version: 66.08
glider: 176
mission: 2
dive: 167
start: 10 5 110 4 3 29
data:
$ID,176
$MISSION,2
$DIVE,167
$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,-4976.665
$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
$GPS1,051010,035843,2341.123,12622.162,8,1.7,8,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.8
$GPS2,051010,040302,2341.130,12622.187,12,1.8,12,-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,24.7,115747,-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,-72.70,0.000,2,0.000,0.000,198,2437,2736,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.6,-5.8,9,127,8.57,2.08,-20.95,0.000,4,0.244,0.066,2349,3769,3923,0,0,0,0,0,0
$GC,170,-0.69,-219.0,33.4,-46.0,20,179,0.08,2.08,0.00,0.000,6,0.168,0.031,2373,2355,3924,0,0,0,0,0,0
$GC,535,-0.67,-219.0,143.0,-27.2,81,543,0.00,2.17,0.00,0.000,4,0.000,0.057,2372,3762,3926,0,0,0,0,0,0
$GC,579,-0.67,-219.0,154.2,-21.5,88,588,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,2360,3926,0,0,0,0,0,0
$GC,937,-0.66,-219.0,228.9,-21.5,149,944,0.00,2.12,0.00,0.000,4,0.000,0.054,2372,3774,3927,0,0,0,0,0,0
$GC,968,-0.66,-219.0,235.5,-20.1,154,977,0.00,2.05,0.00,0.000,6,0.000,0.029,2373,2351,3927,0,0,0,0,0,0
$GC,1330,-0.66,-219.0,304.7,-19.3,214,1334,0.00,2.00,0.00,0.000,4,0.000,0.034,2373,943,3927,0,0,0,0,0,0
$GC,1353,-0.66,-219.0,308.8,-17.8,216,1357,0.00,2.17,0.00,0.000,6,0.000,0.043,2373,2420,3927,0,0,0,0,0,0
$GC,1678,-0.66,-219.0,365.8,-17.5,246,1681,0.00,2.00,0.00,0.000,4,0.000,0.056,2373,3771,3927,0,0,0,0,0,0
$GC,1705,-0.67,-219.0,370.6,-16.2,248,1715,0.00,2.05,0.00,0.000,6,0.000,0.029,2373,2346,3926,0,0,0,0,0,0
$GC,2033,-0.67,-219.0,419.8,-14.7,279,2037,0.00,1.98,0.00,0.000,4,0.000,0.033,2373,955,3925,0,0,0,0,0,0
$GC,2061,-0.68,-219.0,424.3,-14.4,281,2068,0.00,2.20,0.00,0.000,6,0.000,0.045,2373,2429,3926,0,0,0,0,0,0
$GC,2386,-0.69,-219.0,468.7,-13.8,312,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2430,3925,0,0,0,0,0,0
$STATE,2617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2618,begin apogee
$GC,2622,-0.11,0.0,500.3,13.2,334,2793,0.52,0.15,164.52,0.838,6,0.106,0.082,2563,2140,3027,0,0,0,0,0,0
$STATE,2794,end apogee,CONTROL_FINISHED_OK
$STATE,2794,begin climb
$GC,2795,0.72,219.0,509.2,0.0,348,2981,0.68,2.38,170.15,0.828,4,0.044,0.042,2857,662,2131,0,0,0,0,0,0
$GC,3236,0.70,219.0,452.3,19.2,385,3244,0.17,2.17,0.00,0.000,6,0.165,0.037,2808,2131,2124,0,0,0,0,0,0
$GC,3561,0.69,219.0,401.2,15.2,416,3565,0.00,2.17,0.00,0.000,4,0.000,0.044,2817,661,2121,0,0,0,0,0,0
$GC,3663,0.68,219.0,385.5,15.6,424,3672,0.03,2.20,0.00,0.000,6,0.184,0.037,2807,2130,2120,0,0,0,0,0,0
$GC,3991,0.68,224.3,335.4,14.9,455,3995,0.00,2.15,0.00,0.000,4,0.000,0.043,2815,662,2119,0,0,0,0,0,0
$GC,4067,0.72,258.7,324.1,13.6,461,4104,0.00,2.15,29.88,0.724,6,0.000,0.037,2815,2132,1971,0,0,0,0,0,0
$GC,4439,0.71,258.7,265.0,16.5,512,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2133,1965,0,0,0,0,0,0
$GC,4797,0.71,267.6,211.0,14.7,573,4813,0.00,2.20,7.25,0.560,4,0.000,0.042,2818,655,1935,0,0,0,0,0,0
$GC,4854,0.77,313.6,202.8,13.0,582,4898,0.05,2.20,37.78,0.646,6,0.075,0.038,2873,2120,1747,0,0,0,0,0,0
$GC,5253,0.76,313.6,126.2,16.9,648,5263,0.17,2.12,0.00,0.000,4,0.163,0.047,2821,3527,1738,0,0,0,0,0,0
$GC,5295,0.76,316.5,119.9,15.0,654,5304,0.00,2.17,0.00,0.000,6,0.000,0.031,2830,2060,1737,0,0,0,0,0,0
$GC,5659,0.83,373.0,69.3,12.5,715,5716,0.10,2.12,45.53,0.550,4,0.105,0.044,2908,666,1503,0,0,0,0,0,0
$GC,5825,0.86,401.6,40.1,13.8,740,5859,0.12,2.20,22.77,0.512,6,0.133,0.038,2864,2121,1387,0,0,0,0,0,0
$STATE,6164,end climb,SURFACE_DEPTH_REACHED
$STATE,6164,begin surface coast
$FINISH,0.7,1.013602
$STATE,6190,end surface coast,CONTROL_FINISHED_OK
$STATE,6190,begin surface
$SM_CCo,6203,109.43,0.067,0,0,540,610.06
$SM_GC,1.37,0.00,0.00,109.43,0.000,0.000,0.067,203,2451,540,-7.45,1.44,610.06
$IRIDIUM_FIX,2333.28,12622.06,051010,020225
$TT8_MAMPS,0.026964
$HUMID,50.07
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.6,22.601
$10V_AH,10.7,19.331
$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,17.250,52.300,477.875,109.425,0.000,24.603,37.397,102.833,0.000,0.000,14.948,1882.923,1512.618,572.249,2490.740,119.979,0.000,1376.540,0.000,2324.951,0.000,0.542,0.000
$DEVICE_MAMPS,244.035,81.855,837.675,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.152,0.000,1696.865,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47075,801
$CAP_FILE_SIZE,82741,0
$CFSIZE,260165632,245141504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,156.8,1
$GPS,051010,054940,2341.897,12622.734,10,2.1,29,-3.5