version: 66.08
glider: 176
mission: 2
dive: 195
start: 10 7 110 7 9 17
data:
$ID,176
$MISSION,2
$DIVE,195
$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,-5014.4678
$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
$GPS1,071010,070437,2403.498,12643.227,37,1.1,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-70.3
$GPS2,071010,070850,2403.506,12643.212,13,1.4,13,-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,31.6,61285,-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,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,73,0.00,0.00,-56.92,0.000,2,0.000,0.000,202,2445,2626,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.3,-5.5,7,118,8.48,2.03,-24.23,0.000,4,0.241,0.065,2359,3763,3922,0,0,0,0,0,0
$GC,157,-0.70,-219.0,28.1,-34.6,18,165,0.00,2.05,0.00,0.000,6,0.000,0.028,2359,2358,3922,0,0,0,0,0,0
$GC,520,-0.69,-219.0,147.8,-26.4,79,530,0.08,2.17,0.00,0.000,4,0.230,0.055,2376,3757,3924,0,0,0,0,0,0
$GC,621,-0.69,-219.0,168.0,-14.8,96,631,0.03,2.03,0.00,0.000,6,0.116,0.028,2340,2356,3925,0,0,0,0,0,0
$GC,971,-0.69,-219.0,250.9,-22.0,157,979,0.12,2.15,0.00,0.000,4,0.184,0.054,2375,3765,3925,0,0,0,0,0,0
$GC,1010,-0.69,-219.0,259.2,-19.1,163,1016,0.00,2.00,0.00,0.000,6,0.000,0.028,2375,2343,3925,0,0,0,0,0,0
$GC,1352,-0.69,-219.0,321.8,-18.4,213,1356,0.00,1.98,0.00,0.000,4,0.000,0.035,2375,957,3925,0,0,0,0,0,0
$GC,1391,-0.69,-219.0,328.8,-15.5,216,1400,0.03,2.20,0.00,0.000,6,0.113,0.043,2335,2422,3926,0,0,0,0,0,0
$GC,1718,-0.69,-219.0,393.0,-18.6,247,1720,0.12,0.00,0.00,0.000,6,0.169,0.000,2371,2422,3925,0,0,0,0,0,0
$GC,2037,-0.70,-219.0,437.3,-13.7,277,2040,0.00,2.00,0.00,0.000,4,0.000,0.055,2371,3767,3924,0,0,0,0,0,0
$GC,2062,-0.70,-219.0,440.8,-13.7,279,2066,0.03,2.03,0.00,0.000,6,0.103,0.028,2326,2354,3924,0,0,0,0,0,0
$STATE,2390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2391,begin apogee
$GC,2395,-0.11,0.0,500.8,17.7,310,2566,0.68,0.15,165.48,0.837,6,0.123,0.080,2558,2139,3026,0,0,0,0,0,0
$STATE,2566,end apogee,CONTROL_FINISHED_OK
$STATE,2567,begin climb
$GC,2568,0.72,219.0,511.0,0.0,324,2746,0.70,2.30,170.15,0.828,4,0.044,0.042,2859,665,2133,0,0,0,0,0,0
$GC,2909,0.70,219.0,475.9,18.3,352,2919,0.15,2.22,0.00,0.000,6,0.149,0.035,2811,2131,2125,0,0,0,0,0,0
$GC,3236,0.69,219.0,426.0,15.7,383,3240,0.00,2.20,0.00,0.000,4,0.000,0.042,2818,663,2123,0,0,0,0,0,0
$GC,3367,0.68,219.0,405.1,16.0,394,3371,0.05,2.15,0.00,0.000,6,0.226,0.037,2805,2129,2121,0,0,0,0,0,0
$GC,3692,0.68,222.3,355.4,15.0,424,3696,0.00,2.08,0.00,0.000,4,0.000,0.049,2805,3529,2119,0,0,0,0,0,0
$GC,3757,0.68,229.7,346.0,14.8,429,3771,0.00,2.12,7.78,0.636,6,0.000,0.032,2805,2057,2090,0,0,0,0,0,0
$GC,4087,0.73,276.2,301.8,13.0,460,4134,0.08,2.12,37.25,0.721,4,0.132,0.044,2872,663,1899,0,0,0,0,0,0
$GC,4215,0.71,276.2,280.0,18.4,479,4223,0.20,2.17,0.00,0.000,6,0.156,0.036,2813,2129,1895,0,0,0,0,0,0
$GC,4563,0.73,293.3,228.1,14.4,540,4587,0.05,2.15,13.95,0.630,4,0.173,0.050,2861,3521,1829,0,0,0,0,0,0
$GC,4616,0.71,293.3,217.9,20.6,548,4625,0.17,2.17,0.00,0.000,6,0.148,0.033,2813,2066,1829,0,0,0,0,0,0
$GC,4964,0.77,339.2,170.0,13.0,609,5009,0.10,2.10,37.28,0.621,4,0.102,0.040,2891,656,1641,0,0,0,0,0,0
$GC,5132,0.76,339.2,140.0,18.1,636,5141,0.17,2.20,0.00,0.000,6,0.132,0.036,2830,2116,1636,0,0,0,0,0,0
$GC,5494,0.86,414.2,93.5,11.7,697,5560,0.12,2.17,57.92,0.563,4,0.088,0.046,2911,3533,1337,0,0,0,0,0,0
$GC,5570,0.85,414.2,80.4,19.4,706,5579,0.17,2.22,0.00,0.000,6,0.145,0.034,2854,2069,1335,0,0,0,0,0,0
$GC,5936,0.96,501.5,34.4,11.1,767,6010,0.15,2.20,66.85,0.513,4,0.076,0.047,2952,663,980,0,0,0,0,0,0
$GC,6030,0.95,501.5,15.8,23.4,779,6040,0.17,2.22,0.00,0.000,6,0.129,0.039,2893,2116,979,0,0,0,0,0,0
$STATE,6100,end climb,SURFACE_DEPTH_REACHED
$STATE,6100,begin surface coast
$FINISH,0.6,1.016088
$STATE,6118,end surface coast,CONTROL_FINISHED_OK
$STATE,6119,begin surface
$SM_CCo,6193,0.00,0.000,0,0,975,503.36
$SM_GC,1.46,6.78,0.00,0.00,0.035,0.000,0.000,204,2431,975,-7.39,0.88,503.36
$IRIDIUM_FIX,2354.48,12640.86,071010,050515
$TT8_MAMPS,0.026215
$HUMID,51.57
$INTERNAL_PRESSURE,8.80191
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,26.062
$10V_AH,10.6,22.412
$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,18.625,56.475,556.650,0.000,0.000,26.418,24.332,107.549,0.000,0.000,15.756,1857.052,1522.714,496.347,2446.475,127.974,0.000,1314.688,0.000,2291.356,0.000,0.543,0.000
$DEVICE_MAMPS,240.975,80.325,836.910,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.794,0.000,1664.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47071,793
$CAP_FILE_SIZE,85009,0
$CFSIZE,260165632,243830784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131, 68.2,1
$GPS,071010,085308,2404.411,12644.143,11,1.6,11,-3.6