version: 66.08
glider: 176
mission: 2
dive: 154
start: 10 4 110 4 5 59
data:
$ID,176
$MISSION,2
$DIVE,154
$N_DIVES,160
$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,-4952.1123
$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
$GPS1,041010,040114,2332.491,12615.526,11,1.8,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.9
$GPS2,041010,040532,2332.422,12615.466,15,1.9,15,-3.5
$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,32.4,135423,-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,-219.0,0.0,0.0,0,81,0.00,0.00,-64.28,0.000,2,0.000,0.000,202,2455,2438,0,0,0,0,0,0
$GC,83,-0.72,-219.0,3.1,-5.1,8,133,8.55,2.22,-29.88,0.000,4,0.245,0.047,2356,951,3923,0,0,0,0,0,0
$GC,160,-0.70,-219.0,23.1,-33.7,18,170,0.03,2.25,0.00,0.000,6,0.224,0.047,2365,2413,3923,0,0,0,0,0,0
$GC,519,-0.68,-219.0,133.3,-28.9,79,528,0.00,2.05,0.00,0.000,4,0.000,0.054,2364,3764,3926,0,0,0,0,0,0
$GC,600,-0.69,-219.0,151.2,-17.9,92,609,0.00,2.03,0.00,0.000,6,0.000,0.028,2364,2357,3926,0,0,0,0,0,0
$GC,959,-0.68,-219.0,236.4,-23.1,153,967,0.05,2.00,0.00,0.000,4,0.253,0.034,2374,946,3926,0,0,0,0,0,0
$GC,979,-0.67,-219.0,241.4,-22.6,156,988,0.00,2.22,0.00,0.000,6,0.000,0.046,2374,2414,3926,0,0,0,0,0,0
$GC,1334,-0.67,-219.0,307.9,-18.3,213,1338,0.00,2.03,0.00,0.000,4,0.000,0.055,2374,3769,3926,0,0,0,0,0,0
$GC,1438,-0.68,-219.0,322.6,-11.7,222,1442,0.00,2.03,0.00,0.000,6,0.000,0.029,2375,2341,3926,0,0,0,0,0,0
$GC,1770,-0.69,-219.0,372.8,-15.5,253,1774,0.00,2.15,0.00,0.000,4,0.000,0.054,2374,3773,3926,0,0,0,0,0,0
$GC,1796,-0.69,-219.0,376.3,-14.1,255,1800,0.00,2.00,0.00,0.000,6,0.000,0.028,2374,2347,3926,0,0,0,0,0,0
$GC,2126,-0.70,-219.0,424.9,-14.8,286,2130,0.05,1.98,0.00,0.000,4,0.183,0.034,2334,953,3925,0,0,0,0,0,0
$GC,2162,-0.70,-219.0,430.6,-16.3,289,2167,0.12,2.17,0.00,0.000,6,0.155,0.044,2372,2419,3925,0,0,0,0,0,0
$GC,2492,-0.71,-219.0,472.4,-11.8,320,2497,0.08,2.03,0.00,0.000,4,0.129,0.057,2318,3772,3922,0,0,0,0,0,0
$GC,2521,-0.71,-219.0,476.5,-15.1,322,2525,0.15,2.03,0.00,0.000,6,0.143,0.029,2367,2342,3922,0,0,0,0,0,0
$STATE,2708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2708,begin apogee
$GC,2712,-0.11,0.0,501.4,13.7,339,2883,0.52,0.15,164.90,0.845,6,0.112,0.055,2555,2140,3027,0,0,0,0,0,0
$STATE,2884,end apogee,CONTROL_FINISHED_OK
$STATE,2884,begin climb
$GC,2885,0.72,219.0,511.1,0.0,353,3066,0.70,2.38,170.62,0.832,4,0.041,0.041,2871,660,2132,0,0,0,0,0,0
$GC,3261,0.70,219.0,463.1,20.9,385,3266,0.22,2.17,0.00,0.000,6,0.168,0.036,2807,2123,2125,0,0,0,0,0,0
$GC,3588,0.69,219.0,407.3,15.2,415,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2124,2121,0,0,0,0,0,0
$GC,3907,0.72,252.1,362.6,13.6,445,3944,0.08,2.28,25.23,0.744,4,0.127,0.043,2873,657,1998,0,0,0,0,0,0
$GC,4106,0.70,252.1,324.8,19.2,462,4116,0.17,2.20,0.00,0.000,6,0.146,0.037,2814,2117,1993,0,0,0,0,0,0
$GC,4443,0.71,263.7,269.5,14.6,509,4459,0.00,2.22,9.30,0.629,4,0.000,0.043,2818,663,1952,0,0,0,0,0,0
$GC,4483,0.71,263.7,262.9,16.0,515,4491,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2125,1950,0,0,0,0,0,0
$GC,4832,0.76,316.5,211.8,12.7,576,4882,0.08,0.00,43.10,0.662,6,0.135,0.000,2874,2125,1734,0,0,0,0,0,0
$GC,5225,0.75,316.5,130.2,20.4,643,5236,0.17,2.20,0.00,0.000,4,0.161,0.042,2831,662,1725,0,0,0,0,0,0
$GC,5333,0.78,335.3,113.1,14.3,660,5358,0.03,2.20,14.68,0.562,6,0.109,0.038,2875,2126,1659,0,0,0,0,0,0
$GC,5707,0.78,337.3,50.4,15.1,723,5717,0.15,2.15,0.00,0.000,4,0.158,0.049,2830,3531,1655,0,0,0,0,0,0
$GC,5745,0.80,356.8,45.0,14.2,728,5770,0.05,2.17,17.73,0.521,6,0.068,0.033,2900,2057,1571,0,0,0,0,0,0
$STATE,6038,end climb,SURFACE_DEPTH_REACHED
$STATE,6038,begin surface coast
$FINISH,0.6,1.008624
$STATE,6064,end surface coast,CONTROL_FINISHED_OK
$STATE,6064,begin surface
$SM_CCo,6078,135.38,0.067,0,0,540,610.06
$SM_GC,1.30,0.00,0.00,135.38,0.000,0.000,0.067,208,2442,540,-7.44,1.19,610.06
$IRIDIUM_FIX,2321.52,12614.60,041010,020214
$TT8_MAMPS,0.026964
$HUMID,50.74
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,23.70
$XPDR_PINGS,0
$24V_AH,24.5,21.033
$10V_AH,10.7,17.874
$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,18.025,52.425,445.550,135.375,0.000,30.827,23.874,103.439,0.000,0.000,17.593,1866.194,1504.159,569.377,2420.677,117.063,0.000,1350.056,0.000,2258.208,0.000,0.542,0.000
$DEVICE_MAMPS,253.215,56.610,844.560,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.714,0.000,1642.405,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,46869,781
$CAP_FILE_SIZE,83798,0
$CFSIZE,260165632,245751808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,231.6,1
$GPS,041010,055036,2332.931,12615.772,31,0.9,36,-3.5