version: 66.08
glider: 176
mission: 2
dive: 131
start: 10 2 110 9 42 49
data:
$ID,176
$MISSION,2
$DIVE,131
$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,-4921.542
$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
$GPS1,021010,093755,2317.020,12601.460,12,1.6,23,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.6
$GPS2,021010,094222,2317.029,12601.370,15,2.4,34,-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,86.8,172517,-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,-219.0,0.0,0.0,0,82,0.00,0.00,-65.10,0.000,2,0.000,0.000,202,2459,2465,0,0,0,0,0,0
$GC,84,-0.72,-219.0,3.1,-5.0,8,126,8.40,0.00,-28.60,0.000,6,0.241,0.000,2354,2459,3922,0,0,0,0,0,0
$GC,475,-0.71,-219.0,129.7,-27.6,73,483,0.05,0.00,0.00,0.000,6,0.268,0.000,2366,2459,3925,0,0,0,0,0,0
$GC,833,-0.70,-219.0,216.5,-21.4,134,843,0.00,1.98,0.00,0.000,4,0.000,0.056,2364,3761,3927,0,0,0,0,0,0
$GC,869,-0.70,-219.0,223.2,-20.4,139,875,0.00,1.98,0.00,0.000,6,0.000,0.030,2364,2355,3926,0,0,0,0,0,0
$GC,1222,-0.70,-219.0,291.0,-19.4,200,1230,0.00,2.03,0.00,0.000,4,0.000,0.034,2363,953,3926,0,0,0,0,0,0
$GC,1256,-0.70,-219.0,296.7,-17.7,205,1263,0.00,2.17,0.00,0.000,6,0.000,0.043,2363,2431,3926,0,0,0,0,0,0
$GC,1589,-0.70,-219.0,355.9,-17.8,238,1592,0.00,2.00,0.00,0.000,4,0.000,0.057,2363,3773,3925,0,0,0,0,0,0
$GC,1649,-0.71,-219.0,364.8,-13.3,243,1653,0.00,2.00,0.00,0.000,6,0.000,0.030,2363,2353,3925,0,0,0,0,0,0
$GC,1980,-0.72,-219.0,415.9,-14.4,274,1983,0.00,2.00,0.00,0.000,4,0.000,0.034,2363,949,3924,0,0,0,0,0,0
$GC,2019,-0.73,-219.0,421.5,-13.1,277,2026,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2431,3924,0,0,0,0,0,0
$GC,2345,-0.74,-219.0,467.0,-13.8,308,2349,0.05,2.00,0.00,0.000,4,0.186,0.057,2322,3765,3921,0,0,0,0,0,0
$GC,2383,-0.74,-219.0,473.1,-15.6,311,2391,0.10,2.03,0.00,0.000,6,0.120,0.030,2361,2349,3921,0,0,0,0,0,0
$STATE,2579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2579,begin apogee
$GC,2583,-0.11,0.0,500.2,13.4,330,2756,0.55,0.15,165.02,0.842,6,0.111,0.083,2558,2147,3027,0,0,0,0,0,0
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2758,0.72,219.0,511.2,0.0,344,2944,0.70,2.25,171.20,0.832,4,0.050,0.047,2840,3529,2132,0,0,0,0,0,0
$GC,3070,0.70,219.0,480.1,20.3,370,3074,0.17,2.17,0.00,0.000,6,0.187,0.031,2805,2052,2128,0,0,0,0,0,0
$GC,3394,0.69,219.0,426.7,16.8,400,3398,0.00,2.25,0.00,0.000,4,0.000,0.047,2805,3528,2123,0,0,0,0,0,0
$GC,3436,0.67,219.0,419.6,18.1,403,3440,0.08,2.12,0.00,0.000,6,0.220,0.031,2799,2062,2123,0,0,0,0,0,0
$GC,3764,0.68,231.3,369.2,14.6,433,3779,0.00,2.10,9.15,0.670,4,0.000,0.042,2808,664,2083,0,0,0,0,0,0
$GC,3925,0.72,269.6,346.8,13.4,447,3962,0.08,2.15,31.58,0.738,6,0.132,0.037,2859,2127,1926,0,0,0,0,0,0
$GC,4290,0.70,269.6,277.9,20.0,489,4296,0.17,0.00,0.00,0.000,6,0.171,0.000,2809,2127,1919,0,0,0,0,0,0
$GC,4645,0.70,269.6,218.5,15.8,550,4653,0.00,2.20,0.00,0.000,4,0.000,0.044,2818,666,1916,0,0,0,0,0,0
$GC,4725,0.70,269.6,206.3,15.4,563,4732,0.00,2.15,0.00,0.000,6,0.000,0.039,2818,2131,1914,0,0,0,0,0,0
$GC,5082,0.71,279.0,151.2,14.7,624,5098,0.00,2.12,6.97,0.526,4,0.000,0.048,2818,3525,1888,0,0,0,0,0,0
$GC,5117,0.70,279.0,145.9,15.5,629,5126,0.00,2.15,0.00,0.000,6,0.000,0.033,2818,2070,1888,0,0,0,0,0,0
$GC,5481,0.78,343.7,100.2,12.1,690,5540,0.10,2.33,51.67,0.581,4,0.108,0.048,2887,3536,1622,0,0,0,0,0,0
$GC,5559,0.77,343.7,87.2,19.1,700,5569,0.20,2.22,0.00,0.000,6,0.148,0.033,2833,2062,1620,0,0,0,0,0,0
$GC,5925,0.94,478.2,43.0,8.9,761,6039,0.17,2.33,101.68,0.529,4,0.070,0.047,2936,3519,1075,0,0,0,0,0,0
$GC,6071,0.94,478.2,16.6,22.0,780,6081,0.15,2.20,0.00,0.000,6,0.140,0.034,2890,2075,1072,0,0,0,0,0,0
$STATE,6158,end climb,SURFACE_DEPTH_REACHED
$STATE,6158,begin surface coast
$FINISH,0.5,1.021085
$STATE,6185,end surface coast,CONTROL_FINISHED_OK
$STATE,6185,begin surface
$SM_CCo,6198,71.68,0.068,0,0,540,610.06
$SM_GC,1.33,0.00,0.00,71.68,0.000,0.000,0.068,207,2438,540,-7.45,1.07,610.06
$IRIDIUM_FIX,2309.79,12558.71,021010,070752
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,18.219
$10V_AH,10.8,15.317
$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,17.775,52.175,537.275,71.675,0.000,25.670,20.634,106.526,0.000,0.000,38.235,1867.618,1507.663,568.680,2487.668,111.962,0.000,1388.123,0.000,2309.399,0.000,0.542,0.000
$DEVICE_MAMPS,267.750,82.620,842.265,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.154,0.000,1687.178,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47090,798
$CAP_FILE_SIZE,84255,0
$CFSIZE,260165632,246833152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.275,309.4,1
$GPS,021010,112825,2317.731,12601.639,38,1.8,38,-3.4