version: 66.08
glider: 176
mission: 2
dive: 189
start: 10 6 110 20 15 0
data:
$ID,176
$MISSION,2
$DIVE,189
$N_DIVES,210
$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,-5006.3643
$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
$GPS1,061010,200952,2358.519,12637.805,12,3.0,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-70.7
$GPS2,061010,201433,2358.567,12637.794,12,3.2,31,-3.6
$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,51.3,74102,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,73,0.00,0.00,-56.45,0.000,2,0.000,0.000,202,2444,2555,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.2,-5.5,7,118,8.45,2.17,-26.20,0.000,4,0.240,0.046,2356,953,3921,0,0,0,0,0,0
$GC,145,-0.70,-219.0,24.6,-40.0,16,155,0.03,2.28,0.00,0.000,6,0.217,0.052,2365,2413,3923,0,0,0,0,0,0
$GC,504,-0.68,-219.0,135.8,-27.6,77,513,0.00,2.08,0.00,0.000,4,0.000,0.057,2364,3770,3924,0,0,0,0,0,0
$GC,594,-0.68,-219.0,156.9,-18.2,92,603,0.00,2.05,0.00,0.000,6,0.000,0.028,2364,2348,3925,0,0,0,0,0,0
$GC,953,-0.68,-219.0,236.9,-20.8,153,960,0.05,2.15,0.00,0.000,4,0.251,0.054,2375,3766,3925,0,0,0,0,0,0
$GC,980,-0.68,-219.0,242.4,-19.3,157,987,0.00,2.00,0.00,0.000,6,0.000,0.028,2375,2340,3925,0,0,0,0,0,0
$GC,1333,-0.68,-219.0,304.2,-17.7,216,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2335,3925,0,0,0,0,0,0
$GC,1653,-0.68,-219.0,357.0,-17.0,246,1657,0.00,2.17,0.00,0.000,4,0.000,0.054,2375,3773,3925,0,0,0,0,0,0
$GC,1731,-0.70,-219.0,368.0,-11.1,252,1741,0.05,2.03,0.00,0.000,6,0.069,0.028,2318,2345,3925,0,0,0,0,0,0
$GC,2058,-0.69,-219.0,432.5,-20.0,283,2060,0.17,0.00,0.00,0.000,6,0.155,0.000,2372,2344,3924,0,0,0,0,0,0
$GC,2377,-0.70,-219.0,478.9,-13.6,313,2381,0.00,2.15,0.00,0.000,4,0.000,0.055,2372,3777,3922,0,0,0,0,0,0
$GC,2425,-0.71,-219.0,484.8,-11.3,317,2430,0.08,2.05,0.00,0.000,6,0.125,0.028,2308,2321,3921,0,0,0,0,0,0
$STATE,2511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2511,begin apogee
$GC,2516,-0.11,0.0,500.0,19.9,325,2687,0.73,0.15,164.93,0.849,6,0.125,0.053,2556,2138,3027,0,0,0,0,0,0
$STATE,2688,end apogee,CONTROL_FINISHED_OK
$STATE,2688,begin climb
$GC,2690,0.72,219.0,511.1,0.0,339,2869,0.70,0.00,171.12,0.835,6,0.046,0.000,2847,2139,2132,0,0,0,0,0,0
$GC,3187,0.70,219.0,445.8,21.2,385,3191,0.15,2.10,0.00,0.000,4,0.188,0.048,2807,3532,2123,0,0,0,0,0,0
$GC,3221,0.68,219.0,439.3,17.1,388,3225,0.05,2.17,0.00,0.000,6,0.249,0.031,2806,2053,2124,0,0,0,0,0,0
$GC,3545,0.67,219.0,387.2,16.0,418,3549,0.00,2.03,0.00,0.000,4,0.000,0.043,2816,662,2121,0,0,0,0,0,0
$GC,3659,0.67,219.0,368.9,16.1,428,3664,0.08,2.17,0.00,0.000,6,0.194,0.037,2797,2130,2118,0,0,0,0,0,0
$GC,3984,0.71,262.8,323.4,13.1,458,4024,0.10,2.20,33.00,0.734,4,0.104,0.048,2862,3536,1954,0,0,0,0,0,0
$GC,4082,0.69,262.8,305.0,20.0,466,4087,0.22,2.17,0.00,0.000,6,0.169,0.033,2809,2063,1950,0,0,0,0,0,0
$GC,4427,0.74,303.7,255.3,13.2,523,4471,0.08,2.12,32.78,0.689,4,0.128,0.042,2874,670,1786,0,0,0,0,0,0
$GC,4553,0.73,303.7,231.9,18.8,543,4561,0.20,2.17,0.00,0.000,6,0.151,0.038,2814,2130,1782,0,0,0,0,0,0
$GC,4901,0.74,314.5,178.0,14.7,604,4917,0.08,2.20,8.45,0.564,4,0.127,0.041,2881,655,1745,0,0,0,0,0,0
$GC,4925,0.74,314.5,174.1,15.5,607,4934,0.20,2.17,0.00,0.000,6,0.154,0.037,2820,2130,1744,0,0,0,0,0,0
$GC,5283,0.81,375.7,124.6,12.3,668,5341,0.12,2.22,49.45,0.597,4,0.086,0.041,2912,663,1493,0,0,0,0,0,0
$GC,5361,0.80,375.7,109.7,22.6,678,5370,0.20,2.22,0.00,0.000,6,0.141,0.040,2844,2116,1490,0,0,0,0,0,0
$GC,5726,0.97,508.1,61.4,9.0,739,5833,0.17,0.00,100.85,0.542,6,0.068,0.000,2946,2117,954,0,0,0,0,0,0
$STATE,5989,end climb,SURFACE_DEPTH_REACHED
$STATE,5989,begin surface coast
$FINISH,0.7,1.022256
$STATE,6003,end surface coast,CONTROL_FINISHED_OK
$STATE,6003,begin surface
$SM_CCo,6077,0.00,0.000,0,0,946,510.47
$SM_GC,1.46,6.93,0.00,0.00,0.036,0.000,0.000,201,2472,946,-7.39,2.04,510.47
$IRIDIUM_FIX,2352.12,12636.15,061010,181836
$TT8_MAMPS,0.026215
$HUMID,52.48
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.6,25.318
$10V_AH,10.6,21.756
$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,18.825,48.050,560.575,0.000,0.000,24.399,37.668,104.835,0.000,0.000,35.009,1822.049,1520.245,492.048,2401.521,125.790,0.000,1285.062,0.000,2217.692,0.000,0.542,0.000
$DEVICE_MAMPS,250.920,57.375,849.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.266,0.000,1623.173,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46996,781
$CAP_FILE_SIZE,81708,0
$CFSIZE,260165632,244113408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 16.6,1
$GPS,061010,215655,2359.465,12638.803,7,1.4,12,-3.6