version: 66.08
glider: 176
mission: 2
dive: 194
start: 10 7 110 5 23 43
data:
$ID,176
$MISSION,2
$DIVE,194
$N_DIVES,215
$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,-5013.1138
$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
$GPS1,071010,051846,2402.680,12642.457,10,6.2,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-69.4
$GPS2,071010,052316,2402.689,12642.451,10,7.0,29,-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,26.1,63264,-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,-219.0,0.0,0.0,0,76,0.00,0.00,-59.33,0.000,2,0.000,0.000,202,2423,2706,0,0,0,0,0,0
$GC,78,-0.72,-219.0,3.7,-6.6,7,120,8.50,2.10,-21.60,0.000,4,0.243,0.064,2349,3779,3924,0,0,0,0,0,0
$GC,159,-0.70,-219.0,31.0,-32.9,18,168,0.05,2.08,0.00,0.000,6,0.161,0.029,2367,2357,3925,0,0,0,0,0,0
$GC,525,-0.69,-219.0,144.8,-25.8,79,534,0.00,2.17,0.00,0.000,4,0.000,0.054,2366,3767,3926,0,0,0,0,0,0
$GC,633,-0.70,-219.0,168.4,-17.6,97,640,0.00,2.00,0.00,0.000,6,0.000,0.028,2367,2349,3926,0,0,0,0,0,0
$GC,978,-0.69,-219.0,239.9,-20.4,158,986,0.00,2.03,0.00,0.000,4,0.000,0.035,2367,948,3927,0,0,0,0,0,0
$GC,1022,-0.70,-219.0,248.4,-18.4,165,1030,0.00,2.20,0.00,0.000,6,0.000,0.044,2366,2420,3927,0,0,0,0,0,0
$GC,1366,-0.70,-219.0,310.2,-17.3,221,1370,0.00,2.03,0.00,0.000,4,0.000,0.056,2364,3773,3927,0,0,0,0,0,0
$GC,1507,-0.71,-219.0,330.2,-11.7,233,1514,0.00,2.00,0.00,0.000,6,0.000,0.028,2364,2347,3927,0,0,0,0,0,0
$GC,1831,-0.71,-219.0,380.7,-15.4,264,1835,0.00,2.15,0.00,0.000,4,0.000,0.055,2363,3777,3927,0,0,0,0,0,0
$GC,1860,-0.71,-219.0,385.2,-15.8,266,1864,0.00,2.00,0.00,0.000,6,0.000,0.028,2363,2352,3926,0,0,0,0,0,0
$GC,2193,-0.72,-219.0,436.3,-15.8,297,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2347,3925,0,0,0,0,0,0
$GC,2512,-0.72,-219.0,484.4,-14.8,327,2516,0.00,1.98,0.00,0.000,4,0.000,0.034,2363,949,3924,0,0,0,0,0,0
$GC,2538,-0.73,-219.0,488.3,-14.7,329,2542,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2419,3924,0,0,0,0,0,0
$STATE,2629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2629,begin apogee
$GC,2634,-0.11,0.0,500.8,13.9,337,2805,0.55,0.15,165.55,0.841,6,0.111,0.081,2558,2143,3027,0,0,0,0,0,0
$STATE,2806,end apogee,CONTROL_FINISHED_OK
$STATE,2806,begin climb
$GC,2808,0.72,219.0,511.8,0.0,351,2985,0.70,2.17,170.35,0.832,4,0.044,0.044,2852,3530,2132,0,0,0,0,0,0
$GC,3191,0.70,219.0,464.8,21.9,383,3196,0.20,2.15,0.00,0.000,6,0.176,0.031,2808,2062,2127,0,0,0,0,0,0
$GC,3518,0.69,219.0,410.8,15.3,413,3522,0.00,2.05,0.00,0.000,4,0.000,0.042,2818,656,2122,0,0,0,0,0,0
$GC,3753,0.71,249.3,376.0,13.7,433,3782,0.00,2.15,23.30,0.739,6,0.000,0.036,2818,2126,2010,0,0,0,0,0,0
$GC,4109,0.73,271.3,321.9,14.1,466,4132,0.00,2.25,17.77,0.701,4,0.000,0.044,2818,664,1920,0,0,0,0,0,0
$GC,4163,0.75,294.2,314.2,14.1,471,4189,0.08,2.17,19.80,0.695,6,0.132,0.036,2871,2135,1826,0,0,0,0,0,0
$GC,4520,0.74,294.2,241.3,20.3,528,4529,0.17,2.10,0.00,0.000,4,0.167,0.048,2820,3520,1819,0,0,0,0,0,0
$GC,4589,0.73,294.2,229.3,16.0,539,4596,0.00,2.15,0.00,0.000,6,0.000,0.032,2828,2054,1818,0,0,0,0,0,0
$GC,4937,0.75,311.7,175.6,14.3,600,4960,0.00,2.10,13.90,0.601,4,0.000,0.044,2831,665,1755,0,0,0,0,0,0
$GC,5109,0.82,366.9,152.0,12.6,629,5163,0.10,2.15,44.35,0.612,6,0.106,0.036,2900,2122,1529,0,0,0,0,0,0
$GC,5513,0.84,385.0,79.3,14.3,696,5533,0.17,2.28,14.52,0.531,4,0.160,0.045,2847,656,1456,0,0,0,0,0,0
$GC,5584,1.00,509.7,71.6,9.4,706,5689,0.15,2.20,96.40,0.543,6,0.041,0.038,2944,2117,948,0,0,0,0,0,0
$STATE,5903,end climb,SURFACE_DEPTH_REACHED
$STATE,5903,begin surface coast
$FINISH,0.6,1.022044
$STATE,5917,end surface coast,CONTROL_FINISHED_OK
$STATE,5918,begin surface
$SM_CCo,5992,0.00,0.000,0,0,939,511.94
$SM_GC,1.49,6.97,0.00,0.00,0.043,0.000,0.000,209,2438,939,-7.40,1.07,511.94
$IRIDIUM_FIX,2349.77,12641.35,071010,030326
$TT8_MAMPS,0.026215
$HUMID,52.83
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.6,25.938
$10V_AH,10.7,22.302
$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,17.650,51.950,565.950,0.000,0.000,30.917,24.502,103.345,0.000,0.000,32.624,1783.922,1503.727,492.178,2365.036,121.370,0.000,1288.426,0.000,2187.988,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,81.090,840.735,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.603,0.000,1546.385,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47094,758
$CAP_FILE_SIZE,80896,0
$CFSIZE,260165632,243884032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 69.7,1
$GPS,071010,070437,2403.498,12643.227,37,1.1,37,-3.6