version: 66.08
glider: 176
mission: 2
dive: 132
start: 10 2 110 11 33 23
data:
$ID,176
$MISSION,2
$DIVE,132
$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,-4922.8936
$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
$GPS1,021010,112825,2317.731,12601.639,38,1.8,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.4
$GPS2,021010,113256,2317.750,12601.577,14,1.6,14,-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,87.0,171255,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.97,0.000,2,0.000,0.000,202,2441,2750,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.9,-7.1,9,127,8.48,2.08,-19.65,0.000,4,0.243,0.065,2349,3776,3923,0,0,0,0,0,0
$GC,135,-0.65,-219.0,21.4,-41.9,14,144,0.10,2.08,0.00,0.000,6,0.171,0.028,2380,2349,3925,0,0,0,0,0,0
$GC,500,-0.64,-219.0,124.8,-22.7,75,509,0.00,2.17,0.00,0.000,4,0.000,0.054,2380,3762,3926,0,0,0,0,0,0
$GC,537,-0.64,-219.0,132.8,-22.0,80,545,0.00,2.05,0.00,0.000,6,0.000,0.029,2380,2351,3926,0,0,0,0,0,0
$GC,888,-0.64,-219.0,203.9,-18.7,141,894,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2346,3927,0,0,0,0,0,0
$GC,1231,-0.64,-219.0,267.4,-18.4,202,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2346,3927,0,0,0,0,0,0
$GC,1576,-0.64,-219.0,327.8,-16.9,249,1580,0.00,2.15,0.00,0.000,4,0.000,0.054,2380,3771,3927,0,0,0,0,0,0
$GC,1606,-0.65,-219.0,332.5,-15.9,251,1610,0.00,2.00,0.00,0.000,6,0.000,0.029,2380,2347,3926,0,0,0,0,0,0
$GC,1938,-0.65,-219.0,378.3,-13.2,282,1942,0.00,2.00,0.00,0.000,4,0.000,0.034,2380,945,3926,0,0,0,0,0,0
$GC,1997,-0.67,-219.0,384.5,-9.0,287,2001,0.00,2.20,0.00,0.000,6,0.000,0.043,2378,2428,3925,0,0,0,0,0,0
$GC,2324,-0.67,-219.0,424.9,-13.2,317,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2428,3924,0,0,0,0,0,0
$GC,2643,-0.68,-219.0,466.0,-11.9,347,2650,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2428,3922,0,0,0,0,0,0
$STATE,2936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2936,begin apogee
$GC,2941,-0.11,0.0,500.1,11.2,375,3114,0.50,0.15,164.85,0.845,6,0.106,0.081,2559,2142,3027,0,0,0,0,0,0
$STATE,3114,end apogee,CONTROL_FINISHED_OK
$STATE,3115,begin climb
$GC,3116,0.72,219.0,509.0,0.0,389,3300,0.73,2.38,171.20,0.830,4,0.053,0.042,2858,666,2132,0,0,0,0,0,0
$GC,3529,0.70,219.0,459.8,19.4,424,3539,0.15,2.22,0.00,0.000,6,0.149,0.037,2809,2127,2125,0,0,0,0,0,0
$GC,3856,0.69,219.0,409.1,16.1,455,3860,0.00,2.17,0.00,0.000,4,0.000,0.043,2817,660,2122,0,0,0,0,0,0
$GC,3941,0.70,232.0,395.9,14.5,462,3956,0.00,2.15,10.02,0.688,6,0.000,0.037,2818,2122,2081,0,0,0,0,0,0
$GC,4272,0.68,232.0,345.6,15.2,493,4277,0.05,2.17,0.00,0.000,4,0.249,0.042,2816,658,2076,0,0,0,0,0,0
$GC,4357,0.72,262.5,333.4,13.7,500,4386,0.00,2.15,24.80,0.724,6,0.000,0.037,2816,2124,1957,0,0,0,0,0,0
$GC,4718,0.71,262.5,273.7,17.0,545,4724,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2124,1949,0,0,0,0,0,0
$GC,5064,0.70,266.3,217.4,15.0,606,5072,0.00,2.20,0.00,0.000,4,0.000,0.043,2817,659,1947,0,0,0,0,0,0
$GC,5135,0.72,283.1,207.0,14.4,618,5158,0.00,2.17,16.62,0.633,6,0.000,0.038,2818,2115,1872,0,0,0,0,0,0
$GC,5500,0.72,288.4,154.2,14.9,681,5516,0.00,2.17,5.28,0.474,4,0.000,0.050,2817,3532,1851,0,0,0,0,0,0
$GC,5589,0.72,288.4,140.1,16.0,695,5597,0.00,2.17,0.00,0.000,6,0.000,0.032,2817,2063,1850,0,0,0,0,0,0
$GC,5952,0.79,349.6,95.8,12.3,756,6011,0.10,2.12,48.88,0.572,4,0.107,0.041,2896,663,1599,0,0,0,0,0,0
$GC,6038,0.79,349.6,82.0,17.8,767,6047,0.17,2.22,0.00,0.000,6,0.125,0.037,2835,2128,1595,0,0,0,0,0,0
$GC,6403,0.98,502.6,41.6,8.0,828,6526,0.22,2.22,115.50,0.521,4,0.060,0.049,2954,3523,976,0,0,0,0,0,0
$STATE,6587,end climb,SURFACE_DEPTH_REACHED
$STATE,6587,begin surface coast
$FINISH,1.0,1.021689
$STATE,6595,end surface coast,CONTROL_FINISHED_OK
$STATE,6595,begin surface
$SM_CCo,6610,61.08,0.068,0,0,539,610.06
$SM_GC,1.35,0.00,0.00,61.08,0.000,0.000,0.068,215,2326,539,-7.42,-2.12,610.06
$IRIDIUM_FIX,2305.10,12600.61,021010,090911
$TT8_MAMPS,0.026964
$HUMID,50.74
$INTERNAL_PRESSURE,8.72378
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,18.344
$10V_AH,10.7,15.436
$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,17.575,47.675,557.150,61.075,0.000,29.718,37.823,105.782,0.000,0.000,16.815,1994.953,1632.609,562.704,2646.299,112.250,0.000,1424.289,0.000,2466.861,0.000,0.542,0.000
$DEVICE_MAMPS,249.390,81.090,845.325,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.150,0.000,1789.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50391,854
$CAP_FILE_SIZE,85640,0
$CFSIZE,260165632,246788096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,311.8,1
$GPS,021010,132534,2318.383,12602.004,11,2.1,31,-3.4