version: 66.08
glider: 176
mission: 2
dive: 162
start: 10 4 110 18 56 28
data:
$ID,176
$MISSION,2
$DIVE,162
$N_DIVES,175
$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,-4970.1001
$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
$GPS1,041010,185024,2336.790,12617.625,26,1.3,45,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-67.6
$GPS2,041010,185602,2336.829,12617.503,10,1.5,10,-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,74.8,126901,-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,-219.0,0.0,0.0,0,91,0.00,0.00,-73.40,0.000,2,0.000,0.000,190,2440,2756,0,0,0,0,0,0
$GC,93,-0.72,-219.0,3.8,-6.9,9,128,8.60,2.22,-20.15,0.000,4,0.246,0.047,2353,945,3923,0,0,0,0,0,0
$GC,143,-0.67,-219.0,21.6,-37.3,15,153,0.08,2.28,0.00,0.000,6,0.177,0.047,2377,2419,3925,0,0,0,0,0,0
$GC,503,-0.66,-219.0,126.4,-22.6,76,511,0.00,2.05,0.00,0.000,4,0.000,0.057,2377,3763,3926,0,0,0,0,0,0
$GC,612,-0.67,-219.0,144.5,-13.3,94,621,0.00,2.03,0.00,0.000,6,0.000,0.029,2377,2351,3926,0,0,0,0,0,0
$GC,962,-0.67,-219.0,211.9,-20.5,155,970,0.00,2.00,0.00,0.000,4,0.000,0.035,2377,949,3927,0,0,0,0,0,0
$GC,1000,-0.67,-219.0,218.9,-17.4,161,1007,0.00,2.17,0.00,0.000,6,0.000,0.044,2377,2419,3927,0,0,0,0,0,0
$GC,1345,-0.67,-219.0,281.4,-18.9,222,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2420,3927,0,0,0,0,0,0
$GC,1683,-0.68,-219.0,344.1,-18.0,262,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2420,3927,0,0,0,0,0,0
$GC,2004,-0.68,-219.0,393.4,-13.7,292,2007,0.00,2.03,0.00,0.000,4,0.000,0.056,2376,3771,3925,0,0,0,0,0,0
$GC,2040,-0.69,-219.0,397.8,-11.6,295,2045,0.05,2.03,0.00,0.000,6,0.177,0.030,2330,2343,3925,0,0,0,0,0,0
$GC,2367,-0.69,-219.0,454.2,-16.6,325,2372,0.15,2.17,0.00,0.000,4,0.161,0.056,2375,3773,3923,0,0,0,0,0,0
$GC,2433,-0.71,-219.0,462.0,-8.0,330,2442,0.05,2.05,0.00,0.000,6,0.065,0.029,2310,2342,3923,0,0,0,0,0,0
$STATE,2661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2662,begin apogee
$GC,2666,-0.11,0.0,501.5,18.5,352,2839,0.73,0.17,165.05,0.837,6,0.129,0.076,2557,2143,3027,0,0,0,0,0,0
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2841,0.72,219.0,511.3,0.0,366,3022,0.70,2.17,170.65,0.827,4,0.050,0.045,2840,3526,2133,0,0,0,0,0,0
$GC,3057,0.70,219.0,500.2,20.4,384,3062,0.15,2.20,0.00,0.000,6,0.187,0.031,2811,2058,2130,0,0,0,0,0,0
$GC,3382,0.69,219.0,444.1,17.3,414,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2053,2124,0,0,0,0,0,0
$GC,3702,0.69,234.3,394.9,14.4,444,3719,0.00,2.30,12.02,0.711,4,0.000,0.048,2811,3532,2070,0,0,0,0,0,0
$GC,3776,0.68,234.3,382.1,18.2,450,3785,0.05,2.17,0.00,0.000,6,0.183,0.031,2803,2063,2068,0,0,0,0,0,0
$GC,4103,0.69,248.2,334.0,14.5,481,4124,0.00,0.00,11.65,0.685,6,0.000,0.000,2803,2061,2014,0,0,0,0,0,0
$GC,4448,0.68,248.2,281.4,15.8,523,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2060,2009,0,0,0,0,0,0
$GC,4795,0.71,281.1,233.3,13.6,584,4833,0.08,2.12,26.48,0.667,4,0.131,0.044,2867,663,1879,0,0,0,0,0,0
$GC,4858,0.70,281.1,223.0,17.4,593,4866,0.20,2.20,0.00,0.000,6,0.156,0.037,2807,2137,1876,0,0,0,0,0,0
$GC,5208,0.70,281.1,169.9,15.6,654,5216,0.00,2.22,0.00,0.000,4,0.000,0.042,2817,659,1874,0,0,0,0,0,0
$GC,5246,0.70,281.1,164.0,15.6,660,5254,0.00,2.20,0.00,0.000,6,0.000,0.037,2817,2126,1873,0,0,0,0,0,0
$GC,5607,0.75,323.1,113.0,13.2,721,5649,0.05,2.20,33.28,0.584,4,0.181,0.041,2871,664,1707,0,0,0,0,0,0
$GC,5739,0.74,323.1,92.4,16.9,741,5749,0.12,2.20,0.00,0.000,6,0.129,0.039,2825,2119,1703,0,0,0,0,0,0
$GC,6104,0.94,476.5,54.0,8.0,802,6227,0.20,2.25,116.05,0.534,4,0.064,0.047,2939,3535,1082,0,0,0,0,0,0
$GC,6301,0.93,476.5,20.2,21.2,829,6310,0.17,2.22,0.00,0.000,6,0.136,0.035,2882,2075,1077,0,0,0,0,0,0
$STATE,6423,end climb,SURFACE_DEPTH_REACHED
$STATE,6423,begin surface coast
$FINISH,0.4,1.004418
$STATE,6449,end surface coast,CONTROL_FINISHED_OK
$STATE,6449,begin surface
$SM_CCo,6463,71.18,0.067,0,0,539,610.06
$SM_GC,1.39,0.00,0.00,71.18,0.000,0.000,0.067,212,2435,539,-7.43,0.99,610.06
$IRIDIUM_FIX,2330.93,12617.38,041010,181837
$TT8_MAMPS,0.026964
$HUMID,50.70
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.5,21.996
$10V_AH,10.7,18.786
$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,18.100,48.575,535.175,71.175,0.000,52.409,28.268,105.277,0.000,0.000,13.103,1989.104,1595.181,565.071,2602.964,123.817,0.000,1407.544,0.000,2427.047,0.000,0.543,0.000
$DEVICE_MAMPS,245.565,75.735,836.910,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.049,0.000,1808.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50419,853
$CAP_FILE_SIZE,86141,0
$CFSIZE,260165632,245362688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.224,316.5,1
$GPS,041010,204601,2337.656,12617.961,11,1.5,11,-3.5