version: 66.08
glider: 176
mission: 2
dive: 163
start: 10 4 110 20 51 17
data:
$ID,176
$MISSION,2
$DIVE,163
$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,-4971.3564
$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
$GPS1,041010,204601,2337.656,12617.961,11,1.5,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-61.6
$GPS2,041010,205050,2337.754,12617.887,14,1.3,14,-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,81.4,125166,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-73.62,0.000,2,0.000,0.000,210,2436,2752,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.8,-7.1,9,127,8.60,2.22,-20.35,0.000,4,0.248,0.050,2357,956,3924,0,0,0,0,0,0
$GC,170,-0.71,-219.0,32.0,-33.5,20,179,0.00,2.28,0.00,0.000,6,0.000,0.051,2356,2421,3925,0,0,0,0,0,0
$GC,535,-0.70,-219.0,138.8,-26.8,81,544,0.08,2.08,0.00,0.000,4,0.220,0.060,2374,3760,3926,0,0,0,0,0,0
$GC,668,-0.70,-219.0,162.8,-14.7,103,676,0.05,2.00,0.00,0.000,6,0.174,0.030,2334,2338,3927,0,0,0,0,0,0
$GC,1015,-0.69,-219.0,249.7,-24.3,164,1023,0.15,0.00,0.00,0.000,6,0.177,0.000,2377,2333,3927,0,0,0,0,0,0
$GC,1363,-0.69,-219.0,318.5,-19.0,217,1367,0.00,2.15,0.00,0.000,4,0.000,0.056,2376,3768,3927,0,0,0,0,0,0
$GC,1440,-0.71,-219.0,330.4,-11.9,223,1450,0.05,2.03,0.00,0.000,6,0.070,0.030,2322,2352,3927,0,0,0,0,0,0
$GC,1766,-0.70,-219.0,399.7,-21.6,254,1770,0.17,2.15,0.00,0.000,4,0.157,0.057,2375,3767,3926,0,0,0,0,0,0
$GC,1830,-0.71,-219.0,408.9,-11.6,259,1834,0.08,2.00,0.00,0.000,6,0.125,0.030,2319,2344,3926,0,0,0,0,0,0
$GC,2156,-0.71,-219.0,471.3,-19.4,289,2161,0.17,2.17,0.00,0.000,4,0.153,0.057,2373,3772,3925,0,0,0,0,0,0
$GC,2232,-0.73,-219.0,480.9,-8.7,295,2236,0.08,2.00,0.00,0.000,6,0.125,0.028,2308,2343,3924,0,0,0,0,0,0
$STATE,2344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2344,begin apogee
$GC,2349,-0.11,0.0,500.1,19.1,305,2521,0.73,0.17,165.18,0.834,6,0.129,0.073,2555,2154,3027,0,0,0,0,0,0
$STATE,2522,end apogee,CONTROL_FINISHED_OK
$STATE,2522,begin climb
$GC,2523,0.72,219.0,509.3,0.0,319,2702,0.70,2.40,170.68,0.824,4,0.051,0.041,2846,658,2133,0,0,0,0,0,0
$GC,2740,0.70,219.0,497.5,18.8,337,2745,0.15,2.22,0.00,0.000,6,0.170,0.035,2806,2131,2129,0,0,0,0,0,0
$GC,3067,0.70,227.2,443.4,14.8,367,3076,0.00,0.00,6.78,0.630,6,0.000,0.000,2806,2131,2100,0,0,0,0,0,0
$GC,3395,0.72,248.4,396.4,14.2,398,3421,0.08,2.10,17.58,0.734,4,0.128,0.046,2860,3527,2015,0,0,0,0,0,0
$GC,3445,0.69,248.4,386.9,20.3,402,3450,0.22,2.15,0.00,0.000,6,0.177,0.031,2808,2058,2013,0,0,0,0,0,0
$GC,3771,0.69,248.4,333.2,16.9,432,3775,0.00,2.22,0.00,0.000,4,0.000,0.048,2808,3537,2008,0,0,0,0,0,0
$GC,3792,0.68,248.4,329.9,18.0,433,3796,0.08,2.15,0.00,0.000,6,0.219,0.031,2801,2063,2009,0,0,0,0,0,0
$GC,4133,0.68,258.7,274.0,14.7,477,4148,0.00,2.08,8.60,0.619,4,0.000,0.041,2808,659,1971,0,0,0,0,0,0
$GC,4187,0.73,296.8,266.5,13.4,485,4230,0.08,2.17,31.77,0.691,6,0.129,0.037,2859,2136,1815,0,0,0,0,0,0
$GC,4580,0.71,296.8,193.8,17.7,551,4586,0.17,0.00,0.00,0.000,6,0.162,0.000,2807,2137,1808,0,0,0,0,0,0
$GC,4939,0.74,315.5,143.0,14.3,612,4965,0.10,2.25,15.05,0.581,4,0.103,0.044,2889,659,1738,0,0,0,0,0,0
$GC,5027,0.73,315.5,126.0,19.6,625,5036,0.20,2.20,0.00,0.000,6,0.141,0.038,2821,2122,1735,0,0,0,0,0,0
$GC,5393,0.89,447.3,76.7,9.0,686,5498,0.17,0.00,100.68,0.557,6,0.069,0.000,2926,2122,1201,0,0,0,0,0,0
$STATE,5823,end climb,SURFACE_DEPTH_REACHED
$STATE,5824,begin surface coast
$FINISH,0.6,1.011248
$STATE,5843,end surface coast,CONTROL_FINISHED_OK
$STATE,5844,begin surface
$SM_CCo,5857,84.70,0.067,0,0,540,610.06
$SM_GC,1.21,0.00,0.00,84.70,0.000,0.000,0.067,202,2452,540,-7.46,1.47,610.06
$IRIDIUM_FIX,2328.57,12614.09,041010,181818
$TT8_MAMPS,0.026964
$HUMID,51.22
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,22.116
$10V_AH,10.7,18.892
$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,18.975,44.025,516.300,84.700,0.000,31.328,37.821,116.919,0.000,0.000,16.667,1787.162,1410.485,551.508,2368.136,118.137,0.000,1314.064,0.000,2179.375,0.000,0.542,0.000
$DEVICE_MAMPS,247.860,73.440,833.850,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,507.222,0.000,1600.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47015,758
$CAP_FILE_SIZE,80660,0
$CFSIZE,260165632,245325824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,341.2,1
$GPS,041010,223125,2338.462,12618.671,38,1.7,38,-3.5