version: 66.08
glider: 176
mission: 2
dive: 165
start: 10 5 110 0 27 46
data:
$ID,176
$MISSION,2
$DIVE,165
$N_DIVES,180
$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,-4973.9634
$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
$GPS1,051010,002126,2339.368,12619.907,9,1.6,9,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-62.3
$GPS2,051010,002720,2339.421,12619.935,13,1.6,13,-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,49.2,120591,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-73.30,0.000,2,0.000,0.000,202,2352,2772,0,0,0,0,0,0
$GC,93,-0.72,-219.0,3.8,-6.7,9,127,8.60,2.08,-19.95,0.000,4,0.247,0.048,2356,950,3923,0,0,0,0,0,0
$GC,147,-0.68,-219.0,24.3,-41.8,16,157,0.05,2.28,0.00,0.000,6,0.192,0.051,2370,2415,3923,0,0,0,0,0,0
$GC,513,-0.67,-219.0,136.7,-29.8,77,521,0.00,2.12,0.00,0.000,4,0.000,0.033,2371,954,3926,0,0,0,0,0,0
$GC,682,-0.67,-219.0,168.7,-15.2,106,690,0.00,2.22,0.00,0.000,6,0.000,0.045,2366,2424,3926,0,0,0,0,0,0
$GC,1032,-0.66,-219.0,245.0,-22.9,167,1040,0.08,0.00,0.00,0.000,6,0.220,0.000,2385,2423,3926,0,0,0,0,0,0
$GC,1380,-0.66,-219.0,306.6,-18.1,225,1383,0.00,1.98,0.00,0.000,4,0.000,0.055,2377,3766,3926,0,0,0,0,0,0
$GC,1429,-0.67,-219.0,314.8,-14.0,229,1436,0.00,2.03,0.00,0.000,6,0.000,0.029,2377,2352,3926,0,0,0,0,0,0
$GC,1756,-0.68,-219.0,369.4,-16.5,260,1760,0.00,2.15,0.00,0.000,4,0.000,0.055,2377,3776,3925,0,0,0,0,0,0
$GC,1784,-0.68,-219.0,374.1,-16.0,262,1787,0.00,2.03,0.00,0.000,6,0.000,0.028,2377,2346,3925,0,0,0,0,0,0
$GC,2116,-0.69,-219.0,425.3,-15.5,293,2120,0.00,1.98,0.00,0.000,4,0.000,0.035,2377,955,3924,0,0,0,0,0,0
$GC,2131,-0.69,-219.0,428.3,-16.3,294,2141,0.03,2.20,0.00,0.000,6,0.119,0.043,2341,2419,3923,0,0,0,0,0,0
$GC,2458,-0.69,-219.0,488.7,-18.6,325,2460,0.12,0.00,0.00,0.000,6,0.163,0.000,2377,2420,3922,0,0,0,0,0,0
$STATE,2541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2541,begin apogee
$GC,2545,-0.11,0.0,500.9,13.2,333,2716,0.50,0.15,164.62,0.834,6,0.110,0.080,2558,2143,3027,0,0,0,0,0,0
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2719,0.72,219.0,510.4,0.0,347,2897,0.70,2.17,170.45,0.823,4,0.047,0.045,2848,3533,2133,0,0,0,0,0,0
$GC,2991,0.70,219.0,486.9,22.9,369,2996,0.20,2.20,0.00,0.000,6,0.178,0.031,2805,2061,2128,0,0,0,0,0,0
$GC,3318,0.69,224.6,434.6,14.9,399,3330,0.00,2.12,4.35,0.516,4,0.000,0.044,2815,658,2110,0,0,0,0,0,0
$GC,3392,0.70,234.2,423.8,14.7,405,3407,0.00,2.17,9.43,0.675,6,0.000,0.037,2814,2122,2071,0,0,0,0,0,0
$GC,3735,0.69,234.2,367.6,16.3,437,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2122,2067,0,0,0,0,0,0
$GC,4054,0.68,239.1,317.9,14.9,467,4062,0.00,0.00,4.38,0.494,6,0.000,0.000,2814,2122,2052,0,0,0,0,0,0
$GC,4398,0.67,239.1,264.7,16.3,518,4407,0.05,0.00,0.00,0.000,6,0.246,0.000,2803,2123,2049,0,0,0,0,0,0
$GC,4757,0.74,299.2,214.8,12.4,579,4815,0.10,2.22,48.05,0.656,4,0.105,0.042,2880,667,1804,0,0,0,0,0,0
$GC,4859,0.73,299.2,196.2,19.5,594,4868,0.17,2.20,0.00,0.000,6,0.144,0.039,2822,2116,1800,0,0,0,0,0,0
$GC,5220,0.78,344.6,136.8,13.0,655,5261,0.08,0.00,35.25,0.594,6,0.126,0.000,2886,2116,1621,0,0,0,0,0,0
$GC,5611,0.78,348.0,64.4,15.0,720,5621,0.17,2.20,0.00,0.000,4,0.152,0.044,2832,669,1613,0,0,0,0,0,0
$GC,5706,0.98,500.9,54.9,8.0,735,5836,0.17,2.17,117.97,0.532,6,0.040,0.038,2943,2120,983,0,0,0,0,0,0
$STATE,5988,end climb,SURFACE_DEPTH_REACHED
$STATE,5989,begin surface coast
$FINISH,0.6,1.008516
$STATE,6002,end surface coast,CONTROL_FINISHED_OK
$STATE,6002,begin surface
$SM_CCo,6016,59.08,0.067,0,0,540,610.06
$SM_GC,1.25,0.00,0.00,59.08,0.000,0.000,0.067,202,2452,540,-7.46,1.47,610.06
$IRIDIUM_FIX,2330.93,12623.96,051010,000051
$TT8_MAMPS,0.026964
$HUMID,51.45
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.6,22.359
$10V_AH,10.7,19.111
$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,17.925,39.625,554.500,59.075,0.000,55.248,40.981,102.166,0.000,0.000,15.631,1815.714,1558.853,546.913,2397.675,113.286,0.000,1338.181,0.000,2198.876,0.000,0.542,0.000
$DEVICE_MAMPS,247.095,79.560,833.850,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,520.386,0.000,1607.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47022,779
$CAP_FILE_SIZE,79817,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.179, 69.6,1
$GPS,051010,021007,2340.222,12621.228,39,0.9,39,-3.5