.718,4,0.000,0.041,2817,662,2040,0,0,0,0,0,0
$GC,4034,0.71,258.9,335.9,14.3,460,4055,0.00,2.20,14.80,0.694,6,0.000,0.037,2817,2119,1970,0,0,0,0,0,0
$GC,4385,0.70,258.9,279.0,16.0,503,4392,0.00,2.10,0.00,0.000,4,0.000,0.048,2817,3534,1964,0,0,0,0,0,0
$GC,4485,0.69,258.9,261.2,16.8,520,4495,0.00,2.17,0.00,0.000,6,0.000,0.032,2818,2066,1963,0,0,0,0,0,0
$GC,4844,0.72,286.2,208.9,13.9,581,4873,0.00,0.00,22.10,0.640,6,0.000,0.000,2818,2063,1859,0,0,0,0,0,0
$GC,5224,0.81,357.7,153.5,11.8,645,5287,0.12,2.33,56.40,0.613,4,0.092,0.047,2900,3526,1567,0,0,0,0,0,0
$GC,5315,0.79,357.7,135.3,23.6,657,5324,0.22,2.20,0.00,0.000,6,0.154,0.033,2838,2070,1563,0,0,0,0,0,0
$GC,5674,0.84,395.7,78.0,13.4,718,5709,0.10,2.17,29.67,0.547,4,0.105,0.044,2912,660,1412,0,0,0,0,0,0
$GC,5793,0.84,395.7,58.1,16.0,736,5803,0.17,2.20,0.00,0.000,6,0.132,0.037,2851,2123,1407,0,0,0,0,0,0
$GC,6159,1.11,612.3,23.0,5.1,797,6265,0.25,0.00,102.43,0.504,2,0.057,0.000,2987,2123,847,0,0,0,0,0,0
$STATE,6266,end climb,SURFACE_DEPTH_REACHED
$STATE,6266,begin surface coast
$FINISH,0.6,1.010939
$STATE,6282,end surface coast,CONTROL_FINISHED_OK
$STATE,6282,begin surface
$SM_CCo,6296,42.22,0.067,0,0,540,610.06
$SM_GC,1.45,0.00,0.00,42.22,0.000,0.000,0.067,202,2436,540,-7.46,1.05,610.06
$IRIDIUM_FIX,2300.41,12557.33,011010,151514
$TT8_MAMPS,0.026215
$HUMID,49.92
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.5,17.104
$10V_AH,10.7,14.312
$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,18.050,52.325,579.200,42.225,0.000,27.791,15.894,101.568,0.000,0.000,15.851,1899.410,1535.214,552.845,2474.684,118.268,0.000,1390.507,0.000,2332.600,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,81.855,837.675,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.052,0.000,1693.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47031,812
$CAP_FILE_SIZE,84258,0
$CFSIZE,260165632,247259136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243,346.3,1
$GPS,011010,185744,2310.454,12556.467,10,1.5,10,-3.4