version: 66.08
glider: 176
mission: 2
dive: 144
start: 10 3 110 9 45 41
data:
$ID,176
$MISSION,2
$DIVE,144
$N_DIVES,155
$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,-4938.8027
$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
$GPS1,031010,094120,2326.542,12609.127,11,1.4,11,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-72.9
$GPS2,031010,094514,2326.546,12609.081,9,1.5,9,-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,83.4,150636,-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,-219.0,0.0,0.0,0,81,0.00,0.00,-63.80,0.000,2,0.000,0.000,209,2466,2421,0,0,0,0,0,0
$GC,83,-0.72,-219.0,3.1,-5.1,8,133,8.48,2.25,-29.42,0.000,4,0.245,0.047,2353,954,3923,0,0,0,0,0,0
$GC,165,-0.70,-219.0,27.9,-37.9,19,174,0.03,2.28,0.00,0.000,6,0.217,0.054,2362,2410,3925,0,0,0,0,0,0
$GC,530,-0.69,-219.0,133.6,-24.4,80,538,0.00,2.08,0.00,0.000,4,0.000,0.059,2362,3764,3926,0,0,0,0,0,0
$GC,612,-0.69,-219.0,149.8,-16.7,93,620,0.00,2.05,0.00,0.000,6,0.000,0.030,2362,2344,3926,0,0,0,0,0,0
$GC,969,-0.69,-219.0,233.1,-22.0,154,979,0.00,2.17,0.00,0.000,4,0.000,0.056,2362,3759,3927,0,0,0,0,0,0
$GC,1039,-0.69,-219.0,246.5,-16.4,165,1046,0.00,1.98,0.00,0.000,6,0.000,0.028,2362,2349,3927,0,0,0,0,0,0
$GC,1391,-0.69,-219.0,315.1,-19.8,219,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2344,3927,0,0,0,0,0,0
$GC,1709,-0.69,-219.0,374.6,-17.6,249,1713,0.00,2.15,0.00,0.000,4,0.000,0.055,2362,3775,3927,0,0,0,0,0,0
$GC,1739,-0.69,-219.0,379.9,-16.6,251,1743,0.00,2.00,0.00,0.000,6,0.000,0.029,2361,2351,3926,0,0,0,0,0,0
$GC,2071,-0.69,-219.0,433.0,-15.2,282,2075,0.00,2.12,0.00,0.000,4,0.000,0.056,2362,3765,3926,0,0,0,0,0,0
$GC,2113,-0.70,-219.0,439.2,-13.6,285,2117,0.00,2.00,0.00,0.000,6,0.000,0.029,2362,2343,3925,0,0,0,0,0,0
$GC,2445,-0.70,-219.0,482.8,-12.3,316,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2337,3924,0,0,0,0,0,0
$STATE,2590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2590,begin apogee
$GC,2594,-0.11,0.0,501.2,12.6,330,2766,0.55,0.17,165.73,0.838,6,0.112,0.072,2558,2154,3027,0,0,0,0,0,0
$STATE,2766,end apogee,CONTROL_FINISHED_OK
$STATE,2767,begin climb
$GC,2768,0.72,219.0,510.5,0.0,344,2954,0.68,2.38,171.77,0.828,4,0.034,0.041,2873,664,2131,0,0,0,0,0,0
$GC,3210,0.70,219.0,456.1,19.3,381,3218,0.22,2.17,0.00,0.000,6,0.170,0.036,2809,2140,2125,0,0,0,0,0,0
$GC,3535,0.69,219.0,401.8,17.4,412,3539,0.00,2.20,0.00,0.000,4,0.000,0.042,2818,663,2122,0,0,0,0,0,0
$GC,3586,0.68,219.0,393.0,16.1,416,3591,0.08,2.15,0.00,0.000,6,0.197,0.036,2800,2131,2121,0,0,0,0,0,0
$GC,3911,0.68,226.9,343.2,14.8,446,3927,0.05,2.22,5.57,0.575,4,0.173,0.041,2852,660,2100,0,0,0,0,0,0
$GC,4045,0.67,226.9,321.0,15.7,457,4049,0.17,2.15,0.00,0.000,6,0.161,0.037,2800,2131,2099,0,0,0,0,0,0
$GC,4386,0.72,276.4,273.6,12.8,504,4429,0.10,0.00,39.80,0.702,6,0.103,0.000,2861,2133,1899,0,0,0,0,0,0
$GC,4779,0.71,276.4,200.2,18.6,570,4789,0.17,2.20,0.00,0.000,4,0.164,0.043,2818,671,1892,0,0,0,0,0,0
$GC,4876,0.73,290.4,185.9,14.5,586,4892,0.00,2.17,11.32,0.593,6,0.000,0.037,2818,2120,1842,0,0,0,0,0,0
$GC,5245,0.73,290.4,133.1,15.3,648,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2120,1839,0,0,0,0,0,0
$GC,5608,0.82,364.6,87.7,11.7,709,5674,0.12,2.15,58.33,0.568,4,0.090,0.047,2900,3527,1538,0,0,0,0,0,0
$GC,5702,0.81,364.6,70.6,20.8,721,5711,0.20,2.20,0.00,0.000,6,0.140,0.033,2843,2068,1534,0,0,0,0,0,0
$GC,6068,1.01,521.0,30.3,7.9,782,6198,0.22,2.20,117.47,0.516,4,0.060,0.041,2966,659,901,0,0,0,0,0,0
$STATE,6217,end climb,SURFACE_DEPTH_REACHED
$STATE,6217,begin surface coast
$FINISH,0.6,1.021617
$STATE,6231,end surface coast,CONTROL_FINISHED_OK
$STATE,6231,begin surface
$SM_CCo,6247,52.55,0.067,0,0,540,610.06
$SM_GC,1.43,0.00,0.00,52.55,0.000,0.000,0.067,207,2438,540,-7.45,1.07,610.06
$IRIDIUM_FIX,2316.83,12606.65,031010,070753
$TT8_MAMPS,0.026964
$HUMID,50.51
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,19.823
$10V_AH,10.7,16.765
$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,18.150,48.525,570.000,52.550,0.000,27.211,15.434,103.643,0.000,0.000,12.689,1870.770,1510.689,554.306,2488.037,117.222,0.000,1387.249,0.000,2345.038,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,71.910,838.440,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.843,0.000,1716.022,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,47060,803
$CAP_FILE_SIZE,82147,0
$CFSIZE,260165632,246226944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,292.0,1
$GPS,031010,113136,2326.725,12609.370,28,0.9,28,-3.4