version: 66.08
glider: 176
mission: 2
dive: 160
start: 10 4 110 15 11 10
data:
$ID,176
$MISSION,2
$DIVE,160
$N_DIVES,170
$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,-4967.5
$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
$GPS1,041010,150607,2335.430,12617.053,32,1.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-63.5
$GPS2,041010,151044,2335.439,12616.947,15,1.0,15,-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,56.4,129492,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-72.18,0.000,2,0.000,0.000,202,2428,2726,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.6,-6.6,9,127,8.60,2.20,-21.17,0.000,4,0.247,0.047,2357,948,3922,0,0,0,0,0,0
$GC,147,-0.69,-219.0,22.4,-36.2,16,157,0.03,2.28,0.00,0.000,6,0.212,0.050,2366,2413,3923,0,0,0,0,0,0
$GC,512,-0.68,-219.0,133.2,-25.6,77,521,0.00,2.05,0.00,0.000,4,0.000,0.057,2364,3760,3925,0,0,0,0,0,0
$GC,621,-0.68,-219.0,154.7,-16.6,95,629,0.00,2.00,0.00,0.000,6,0.000,0.028,2364,2347,3925,0,0,0,0,0,0
$GC,969,-0.68,-219.0,225.1,-19.4,156,977,0.00,2.17,0.00,0.000,4,0.000,0.056,2364,3761,3926,0,0,0,0,0,0
$GC,1037,-0.68,-219.0,237.1,-15.3,167,1045,0.00,2.00,0.00,0.000,6,0.000,0.028,2364,2350,3926,0,0,0,0,0,0
$GC,1385,-0.68,-219.0,300.2,-19.1,228,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2346,3926,0,0,0,0,0,0
$GC,1705,-0.68,-219.0,356.1,-15.8,258,1709,0.00,2.15,0.00,0.000,4,0.000,0.057,2363,3777,3925,0,0,0,0,0,0
$GC,1746,-0.69,-219.0,362.3,-14.9,261,1750,0.00,2.00,0.00,0.000,6,0.000,0.028,2363,2350,3925,0,0,0,0,0,0
$GC,2079,-0.69,-219.0,411.7,-14.4,292,2083,0.00,2.12,0.00,0.000,4,0.000,0.057,2363,3766,3924,0,0,0,0,0,0
$GC,2122,-0.70,-219.0,417.9,-11.8,295,2130,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2349,3923,0,0,0,0,0,0
$GC,2448,-0.70,-219.0,461.0,-13.3,326,2452,0.00,2.15,0.00,0.000,4,0.000,0.057,2363,3777,3921,0,0,0,0,0,0
$GC,2492,-0.71,-219.0,466.9,-11.8,329,2499,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2351,3921,0,0,0,0,0,0
$STATE,2751,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2751,begin apogee
$GC,2756,-0.11,0.0,501.1,12.6,354,2929,0.55,0.15,164.35,0.843,6,0.112,0.080,2559,2145,3027,0,0,0,0,0,0
$STATE,2930,end apogee,CONTROL_FINISHED_OK
$STATE,2930,begin climb
$GC,2932,0.72,219.0,510.2,0.0,368,3112,0.70,2.35,170.88,0.830,4,0.044,0.041,2861,664,2133,0,0,0,0,0,0
$GC,3129,0.70,219.0,499.9,19.9,386,3134,0.20,2.22,0.00,0.000,6,0.167,0.034,2806,2128,2130,0,0,0,0,0,0
$GC,3455,0.69,219.0,440.8,17.7,416,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2129,2124,0,0,0,0,0,0
$GC,3775,0.67,219.0,390.0,15.9,446,3779,0.00,2.08,0.00,0.000,4,0.000,0.050,2806,3527,2122,0,0,0,0,0,0
$GC,3803,0.66,219.0,385.0,16.5,448,3808,0.10,2.12,0.00,0.000,6,0.203,0.031,2792,2054,2122,0,0,0,0,0,0
$GC,4129,0.70,253.6,340.2,13.5,478,4161,0.10,0.00,26.35,0.741,6,0.103,0.000,2855,2049,1991,0,0,0,0,0,0
$GC,4486,0.68,253.6,275.3,17.2,523,4494,0.17,2.03,0.00,0.000,4,0.171,0.041,2813,655,1984,0,0,0,0,0,0
$GC,4526,0.70,278.3,269.2,14.0,529,4555,0.00,2.17,19.80,0.684,6,0.000,0.038,2813,2133,1892,0,0,0,0,0,0
$GC,4898,0.70,278.3,210.7,17.0,593,4905,0.00,2.20,0.00,0.000,4,0.000,0.044,2818,659,1886,0,0,0,0,0,0
$GC,4958,0.72,294.6,201.1,14.4,603,4980,0.00,2.15,13.88,0.624,6,0.000,0.037,2818,2127,1824,0,0,0,0,0,0
$GC,5323,0.77,339.7,145.1,13.1,666,5365,0.10,2.28,36.28,0.613,4,0.109,0.042,2895,659,1641,0,0,0,0,0,0
$GC,5398,0.76,339.7,131.2,20.4,676,5407,0.20,2.22,0.00,0.000,6,0.139,0.039,2828,2119,1637,0,0,0,0,0,0
$GC,5763,0.89,443.0,84.2,10.4,737,5852,0.15,0.00,79.10,0.563,6,0.076,0.000,2919,2120,1217,0,0,0,0,0,0
$STATE,6200,end climb,SURFACE_DEPTH_REACHED
$STATE,6200,begin surface coast
$FINISH,0.5,1.021783
$STATE,6219,end surface coast,CONTROL_FINISHED_OK
$STATE,6219,begin surface
$SM_CCo,6233,90.10,0.068,0,0,541,610.06
$SM_GC,1.31,0.00,0.00,90.10,0.000,0.000,0.068,204,2441,541,-7.45,1.19,610.06
$IRIDIUM_FIX,2328.57,12617.38,041010,131344
$TT8_MAMPS,0.026964
$HUMID,52.00
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,21.755
$10V_AH,10.8,18.553
$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,17.775,47.975,510.625,90.100,0.000,29.862,36.948,105.085,0.000,0.000,25.299,1897.192,1562.639,570.465,2453.773,119.211,0.000,1352.502,0.000,2280.685,0.000,0.543,0.000
$DEVICE_MAMPS,247.095,80.325,843.030,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.038,0.000,1683.991,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,47039,811
$CAP_FILE_SIZE,82019,0
$CFSIZE,260165632,245469184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,278.2,1
$GPS,041010,165713,2336.048,12617.361,7,1.5,12,-3.5