version: 66.08
glider: 176
mission: 2
dive: 137
start: 10 2 110 21 6 4
data:
$ID,176
$MISSION,2
$DIVE,137
$N_DIVES,150
$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,-4929.3516
$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
$GPS1,021010,210130,2321.730,12605.010,40,1.3,40,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-73.3
$GPS2,021010,210537,2321.752,12605.001,10,1.3,15,-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,57.4,161862,-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,-219.0,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,209,2459,2653,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.6,-6.9,9,132,8.75,2.03,-22.45,0.000,4,0.256,0.067,2349,3773,3923,0,0,0,0,0,0
$GC,148,-0.68,-219.0,23.5,-38.0,16,157,0.08,2.08,0.00,0.000,6,0.168,0.030,2372,2355,3925,0,0,0,0,0,0
$GC,513,-0.67,-219.0,130.8,-22.7,77,522,0.00,2.17,0.00,0.000,4,0.000,0.056,2373,3763,3926,0,0,0,0,0,0
$GC,648,-0.68,-219.0,153.7,-14.4,99,655,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,2347,3926,0,0,0,0,0,0
$GC,996,-0.67,-219.0,221.4,-19.5,160,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2343,3926,0,0,0,0,0,0
$GC,1343,-0.67,-219.0,284.8,-17.6,221,1350,0.00,2.12,0.00,0.000,4,0.000,0.054,2373,3766,3926,0,0,0,0,0,0
$GC,1369,-0.67,-219.0,289.6,-18.2,225,1376,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2351,3926,0,0,0,0,0,0
$GC,1700,-0.68,-219.0,341.0,-15.8,261,1701,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2348,3926,0,0,0,0,0,0
$GC,2019,-0.68,-219.0,389.9,-14.7,291,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2348,3926,0,0,0,0,0,0
$GC,2345,-0.69,-219.0,439.1,-14.8,322,2349,0.00,2.12,0.00,0.000,4,0.000,0.055,2373,3769,3925,0,0,0,0,0,0
$GC,2411,-0.71,-219.0,447.8,-10.8,327,2420,0.03,2.03,0.00,0.000,6,0.105,0.031,2322,2352,3924,0,0,0,0,0,0
$STATE,2693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2693,begin apogee
$GC,2697,-0.11,0.0,500.7,17.2,354,2869,0.68,0.17,165.12,0.835,6,0.125,0.076,2556,2145,3027,0,0,0,0,0,0
$STATE,2870,end apogee,CONTROL_FINISHED_OK
$STATE,2870,begin climb
$GC,2871,0.72,219.0,510.3,0.0,368,3057,0.70,2.25,171.25,0.824,4,0.048,0.047,2842,3527,2132,0,0,0,0,0,0
$GC,3153,0.70,219.0,481.3,21.6,391,3161,0.12,2.20,0.00,0.000,6,0.198,0.032,2812,2061,2128,0,0,0,0,0,0
$GC,3478,0.69,219.0,422.6,17.7,422,3482,0.00,2.05,0.00,0.000,4,0.000,0.042,2818,660,2124,0,0,0,0,0,0
$GC,3499,0.68,219.0,418.7,17.0,423,3508,0.05,2.20,0.00,0.000,6,0.160,0.037,2801,2123,2122,0,0,0,0,0,0
$GC,3825,0.67,222.1,369.5,15.0,454,3829,0.00,2.10,0.00,0.000,4,0.000,0.047,2801,3537,2121,0,0,0,0,0,0
$GC,3852,0.67,234.0,365.5,14.6,456,3872,0.00,2.17,11.50,0.689,6,0.000,0.031,2807,2062,2071,0,0,0,0,0,0
$GC,4191,0.67,234.0,315.9,15.3,488,4195,0.00,2.03,0.00,0.000,4,0.000,0.042,2818,667,2066,0,0,0,0,0,0
$GC,4227,0.66,234.0,310.3,15.6,491,4232,0.10,2.15,0.00,0.000,6,0.178,0.037,2791,2137,2065,0,0,0,0,0,0
$GC,4569,0.74,300.6,265.6,12.1,544,4626,0.12,0.00,52.42,0.693,6,0.090,0.000,2865,2138,1801,0,0,0,0,0,0
$GC,4964,0.72,300.6,184.7,20.5,612,4973,0.17,2.22,0.00,0.000,4,0.162,0.044,2818,670,1791,0,0,0,0,0,0
$GC,5031,0.77,341.3,174.3,13.3,623,5075,0.08,2.17,32.15,0.621,6,0.130,0.037,2872,2137,1633,0,0,0,0,0,0
$GC,5426,0.76,341.3,101.8,18.1,689,5435,0.15,2.22,0.00,0.000,4,0.167,0.044,2832,664,1626,0,0,0,0,0,0
$GC,5486,0.86,416.4,93.8,11.7,698,5552,0.08,2.20,57.72,0.568,6,0.058,0.039,2903,2126,1327,0,0,0,0,0,0
$GC,5901,0.86,416.4,22.7,16.1,766,5911,0.15,2.12,0.00,0.000,4,0.161,0.050,2858,3525,1320,0,0,0,0,0,0
$GC,5950,0.96,486.9,16.3,11.9,773,6016,0.10,2.17,53.45,0.504,6,0.044,0.031,2942,2048,1039,0,0,0,0,0,0
$STATE,6029,end climb,SURFACE_DEPTH_REACHED
$STATE,6030,begin surface coast
$FINISH,0.6,1.020605
$STATE,6044,end surface coast,CONTROL_FINISHED_OK
$STATE,6044,begin surface
$SM_CCo,6058,68.65,0.067,0,0,539,610.06
$SM_GC,1.44,0.00,0.00,68.65,0.000,0.000,0.067,202,2436,539,-7.47,1.02,610.06
$IRIDIUM_FIX,2314.48,12603.37,021010,191935
$TT8_MAMPS,0.026964
$HUMID,51.53
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,18.964
$10V_AH,10.7,16.000
$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,18.275,48.000,543.625,68.650,0.000,28.678,17.164,103.455,0.000,0.000,18.481,1819.783,1489.004,577.837,2385.033,108.143,0.000,1375.927,0.000,2228.387,0.000,0.543,0.000
$DEVICE_MAMPS,255.510,75.735,835.380,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.166,0.000,1632.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46945,785
$CAP_FILE_SIZE,81670,0
$CFSIZE,260165632,246550528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150, 21.8,1
$GPS,021010,224849,2322.707,12606.114,11,1.8,11,-3.4