version: 66.08
glider: 176
mission: 2
dive: 191
start: 10 6 110 23 55 28
data:
$ID,176
$MISSION,2
$DIVE,191
$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,-5009.063
$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
$GPS1,061010,235031,2400.270,12639.839,38,2.0,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.9
$GPS2,061010,235502,2400.285,12639.859,11,1.3,11,-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,34.2,69452,-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,14,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,74,0.00,0.00,-56.83,0.000,2,0.000,0.000,203,2438,2646,0,0,0,0,0,0
$GC,77,-0.72,-219.0,3.3,-5.5,7,119,8.50,2.05,-23.85,0.000,4,0.243,0.069,2348,3759,3922,0,0,0,0,0,0
$GC,128,-0.68,-219.0,19.3,-34.0,13,137,0.08,2.05,0.00,0.000,6,0.168,0.028,2372,2345,3923,0,0,0,0,0,0
$GC,493,-0.67,-219.0,136.3,-23.3,74,501,0.00,2.20,0.00,0.000,4,0.000,0.054,2372,3769,3924,0,0,0,0,0,0
$GC,556,-0.67,-219.0,149.9,-18.3,84,566,0.00,2.05,0.00,0.000,6,0.000,0.028,2373,2353,3925,0,0,0,0,0,0
$GC,916,-0.67,-219.0,228.9,-21.1,145,923,0.00,1.98,0.00,0.000,4,0.000,0.032,2372,948,3925,0,0,0,0,0,0
$GC,966,-0.67,-219.0,238.8,-17.4,153,973,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,2420,3926,0,0,0,0,0,0
$GC,1328,-0.67,-219.0,303.8,-16.5,213,1332,0.00,2.00,0.00,0.000,4,0.000,0.055,2373,3774,3926,0,0,0,0,0,0
$GC,1366,-0.68,-219.0,310.5,-15.4,216,1376,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,2357,3926,0,0,0,0,0,0
$GC,1693,-0.68,-219.0,361.3,-16.5,247,1697,0.00,2.12,0.00,0.000,4,0.000,0.054,2373,3766,3926,0,0,0,0,0,0
$GC,1718,-0.69,-219.0,365.0,-15.6,249,1722,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,2326,3925,0,0,0,0,0,0
$GC,2048,-0.69,-219.0,414.8,-15.0,280,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2321,3924,0,0,0,0,0,0
$GC,2368,-0.70,-219.0,461.2,-14.6,310,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2321,3923,0,0,0,0,0,0
$STATE,2662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2662,begin apogee
$GC,2668,-0.11,0.0,501.1,12.5,338,2838,0.52,0.17,165.23,0.842,6,0.108,0.073,2562,2154,3027,0,0,0,0,0,0
$STATE,2839,end apogee,CONTROL_FINISHED_OK
$STATE,2839,begin climb
$GC,2841,0.72,219.0,511.7,0.0,352,3019,0.70,2.25,171.10,0.830,4,0.032,0.040,2886,666,2133,0,0,0,0,0,0
$GC,3050,0.70,219.0,501.9,20.6,370,3055,0.28,2.22,0.00,0.000,6,0.175,0.035,2810,2133,2128,0,0,0,0,0,0
$GC,3375,0.68,219.0,447.2,15.9,400,3379,0.00,2.08,0.00,0.000,4,0.000,0.047,2810,3526,2123,0,0,0,0,0,0
$GC,3397,0.67,219.0,443.2,17.2,401,3404,0.05,2.17,0.00,0.000,6,0.181,0.032,2802,2063,2123,0,0,0,0,0,0
$GC,3723,0.68,235.4,394.5,14.4,432,3740,0.00,2.12,12.45,0.715,4,0.000,0.043,2809,661,2067,0,0,0,0,0,0
$GC,3856,0.68,240.2,375.2,14.9,443,3866,0.00,2.17,5.18,0.565,6,0.000,0.036,2809,2122,2047,0,0,0,0,0,0
$GC,4194,0.67,241.1,325.2,15.1,475,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2123,2043,0,0,0,0,0,0
$GC,4520,0.72,288.2,281.3,13.0,516,4565,0.08,2.20,38.35,0.706,4,0.132,0.047,2864,3529,1851,0,0,0,0,0,0
$GC,4678,0.71,288.2,250.9,21.5,541,4685,0.22,2.17,0.00,0.000,6,0.167,0.034,2807,2064,1846,0,0,0,0,0,0
$GC,5034,0.77,341.5,200.1,12.7,602,5086,0.12,2.10,42.50,0.649,4,0.087,0.040,2899,666,1631,0,0,0,0,0,0
$GC,5186,0.76,341.5,172.2,18.6,626,5195,0.20,2.22,0.00,0.000,6,0.141,0.037,2831,2131,1626,0,0,0,0,0,0
$GC,5548,0.81,378.3,120.3,13.4,687,5583,0.08,2.17,28.80,0.581,4,0.128,0.047,2897,3527,1483,0,0,0,0,0,0
$GC,5622,0.80,378.3,106.9,20.4,697,5631,0.20,2.20,0.00,0.000,6,0.142,0.034,2840,2068,1480,0,0,0,0,0,0
$GC,5987,0.91,467.3,64.0,11.0,758,6062,0.15,2.17,68.40,0.542,4,0.076,0.043,2945,666,1121,0,0,0,0,0,0
$GC,6139,0.91,467.3,36.2,17.4,780,6150,0.20,2.22,0.00,0.000,6,0.133,0.037,2877,2128,1117,0,0,0,0,0,0
$STATE,6368,end climb,SURFACE_DEPTH_REACHED
$STATE,6369,begin surface coast
$FINISH,0.7,1.021989
$STATE,6388,end surface coast,CONTROL_FINISHED_OK
$STATE,6389,begin surface
$SM_CCo,6463,0.00,0.000,0,0,1112,469.50
$SM_GC,1.56,6.70,0.00,0.00,0.037,0.000,0.000,199,2434,1112,-7.40,0.96,469.50
$IRIDIUM_FIX,2352.12,12647.95,061010,212125
$TT8_MAMPS,0.026215
$HUMID,50.90
$INTERNAL_PRESSURE,8.81168
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.6,25.565
$10V_AH,10.6,21.982
$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,18.075,52.125,532.000,0.000,0.000,28.323,37.762,110.764,0.000,0.000,13.989,1916.566,1708.435,475.483,2504.272,131.501,0.000,1278.185,0.000,2335.610,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,72.675,841.500,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.064,0.000,1722.467,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50295,821
$CAP_FILE_SIZE,83143,0
$CFSIZE,260165632,244006912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107,104.9,1
$GPS,071010,014350,2401.060,12640.943,13,1.7,13,-3.6