version: 66.08
glider: 176
mission: 2
dive: 211
start: 10 8 110 12 20 17
data:
$ID,176
$MISSION,2
$DIVE,211
$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,-5035.8828
$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
$GPS1,081010,121507,2416.233,12656.009,33,1.2,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-68.7
$GPS2,081010,121950,2416.222,12656.066,12,1.4,12,-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,356.8,29628,-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,-219.0,0.0,0.0,0,75,0.00,0.00,-57.30,0.000,2,0.000,0.000,202,2433,2666,0,0,0,0,0,0
$GC,77,-0.72,-219.0,3.6,-6.6,7,119,8.43,2.05,-22.48,0.000,4,0.238,0.067,2349,3760,3923,0,0,0,0,0,0
$GC,220,-0.71,-219.0,50.7,-28.2,29,230,0.05,2.05,0.00,0.000,6,0.158,0.030,2366,2358,3924,0,0,0,0,0,0
$GC,584,-0.70,-219.0,153.5,-23.0,90,593,0.00,2.03,0.00,0.000,4,0.000,0.034,2367,957,3926,0,0,0,0,0,0
$GC,692,-0.70,-219.0,173.3,-16.4,108,702,0.00,2.22,0.00,0.000,6,0.000,0.045,2366,2423,3926,0,0,0,0,0,0
$GC,1053,-0.70,-219.0,249.2,-22.3,169,1060,0.00,2.03,0.00,0.000,4,0.000,0.056,2365,3775,3926,0,0,0,0,0,0
$GC,1115,-0.71,-219.0,261.0,-15.4,179,1121,0.00,2.03,0.00,0.000,6,0.000,0.028,2366,2349,3927,0,0,0,0,0,0
$GC,1457,-0.71,-219.0,325.0,-18.7,228,1461,0.00,2.00,0.00,0.000,4,0.000,0.036,2365,949,3927,0,0,0,0,0,0
$GC,1484,-0.71,-219.0,330.1,-17.0,230,1494,0.00,2.22,0.00,0.000,6,0.000,0.044,2365,2419,3926,0,0,0,0,0,0
$GC,1812,-0.71,-219.0,383.2,-16.7,261,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2419,3926,0,0,0,0,0,0
$GC,2131,-0.71,-219.0,432.9,-15.5,291,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2419,3925,0,0,0,0,0,0
$GC,2457,-0.72,-219.0,479.1,-13.8,322,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2419,3924,0,0,0,0,0,0
$STATE,2616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2616,begin apogee
$GC,2621,-0.11,0.0,501.1,13.4,337,2792,0.55,0.12,165.18,0.847,6,0.108,0.056,2562,2141,3026,0,0,0,0,0,0
$STATE,2792,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2794,0.72,219.0,511.5,0.0,351,2974,0.68,2.30,169.70,0.836,4,0.038,0.042,2878,662,2133,0,0,0,0,0,0
$GC,2979,0.70,219.0,504.6,20.3,366,2989,0.22,2.28,0.00,0.000,6,0.163,0.034,2810,2126,2130,0,0,0,0,0,0
$GC,3306,0.68,219.0,448.3,16.7,397,3310,0.00,2.17,0.00,0.000,4,0.000,0.041,2818,658,2125,0,0,0,0,0,0
$GC,3317,0.67,219.0,446.1,16.1,397,3324,0.08,2.20,0.00,0.000,6,0.197,0.036,2800,2137,2123,0,0,0,0,0,0
$GC,3643,0.76,297.6,402.5,11.5,428,3710,0.12,2.15,61.15,0.782,4,0.088,0.048,2878,3528,1812,0,0,0,0,0,0
$GC,3925,0.74,297.6,339.7,22.5,452,3930,0.22,2.17,0.00,0.000,6,0.173,0.031,2824,2051,1805,0,0,0,0,0,0
$GC,4259,0.74,297.6,281.0,16.8,491,4267,0.00,2.25,0.00,0.000,4,0.000,0.048,2824,3530,1801,0,0,0,0,0,0
$GC,4400,0.73,297.6,256.6,17.0,515,4409,0.05,2.12,0.00,0.000,6,0.249,0.031,2820,2063,1800,0,0,0,0,0,0
$GC,4750,0.73,298.5,204.6,15.1,576,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2061,1799,0,0,0,0,0,0
$GC,5100,0.77,331.8,153.0,13.6,637,5138,0.08,2.28,25.92,0.615,4,0.129,0.047,2884,3526,1672,0,0,0,0,0,0
$GC,5274,0.76,331.8,119.4,18.3,665,5284,0.20,2.17,0.00,0.000,6,0.140,0.032,2825,2059,1669,0,0,0,0,0,0
$GC,5641,0.88,429.7,77.7,10.6,726,5724,0.15,2.17,75.47,0.559,4,0.079,0.042,2927,656,1273,0,0,0,0,0,0
$GC,5878,0.88,429.7,38.7,16.1,762,5887,0.17,2.22,0.00,0.000,6,0.125,0.036,2866,2128,1268,0,0,0,0,0,0
$STATE,6165,end climb,SURFACE_DEPTH_REACHED
$STATE,6165,begin surface coast
$FINISH,0.6,1.021162
$STATE,6197,end surface coast,CONTROL_FINISHED_OK
$STATE,6197,begin surface
$SM_CCo,6271,0.00,0.000,0,0,1264,432.46
$SM_GC,1.84,6.65,0.00,0.00,0.038,0.000,0.000,207,2427,1264,-7.37,0.76,432.46
$IRIDIUM_FIX,2406.29,12656.92,081010,101023
$TT8_MAMPS,0.026215
$HUMID,51.96
$INTERNAL_PRESSURE,8.83121
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.6,28.030
$10V_AH,10.6,24.172
$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,17.650,44.175,497.425,0.000,0.000,28.629,44.867,107.268,0.000,0.000,15.637,1907.712,1536.022,461.402,2518.930,133.589,0.000,1255.060,0.000,2341.748,0.000,0.543,0.000
$DEVICE_MAMPS,249.390,66.555,846.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.542,0.000,1725.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50311,815
$CAP_FILE_SIZE,79703,0
$CFSIZE,260165632,243097600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242,125.6,1
$GPS,081010,140525,2416.243,12656.601,7,1.4,12,-3.7