version: 66.08
glider: 176
mission: 2
dive: 126
start: 10 2 110 0 29 29
data:
$ID,176
$MISSION,2
$DIVE,126
$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,-4914.7949
$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
$GPS1,021010,002507,2313.046,12559.240,37,1.1,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.4
$GPS2,021010,002902,2313.083,12559.239,10,1.3,10,-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,58.3,180482,-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,-219.0,0.0,0.0,0,84,0.00,0.00,-66.20,0.000,2,0.000,0.000,203,2437,2498,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.1,-4.8,8,128,8.48,2.08,-27.30,0.000,4,0.243,0.068,2349,3766,3923,0,0,0,0,0,0
$GC,167,-0.69,-219.0,29.5,-44.4,19,176,0.05,2.05,0.00,0.000,6,0.171,0.030,2367,2360,3925,0,0,0,0,0,0
$GC,532,-0.68,-219.0,142.2,-27.6,80,540,0.00,2.17,0.00,0.000,4,0.000,0.055,2366,3770,3926,0,0,0,0,0,0
$GC,602,-0.68,-219.0,158.7,-18.5,91,608,0.00,2.03,0.00,0.000,6,0.000,0.028,2367,2353,3926,0,0,0,0,0,0
$GC,957,-0.68,-219.0,236.6,-22.3,152,966,0.00,2.03,0.00,0.000,4,0.000,0.035,2367,952,3927,0,0,0,0,0,0
$GC,1003,-0.68,-219.0,244.9,-17.2,159,1010,0.00,2.17,0.00,0.000,6,0.000,0.044,2366,2426,3927,0,0,0,0,0,0
$GC,1354,-0.68,-219.0,308.7,-17.7,216,1358,0.00,2.00,0.00,0.000,4,0.000,0.057,2363,3766,3927,0,0,0,0,0,0
$GC,1415,-0.69,-219.0,317.7,-14.0,221,1419,0.00,2.00,0.00,0.000,6,0.000,0.029,2363,2351,3927,0,0,0,0,0,0
$GC,1745,-0.69,-219.0,374.1,-17.4,252,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2346,3926,0,0,0,0,0,0
$GC,2065,-0.70,-219.0,429.1,-16.6,282,2066,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2346,3925,0,0,0,0,0,0
$GC,2384,-0.70,-219.0,476.9,-15.1,312,2388,0.00,2.12,0.00,0.000,4,0.000,0.055,2363,3766,3923,0,0,0,0,0,0
$GC,2413,-0.71,-219.0,481.1,-14.2,314,2416,0.00,2.03,0.00,0.000,6,0.000,0.030,2363,2344,3923,0,0,0,0,0,0
$STATE,2553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2553,begin apogee
$GC,2557,-0.11,0.0,500.5,14.3,327,2728,0.55,0.15,164.95,0.842,6,0.112,0.082,2559,2140,3027,0,0,0,0,0,0
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2729,begin climb
$GC,2730,0.72,219.0,510.9,0.0,341,2909,0.70,2.30,171.23,0.830,4,0.041,0.041,2870,660,2132,0,0,0,0,0,0
$GC,3026,0.70,219.0,479.2,22.9,366,3031,0.22,2.22,0.00,0.000,6,0.171,0.036,2807,2133,2125,0,0,0,0,0,0
$GC,3350,0.69,219.0,422.6,15.2,396,3354,0.00,2.17,0.00,0.000,4,0.000,0.042,2817,663,2121,0,0,0,0,0,0
$GC,3379,0.68,219.0,418.2,15.5,398,3384,0.08,2.17,0.00,0.000,6,0.196,0.037,2799,2126,2121,0,0,0,0,0,0
$GC,3704,0.70,246.8,371.4,13.9,428,3732,0.08,2.25,21.20,0.739,4,0.125,0.043,2860,663,2019,0,0,0,0,0,0
$GC,3766,0.69,246.8,360.6,17.5,433,3774,0.12,2.20,0.00,0.000,6,0.145,0.038,2808,2120,2017,0,0,0,0,0,0
$GC,4092,0.68,246.8,311.7,15.3,464,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2121,2012,0,0,0,0,0,0
$GC,4431,0.68,250.1,258.7,15.0,516,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2122,2011,0,0,0,0,0,0
$GC,4787,0.68,255.0,206.1,14.9,577,4803,0.00,2.20,6.35,0.540,4,0.000,0.041,2816,660,1985,0,0,0,0,0,0
$GC,4888,0.70,275.4,191.7,14.2,593,4910,0.00,2.17,17.65,0.628,6,0.000,0.038,2817,2133,1904,0,0,0,0,0,0
$GC,5262,0.71,286.0,137.1,14.7,656,5279,0.00,0.00,9.35,0.546,6,0.000,0.000,2817,2133,1860,0,0,0,0,0,0
$GC,5627,0.85,394.4,91.6,10.1,718,5717,0.15,2.30,84.10,0.570,4,0.081,0.042,2912,666,1418,0,0,0,0,0,0
$GC,5757,0.84,394.4,68.5,18.7,735,5766,0.15,2.22,0.00,0.000,6,0.135,0.038,2860,2118,1413,0,0,0,0,0,0
$GC,6121,1.00,510.9,26.0,9.7,796,6220,0.15,2.28,87.03,0.514,4,0.076,0.044,2953,668,942,0,0,0,0,0,0
$STATE,6246,end climb,SURFACE_DEPTH_REACHED
$STATE,6246,begin surface coast
$FINISH,0.6,1.021719
$STATE,6260,end surface coast,CONTROL_FINISHED_OK
$STATE,6260,begin surface
$SM_CCo,6276,56.15,0.068,0,0,539,610.06
$SM_GC,1.38,0.00,0.00,56.15,0.000,0.000,0.068,202,2426,539,-7.46,0.74,610.06
$IRIDIUM_FIX,2258.07,12238.89,011010,222232
$TT8_MAMPS,0.026964
$HUMID,50.23
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,17.603
$10V_AH,10.8,14.756
$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,17.825,48.425,561.850,56.150,0.000,22.706,22.459,103.214,0.000,0.000,12.714,1898.539,1547.918,548.942,2465.322,113.103,0.000,1362.963,0.000,2324.199,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,81.855,841.500,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.457,0.000,1712.755,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50286,814
$CAP_FILE_SIZE,82113,0
$CFSIZE,260165632,247066624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.101,311.8,1
$GPS,021010,021538,2313.861,12600.023,9,1.7,9,-3.4