version: 66.08
glider: 176
mission: 2
dive: 173
start: 10 5 110 15 10 40
data:
$ID,176
$MISSION,2
$DIVE,173
$N_DIVES,190
$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,375
$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,-4984.7646
$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
$GPS1,051010,150607,2345.596,12625.768,37,1.0,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-66.5
$GPS2,051010,151013,2345.630,12625.729,10,1.6,10,-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,47.1,105509,-20.3,-15.152
$D_GRID,5000
$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,13,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,84,0.00,0.00,-67.10,0.000,2,0.000,0.000,202,2462,2535,0,0,0,0,0,0
$GC,86,-0.72,-219.0,3.3,-5.1,8,128,8.45,2.20,-26.52,0.000,4,0.242,0.043,2356,946,3921,0,0,0,0,0,0
$GC,144,-0.69,-219.0,19.6,-33.0,15,153,0.05,2.28,0.00,0.000,6,0.190,0.049,2372,2418,3922,0,0,0,0,0,0
$GC,509,-0.67,-219.0,129.6,-27.1,76,518,0.00,2.05,0.00,0.000,4,0.000,0.059,2372,3755,3924,0,0,0,0,0,0
$GC,650,-0.68,-219.0,159.2,-18.9,99,656,0.00,2.00,0.00,0.000,6,0.000,0.029,2372,2350,3925,0,0,0,0,0,0
$GC,1006,-0.67,-219.0,238.0,-20.1,160,1014,0.00,2.17,0.00,0.000,4,0.000,0.056,2372,3767,3925,0,0,0,0,0,0
$GC,1029,-0.67,-219.0,241.9,-19.9,163,1036,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2338,3925,0,0,0,0,0,0
$GC,1384,-0.67,-219.0,305.8,-18.0,221,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2332,3925,0,0,0,0,0,0
$GC,1704,-0.67,-219.0,359.7,-16.5,251,1708,0.00,2.15,0.00,0.000,4,0.000,0.055,2372,3766,3924,0,0,0,0,0,0
$GC,1736,-0.68,-219.0,365.6,-16.1,253,1743,0.00,2.03,0.00,0.000,6,0.000,0.029,2372,2357,3924,0,0,0,0,0,0
$GC,2061,-0.68,-219.0,416.3,-15.5,284,2065,0.00,2.12,0.00,0.000,4,0.000,0.055,2372,3771,3924,0,0,0,0,0,0
$GC,2114,-0.69,-219.0,423.5,-12.0,288,2117,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2345,3923,0,0,0,0,0,0
$GC,2447,-0.70,-219.0,467.9,-14.1,319,2451,0.00,2.17,0.00,0.000,4,0.000,0.057,2372,3775,3921,0,0,0,0,0,0
$GC,2486,-0.71,-219.0,473.5,-12.4,322,2496,0.03,2.05,0.00,0.000,6,0.103,0.028,2321,2344,3920,0,0,0,0,0,0
$STATE,2641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2641,begin apogee
$GC,2645,-0.11,0.0,501.6,19.4,337,2815,0.68,0.17,163.93,0.845,6,0.124,0.074,2554,2153,3027,0,0,0,0,0,0
$STATE,2816,end apogee,CONTROL_FINISHED_OK
$STATE,2816,begin climb
$GC,2818,0.72,219.0,512.6,0.0,351,2996,0.73,2.40,169.77,0.834,4,0.054,0.042,2851,657,2132,0,0,0,0,0,0
$GC,3080,0.70,219.0,490.4,19.3,373,3085,0.15,2.22,0.00,0.000,6,0.171,0.035,2810,2130,2126,0,0,0,0,0,0
$GC,3407,0.69,219.0,430.4,17.2,403,3408,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2131,2122,0,0,0,0,0,0
$GC,3727,0.68,219.0,377.3,15.3,433,3730,0.00,2.08,0.00,0.000,4,0.000,0.050,2810,3527,2120,0,0,0,0,0,0
$GC,3803,0.67,219.0,364.5,17.3,439,3808,0.08,2.15,0.00,0.000,6,0.221,0.033,2801,2062,2120,0,0,0,0,0,0
$GC,4131,0.68,237.2,316.0,14.3,469,4155,0.00,2.12,13.18,0.689,4,0.000,0.043,2810,661,2058,0,0,0,0,0,0
$GC,4217,0.68,241.7,302.8,14.9,476,4228,0.00,2.20,5.00,0.532,6,0.000,0.036,2810,2129,2041,0,0,0,0,0,0
$GC,4571,0.69,252.9,251.9,14.6,535,4588,0.00,2.20,9.93,0.630,4,0.000,0.043,2818,658,1995,0,0,0,0,0,0
$GC,4711,0.72,276.6,232.0,14.1,558,4741,0.00,2.20,19.85,0.657,6,0.000,0.037,2818,2127,1898,0,0,0,0,0,0
$GC,5090,0.74,302.2,174.5,14.0,622,5120,0.05,2.22,21.25,0.620,4,0.179,0.043,2873,660,1793,0,0,0,0,0,0
$GC,5144,0.73,302.2,165.1,18.3,630,5153,0.15,2.20,0.00,0.000,6,0.137,0.037,2820,2122,1790,0,0,0,0,0,0
$GC,5509,0.76,325.2,114.5,14.1,691,5534,0.08,0.00,18.67,0.573,6,0.127,0.000,2885,2122,1699,0,0,0,0,0,0
$GC,5884,0.83,382.3,54.5,12.5,754,5935,0.12,2.20,44.10,0.544,4,0.167,0.048,2848,3527,1467,0,0,0,0,0,0
$GC,5991,0.93,458.2,42.8,11.6,769,6057,0.08,2.17,58.33,0.527,6,0.052,0.031,2930,2067,1157,0,0,0,0,0,0
$STATE,6220,end climb,SURFACE_DEPTH_REACHED
$STATE,6220,begin surface coast
$FINISH,0.7,1.021837
$STATE,6239,end surface coast,CONTROL_FINISHED_OK
$STATE,6239,begin surface
$SM_CCo,6313,0.00,0.000,0,0,1149,460.67
$SM_GC,1.38,6.85,0.00,0.00,0.034,0.000,0.000,199,2453,1149,-7.39,1.47,460.67
$IRIDIUM_FIX,2337.99,12625.36,051010,131304
$TT8_MAMPS,0.026964
$HUMID,52.04
$INTERNAL_PRESSURE,8.80191
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.6,23.331
$10V_AH,10.7,20.005
$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,17.475,52.750,524.000,0.000,0.000,27.478,16.083,109.447,0.000,0.000,13.167,1896.298,1602.904,477.872,2461.544,123.778,0.000,1287.327,0.000,2311.631,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,74.205,844.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.395,0.000,1696.848,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46932,808
$CAP_FILE_SIZE,83739,0
$CFSIZE,260165632,244850688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,253.7,1
$GPS,051010,165632,2346.236,12626.346,12,1.5,12,-3.5