version: 66.08
glider: 176
mission: 2
dive: 133
start: 10 2 110 13 30 9
data:
$ID,176
$MISSION,2
$DIVE,133
$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,-4924.147
$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
$GPS1,021010,132534,2318.383,12602.004,11,2.1,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-74.0
$GPS2,021010,132943,2318.389,12601.960,9,1.0,15,-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,83.6,169928,-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,-219.0,0.0,0.0,0,83,0.00,0.00,-65.70,0.000,2,0.000,0.000,215,2325,2482,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.0,-4.7,8,127,8.43,2.28,-27.80,0.000,4,0.243,0.067,2349,3771,3922,0,0,0,0,0,0
$GC,143,-0.68,-219.0,19.7,-33.3,15,152,0.08,2.08,0.00,0.000,6,0.163,0.029,2373,2351,3924,0,0,0,0,0,0
$GC,508,-0.67,-219.0,131.9,-23.3,76,516,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3762,3925,0,0,0,0,0,0
$GC,567,-0.67,-219.0,145.8,-21.7,85,575,0.00,2.05,0.00,0.000,6,0.000,0.029,2373,2352,3926,0,0,0,0,0,0
$GC,924,-0.67,-219.0,221.8,-21.4,146,934,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3770,3926,0,0,0,0,0,0
$GC,947,-0.67,-219.0,226.1,-20.0,149,954,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2348,3926,0,0,0,0,0,0
$GC,1300,-0.67,-219.0,293.5,-18.5,210,1310,0.00,2.00,0.00,0.000,4,0.000,0.034,2373,960,3926,0,0,0,0,0,0
$GC,1339,-0.68,-219.0,299.8,-15.3,216,1348,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,2419,3926,0,0,0,0,0,0
$GC,1666,-0.68,-219.0,353.0,-15.6,247,1670,0.00,2.00,0.00,0.000,4,0.000,0.053,2373,3766,3926,0,0,0,0,0,0
$GC,1704,-0.69,-219.0,359.1,-13.3,250,1715,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,2356,3925,0,0,0,0,0,0
$GC,2031,-0.69,-219.0,405.5,-13.5,281,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2354,3925,0,0,0,0,0,0
$GC,2350,-0.70,-219.0,446.5,-12.5,311,2357,0.05,0.00,0.00,0.000,6,0.181,0.000,2332,2354,3923,0,0,0,0,0,0
$GC,2675,-0.70,-219.0,497.7,-15.2,342,2679,0.12,2.15,0.00,0.000,4,0.161,0.055,2363,3775,3921,0,0,0,0,0,0
$STATE,2692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2692,begin apogee
$GC,2698,-0.11,0.0,500.2,15.5,343,2869,0.55,0.10,165.23,0.840,6,0.107,0.061,2561,2138,3027,0,0,0,0,0,0
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin climb
$GC,2872,0.72,219.0,510.4,0.0,357,3051,0.68,2.25,171.52,0.829,4,0.042,0.047,2851,3527,2133,0,0,0,0,0,0
$GC,3154,0.70,219.0,484.5,20.4,381,3162,0.17,2.22,0.00,0.000,6,0.168,0.031,2809,2060,2128,0,0,0,0,0,0
$GC,3480,0.68,219.0,432.6,16.2,412,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2055,2123,0,0,0,0,0,0
$GC,3799,0.67,219.0,380.0,15.9,442,3803,0.00,2.20,0.00,0.000,4,0.000,0.047,2809,3529,2121,0,0,0,0,0,0
$GC,3866,0.66,219.0,368.3,16.6,447,3874,0.05,2.17,0.00,0.000,6,0.187,0.032,2801,2060,2121,0,0,0,0,0,0
$GC,4192,0.70,257.7,324.3,13.4,478,4231,0.08,2.10,29.48,0.724,4,0.127,0.041,2863,653,1973,0,0,0,0,0,0
$GC,4312,0.69,257.7,302.8,18.4,488,4317,0.20,2.20,0.00,0.000,6,0.161,0.037,2805,2124,1969,0,0,0,0,0,0
$GC,4666,0.68,257.7,246.8,15.8,547,4673,0.00,2.17,0.00,0.000,4,0.000,0.044,2805,665,1966,0,0,0,0,0,0
$GC,4693,0.68,257.7,242.7,15.3,551,4700,0.00,2.17,0.00,0.000,6,0.000,0.037,2805,2135,1965,0,0,0,0,0,0
$GC,5049,0.78,346.0,196.1,11.0,612,5127,0.12,0.00,68.95,0.647,6,0.091,0.000,2883,2136,1613,0,0,0,0,0,0
$GC,5475,0.77,346.0,107.1,19.8,683,5485,0.17,2.12,0.00,0.000,4,0.164,0.048,2831,3531,1605,0,0,0,0,0,0
$GC,5499,0.77,346.0,102.3,20.8,686,5508,0.00,2.20,0.00,0.000,6,0.000,0.033,2832,2059,1604,0,0,0,0,0,0
$GC,5857,0.96,499.3,59.6,8.0,747,5980,0.20,2.38,115.40,0.537,4,0.065,0.049,2942,3525,989,0,0,0,0,0,0
$GC,6047,0.96,499.3,23.0,19.3,773,6056,0.17,2.22,0.00,0.000,6,0.138,0.035,2895,2069,985,0,0,0,0,0,0
$STATE,6169,end climb,SURFACE_DEPTH_REACHED
$STATE,6169,begin surface coast
$FINISH,0.6,1.021993
$STATE,6189,end surface coast,CONTROL_FINISHED_OK
$STATE,6189,begin surface
$SM_CCo,6202,60.72,0.068,0,0,540,610.06
$SM_GC,1.26,0.00,0.00,60.72,0.000,0.000,0.068,201,2452,540,-7.47,1.47,610.06
$IRIDIUM_FIX,2307.44,12558.71,021010,111142
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,18.468
$10V_AH,10.8,15.545
$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,17.875,52.725,550.575,60.725,0.000,29.925,15.615,107.125,0.000,0.000,17.849,1846.530,1574.985,568.954,2415.859,109.218,0.000,1381.859,0.000,2257.918,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,67.320,839.970,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.123,0.000,1651.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334092
$DATA_FILE_SIZE,47046,796
$CAP_FILE_SIZE,83040,0
$CFSIZE,260165632,246734848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214,317.7,1
$GPS,021010,151508,2319.073,12602.520,8,1.4,8,-3.4