version: 66.08
glider: 176
mission: 2
dive: 207
start: 10 8 110 5 6 17
data:
$ID,176
$MISSION,2
$DIVE,207
$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,-5030.48
$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
$GPS1,081010,050131,2413.012,12652.359,41,1.5,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.3
$GPS2,081010,050550,2413.036,12652.386,10,1.7,10,-3.7
$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,16.9,37933,-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,-219.0,0.0,0.0,0,81,0.00,0.00,-64.62,0.000,2,0.000,0.000,202,2428,2651,0,0,0,0,0,0
$GC,83,-0.72,-219.0,3.5,-6.4,8,125,8.43,2.08,-23.30,0.000,4,0.239,0.069,2349,3762,3923,0,0,0,0,0,0
$GC,204,-0.70,-219.0,45.0,-32.4,26,213,0.05,2.03,0.00,0.000,6,0.161,0.029,2366,2358,3924,0,0,0,0,0,0
$GC,567,-0.69,-219.0,158.1,-24.5,87,573,0.00,2.00,0.00,0.000,4,0.000,0.034,2366,948,3925,0,0,0,0,0,0
$GC,650,-0.70,-219.0,175.1,-18.2,101,657,0.00,2.22,0.00,0.000,6,0.000,0.046,2366,2427,3926,0,0,0,0,0,0
$GC,998,-0.69,-219.0,245.7,-19.0,162,1006,0.00,2.03,0.00,0.000,4,0.000,0.058,2364,3760,3927,0,0,0,0,0,0
$GC,1067,-0.70,-219.0,257.6,-14.8,173,1074,0.00,1.98,0.00,0.000,6,0.000,0.029,2364,2351,3927,0,0,0,0,0,0
$GC,1408,-0.70,-219.0,319.7,-18.1,224,1411,0.00,2.00,0.00,0.000,4,0.000,0.035,2364,949,3926,0,0,0,0,0,0
$GC,1469,-0.71,-219.0,328.9,-14.0,229,1473,0.00,2.17,0.00,0.000,6,0.000,0.045,2363,2420,3927,0,0,0,0,0,0
$GC,1795,-0.71,-219.0,383.7,-17.6,259,1798,0.00,2.00,0.00,0.000,4,0.000,0.056,2363,3772,3926,0,0,0,0,0,0
$GC,1856,-0.72,-219.0,393.6,-13.1,264,1864,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2353,3925,0,0,0,0,0,0
$GC,2182,-0.73,-219.0,445.6,-15.4,295,2186,0.00,2.03,0.00,0.000,4,0.000,0.037,2362,931,3924,0,0,0,0,0,0
$GC,2221,-0.74,-219.0,451.7,-13.7,298,2230,0.03,2.25,0.00,0.000,6,0.121,0.044,2324,2418,3924,0,0,0,0,0,0
$STATE,2503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2503,begin apogee
$GC,2507,-0.11,0.0,501.5,17.9,325,2680,0.68,0.17,165.00,0.843,6,0.122,0.072,2557,2156,3027,0,0,0,0,0,0
$STATE,2681,end apogee,CONTROL_FINISHED_OK
$STATE,2681,begin climb
$GC,2683,0.72,219.0,511.9,0.0,339,2861,0.70,2.33,170.40,0.832,4,0.040,0.039,2875,655,2133,0,0,0,0,0,0
$GC,3065,0.70,219.0,465.2,19.4,371,3070,0.22,2.22,0.00,0.000,6,0.172,0.037,2811,2135,2125,0,0,0,0,0,0
$GC,3392,0.69,219.0,407.7,17.0,401,3396,0.00,2.20,0.00,0.000,4,0.000,0.044,2818,663,2121,0,0,0,0,0,0
$GC,3558,0.73,259.1,384.2,13.3,415,3594,0.00,2.15,30.62,0.757,6,0.000,0.037,2818,2127,1969,0,0,0,0,0,0
$GC,3911,0.73,270.8,327.6,14.6,448,3926,0.00,2.17,9.85,0.660,4,0.000,0.050,2818,3526,1922,0,0,0,0,0,0
$GC,3961,0.72,270.8,319.6,16.5,452,3965,0.00,2.12,0.00,0.000,6,0.000,0.031,2818,2065,1921,0,0,0,0,0,0
$GC,4301,0.71,270.8,265.0,16.5,501,4309,0.00,2.05,0.00,0.000,4,0.000,0.044,2818,659,1917,0,0,0,0,0,0
$GC,4374,0.74,290.8,254.1,14.2,513,4396,0.00,2.15,16.92,0.665,6,0.000,0.037,2818,2127,1841,0,0,0,0,0,0
$GC,4736,0.73,290.8,201.6,15.6,576,4744,0.00,2.12,0.00,0.000,4,0.000,0.050,2818,3524,1835,0,0,0,0,0,0
$GC,4848,0.73,290.8,183.2,16.2,595,4855,0.00,2.15,0.00,0.000,6,0.000,0.032,2818,2053,1835,0,0,0,0,0,0
$GC,5201,0.81,354.7,134.9,12.2,656,5259,0.10,2.08,49.78,0.607,4,0.106,0.041,2899,662,1580,0,0,0,0,0,0
$GC,5326,0.80,354.7,113.2,17.0,674,5336,0.17,2.22,0.00,0.000,6,0.133,0.037,2839,2130,1575,0,0,0,0,0,0
$GC,5693,0.95,473.8,72.1,9.6,735,5792,0.17,2.30,91.28,0.549,4,0.070,0.042,2952,666,1092,0,0,0,0,0,0
$GC,5901,0.95,473.8,32.1,18.9,765,5911,0.17,2.22,0.00,0.000,6,0.130,0.038,2892,2122,1088,0,0,0,0,0,0
$STATE,6085,end climb,SURFACE_DEPTH_REACHED
$STATE,6085,begin surface coast
$FINISH,0.6,1.000477
$STATE,6110,end surface coast,CONTROL_FINISHED_OK
$STATE,6110,begin surface
$SM_CCo,6185,0.00,0.000,0,0,1085,476.37
$SM_GC,1.30,6.70,0.00,0.00,0.033,0.000,0.000,200,2436,1085,-7.40,1.02,476.37
$IRIDIUM_FIX,2403.92,12648.89,081010,030341
$TT8_MAMPS,0.026215
$HUMID,52.24
$INTERNAL_PRESSURE,8.81168
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,27.538
$10V_AH,10.6,23.731
$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,17.425,56.425,533.850,0.000,0.000,27.416,23.716,112.273,0.000,0.000,12.838,1882.181,1473.038,482.490,2475.094,134.707,0.000,1302.040,0.000,2321.483,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,71.910,843.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.177,0.000,1671.198,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46929,800
$CAP_FILE_SIZE,83004,0
$CFSIZE,260165632,243277824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145, 80.2,1
$GPS,081010,065002,2413.946,12653.227,12,1.2,12,-3.7