version: 66.08
glider: 176
mission: 2
dive: 166
start: 10 5 110 2 14 35
data:
$ID,176
$MISSION,2
$DIVE,166
$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,-4975.3154
$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
$GPS1,051010,021007,2340.222,12621.228,39,0.9,39,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-60.7
$GPS2,051010,021408,2340.220,12621.252,13,1.6,13,-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,27.2,118046,-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,-219.0,0.0,0.0,0,91,0.00,0.00,-73.97,0.000,2,0.000,0.000,202,2456,2783,0,0,0,0,0,0
$GC,94,-0.72,-219.0,4.0,-7.4,9,128,8.45,2.00,-18.55,0.000,4,0.241,0.068,2349,3766,3922,0,0,0,0,0,0
$GC,148,-0.68,-219.0,28.0,-47.3,16,157,0.08,2.05,0.00,0.000,6,0.173,0.029,2372,2353,3923,0,0,0,0,0,0
$GC,513,-0.67,-219.0,141.8,-27.7,77,522,0.00,2.17,0.00,0.000,4,0.000,0.054,2372,3765,3925,0,0,0,0,0,0
$GC,538,-0.65,-219.0,148.6,-29.6,80,546,0.00,2.03,0.00,0.000,6,0.000,0.027,2373,2350,3925,0,0,0,0,0,0
$GC,885,-0.64,-219.0,232.5,-22.0,141,893,0.05,2.17,0.00,0.000,4,0.255,0.054,2383,3775,3925,0,0,0,0,0,0
$GC,912,-0.64,-219.0,238.4,-21.8,145,919,0.00,2.00,0.00,0.000,6,0.000,0.028,2384,2347,3926,0,0,0,0,0,0
$GC,1261,-0.64,-219.0,304.4,-18.2,205,1265,0.00,2.12,0.00,0.000,4,0.000,0.054,2381,3766,3926,0,0,0,0,0,0
$GC,1292,-0.65,-219.0,309.6,-16.2,207,1295,0.00,1.98,0.00,0.000,6,0.000,0.028,2381,2349,3926,0,0,0,0,0,0
$GC,1622,-0.65,-219.0,363.5,-15.2,238,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2343,3925,0,0,0,0,0,0
$GC,1942,-0.65,-219.0,408.2,-12.2,268,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2343,3924,0,0,0,0,0,0
$GC,2261,-0.66,-219.0,448.3,-12.6,298,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2343,3923,0,0,0,0,0,0
$GC,2580,-0.67,-219.0,488.6,-13.3,328,2584,0.00,2.15,0.00,0.000,4,0.000,0.055,2379,3765,3921,0,0,0,0,0,0
$GC,2623,-0.69,-219.0,493.4,-10.9,331,2628,0.05,2.00,0.00,0.000,6,0.176,0.028,2333,2335,3921,0,0,0,0,0,0
$STATE,2672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2672,begin apogee
$GC,2676,-0.11,0.0,500.2,14.4,335,2849,0.65,0.15,164.70,0.840,6,0.120,0.080,2559,2143,3027,0,0,0,0,0,0
$STATE,2849,end apogee,CONTROL_FINISHED_OK
$STATE,2850,begin climb
$GC,2851,0.72,219.0,511.5,0.0,349,3029,0.70,2.17,170.38,0.829,4,0.047,0.044,2848,3529,2133,0,0,0,0,0,0
$GC,3176,0.70,219.0,477.0,22.0,376,3181,0.17,2.17,0.00,0.000,6,0.181,0.031,2811,2051,2128,0,0,0,0,0,0
$GC,3501,0.69,219.0,419.6,16.2,406,3505,0.00,2.03,0.00,0.000,4,0.000,0.044,2818,666,2123,0,0,0,0,0,0
$GC,3595,0.68,219.0,404.4,16.0,414,3605,0.05,2.17,0.00,0.000,6,0.164,0.037,2800,2118,2121,0,0,0,0,0,0
$GC,3922,0.68,227.0,357.0,14.8,445,3935,0.00,2.17,5.82,0.586,4,0.000,0.041,2806,663,2099,0,0,0,0,0,0
$GC,3997,0.68,230.2,345.8,15.0,451,4009,0.00,2.15,4.25,0.499,6,0.000,0.037,2806,2131,2087,0,0,0,0,0,0
$GC,4330,0.69,251.5,297.0,14.2,483,4351,0.00,0.00,18.05,0.692,6,0.000,0.000,2806,2131,2000,0,0,0,0,0,0
$GC,4692,0.75,305.1,247.6,12.7,546,4742,0.10,0.00,42.72,0.680,6,0.105,0.000,2875,2131,1780,0,0,0,0,0,0
$GC,5082,0.74,305.1,171.1,19.6,613,5090,0.20,2.20,0.00,0.000,4,0.162,0.041,2823,662,1772,0,0,0,0,0,0
$GC,5159,0.82,369.2,160.2,12.2,626,5217,0.08,2.20,49.15,0.617,6,0.057,0.038,2891,2124,1521,0,0,0,0,0,0
$GC,5566,0.81,369.2,74.4,18.7,694,5576,0.17,2.12,0.00,0.000,4,0.161,0.047,2838,3527,1513,0,0,0,0,0,0
$GC,5603,0.81,369.2,67.7,18.1,699,5611,0.00,2.17,0.00,0.000,6,0.000,0.033,2844,2067,1512,0,0,0,0,0,0
$GC,5967,1.04,552.3,38.6,6.6,760,6113,0.22,0.00,136.35,0.517,6,0.060,0.000,2958,2061,774,0,0,0,0,0,0
$STATE,6150,end climb,SURFACE_DEPTH_REACHED
$STATE,6150,begin surface coast
$FINISH,0.9,1.021827
$STATE,6164,end surface coast,CONTROL_FINISHED_OK
$STATE,6164,begin surface
$SM_CCo,6178,33.70,0.068,0,0,540,610.06
$SM_GC,1.13,0.00,0.00,33.70,0.000,0.000,0.068,198,2435,540,-7.48,0.99,610.06
$IRIDIUM_FIX,2330.93,12620.67,051010,000039
$TT8_MAMPS,0.026964
$HUMID,51.10
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,22.488
$10V_AH,10.7,19.219
$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,17.975,43.300,591.425,33.700,0.000,29.697,15.680,102.675,0.000,0.000,16.219,1823.417,1579.511,549.388,2393.766,114.434,0.000,1360.277,0.000,2244.499,0.000,0.543,0.000
$DEVICE_MAMPS,254.745,80.325,839.970,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.508,0.000,1629.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,46790,786
$CAP_FILE_SIZE,81791,0
$CFSIZE,260165632,245190656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,100.2,1
$GPS,051010,035843,2341.123,12622.162,8,1.7,8,-3.5