version: 66.08
glider: 176
mission: 2
dive: 141
start: 10 3 110 4 22 11
data:
$ID,176
$MISSION,2
$DIVE,141
$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,-4934.7539
$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
$GPS1,031010,041637,2324.763,12608.569,37,0.9,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-71.7
$GPS2,031010,042144,2324.733,12608.530,12,1.7,12,-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,38.8,153841,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,84,0.00,0.00,-67.57,0.000,2,0.000,0.000,207,2439,2553,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.3,-5.7,8,128,8.48,2.03,-25.92,0.000,4,0.243,0.064,2349,3776,3922,0,0,0,0,0,0
$GC,160,-0.68,-219.0,28.8,-45.5,18,170,0.08,2.08,0.00,0.000,6,0.171,0.028,2372,2330,3922,0,0,0,0,0,0
$GC,525,-0.68,-219.0,137.6,-21.7,79,533,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,3763,3924,0,0,0,0,0,0
$GC,542,-0.67,-219.0,141.3,-20.8,81,551,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,2350,3924,0,0,0,0,0,0
$GC,900,-0.66,-219.0,219.7,-20.8,142,909,0.00,2.17,0.00,0.000,4,0.000,0.054,2372,3768,3925,0,0,0,0,0,0
$GC,927,-0.66,-219.0,225.4,-20.7,146,936,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2354,3925,0,0,0,0,0,0
$GC,1287,-0.66,-219.0,290.1,-18.4,207,1293,0.00,2.00,0.00,0.000,4,0.000,0.034,2373,951,3925,0,0,0,0,0,0
$GC,1305,-0.66,-219.0,293.7,-17.3,210,1315,0.00,2.22,0.00,0.000,6,0.000,0.044,2373,2426,3925,0,0,0,0,0,0
$GC,1641,-0.66,-219.0,349.8,-15.8,244,1645,0.00,2.00,0.00,0.000,4,0.000,0.054,2373,3773,3925,0,0,0,0,0,0
$GC,1657,-0.67,-219.0,352.5,-15.8,245,1664,0.00,2.05,0.00,0.000,6,0.000,0.028,2373,2337,3924,0,0,0,0,0,0
$GC,1982,-0.67,-219.0,401.1,-15.3,276,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2332,3924,0,0,0,0,0,0
$GC,2302,-0.68,-219.0,448.5,-14.7,306,2306,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3768,3922,0,0,0,0,0,0
$GC,2335,-0.69,-219.0,453.4,-14.0,308,2344,0.00,2.05,0.00,0.000,6,0.000,0.029,2373,2342,3922,0,0,0,0,0,0
$GC,2663,-0.70,-219.0,495.8,-13.1,339,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2339,3921,0,0,0,0,0,0
$STATE,2703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2703,begin apogee
$GC,2707,-0.11,0.0,501.3,13.3,343,2881,0.52,0.15,165.68,0.838,6,0.106,0.081,2564,2144,3027,0,0,0,0,0,0
$STATE,2881,end apogee,CONTROL_FINISHED_OK
$STATE,2882,begin climb
$GC,2883,0.72,219.0,513.3,0.0,357,3069,0.68,2.25,172.25,0.827,4,0.037,0.046,2872,3527,2132,0,0,0,0,0,0
$GC,3307,0.69,219.0,450.5,23.0,393,3312,0.28,2.17,0.00,0.000,6,0.181,0.031,2806,2058,2126,0,0,0,0,0,0
$GC,3634,0.70,234.8,395.9,14.4,423,3651,0.05,2.08,12.52,0.705,4,0.174,0.041,2859,653,2068,0,0,0,0,0,0
$GC,3734,0.69,234.8,379.0,17.9,431,3738,0.20,2.17,0.00,0.000,6,0.162,0.037,2801,2120,2064,0,0,0,0,0,0
$GC,4060,0.71,254.1,331.6,14.3,461,4082,0.08,0.00,15.77,0.700,6,0.126,0.000,2850,2121,1990,0,0,0,0,0,0
$GC,4408,0.69,254.1,265.6,19.1,509,4414,0.15,0.00,0.00,0.000,6,0.170,0.000,2807,2121,1985,0,0,0,0,0,0
$GC,4753,0.70,266.6,212.6,14.6,570,4769,0.00,2.25,10.32,0.604,4,0.000,0.043,2818,652,1939,0,0,0,0,0,0
$GC,4833,0.76,317.4,201.9,12.8,583,4883,0.08,2.20,41.67,0.647,6,0.132,0.037,2872,2133,1732,0,0,0,0,0,0
$GC,5229,0.75,317.4,124.0,19.9,650,5239,0.17,2.22,0.00,0.000,4,0.164,0.042,2831,659,1723,0,0,0,0,0,0
$GC,5306,0.82,366.2,113.0,12.9,662,5357,0.05,2.20,37.95,0.580,6,0.073,0.037,2888,2120,1532,0,0,0,0,0,0
$GC,5707,0.85,397.2,45.4,13.7,728,5741,0.12,2.20,24.48,0.526,4,0.173,0.041,2858,658,1406,0,0,0,0,0,0
$GC,5768,0.98,496.1,38.5,10.6,736,5850,0.12,2.22,76.20,0.520,6,0.044,0.037,2944,2130,1003,0,0,0,0,0,0
$STATE,5950,end climb,SURFACE_DEPTH_REACHED
$STATE,5950,begin surface coast
$FINISH,0.5,1.021381
$STATE,5964,end surface coast,CONTROL_FINISHED_OK
$STATE,5964,begin surface
$SM_CCo,5978,64.15,0.067,0,0,539,610.06
$SM_GC,1.33,0.00,0.00,64.15,0.000,0.000,0.067,215,2436,539,-7.42,1.02,610.06
$IRIDIUM_FIX,2312.13,12606.65,031010,020254
$TT8_MAMPS,0.026964
$HUMID,51.89
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.5,19.459
$10V_AH,10.7,16.434
$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,18.100,47.925,556.850,64.150,0.000,25.147,61.441,121.896,0.000,0.000,15.387,1776.964,1491.193,577.830,2400.026,110.153,0.000,1370.907,0.000,2185.236,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,81.090,838.440,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.156,0.000,1584.773,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,47048,765
$CAP_FILE_SIZE,81450,0
$CFSIZE,260165632,246366208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.147,259.7,1
$GPS,031010,060332,2325.441,12608.725,11,1.4,11,-3.4