version: 66.08
glider: 176
mission: 2
dive: 217
start: 10 8 110 23 26 28
data:
$ID,176
$MISSION,2
$DIVE,217
$N_DIVES,221
$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,-5043.8862
$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
$GPS1,081010,232120,2420.369,12659.896,11,1.3,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-70.4
$GPS2,081010,232601,2420.392,12700.005,13,1.1,30,-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,352.1,19684,-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,-219.0,0.0,0.0,0,66,0.00,0.00,-49.70,0.000,2,0.000,0.000,202,2450,2565,0,0,0,0,0,0
$GC,69,-0.72,-219.0,3.4,-6.2,6,111,8.38,2.20,-25.58,0.000,4,0.237,0.046,2357,942,3922,0,0,0,0,0,0
$GC,219,-0.71,-219.0,49.8,-30.2,29,228,0.00,2.28,0.00,0.000,6,0.000,0.050,2357,2414,3923,0,0,0,0,0,0
$GC,581,-0.69,-219.0,157.8,-25.1,90,589,0.05,0.00,0.00,0.000,6,0.256,0.000,2369,2415,3924,0,0,0,0,0,0
$GC,940,-0.69,-219.0,231.7,-19.5,151,947,0.00,2.12,0.00,0.000,4,0.000,0.034,2369,944,3926,0,0,0,0,0,0
$GC,994,-0.70,-219.0,241.4,-14.8,160,1004,0.00,2.22,0.00,0.000,6,0.000,0.044,2369,2414,3926,0,0,0,0,0,0
$GC,1355,-0.70,-219.0,309.9,-18.0,217,1359,0.00,2.03,0.00,0.000,4,0.000,0.055,2368,3767,3926,0,0,0,0,0,0
$GC,1429,-0.71,-219.0,321.5,-11.7,223,1436,0.00,2.03,0.00,0.000,6,0.000,0.028,2367,2351,3925,0,0,0,0,0,0
$GC,1753,-0.71,-219.0,376.2,-17.2,254,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2347,3925,0,0,0,0,0,0
$GC,2073,-0.71,-219.0,429.6,-16.5,284,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2347,3924,0,0,0,0,0,0
$GC,2392,-0.72,-219.0,478.2,-15.5,314,2396,0.05,2.00,0.00,0.000,4,0.178,0.034,2331,952,3922,0,0,0,0,0,0
$GC,2416,-0.73,-219.0,482.0,-15.9,316,2420,0.12,2.20,0.00,0.000,6,0.156,0.044,2370,2429,3922,0,0,0,0,0,0
$STATE,2547,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2547,begin apogee
$GC,2552,-0.11,0.0,500.2,13.2,328,2723,0.52,0.15,164.82,0.850,6,0.107,0.080,2560,2142,3027,0,0,0,0,0,0
$STATE,2724,end apogee,CONTROL_FINISHED_OK
$STATE,2724,begin climb
$GC,2726,0.72,219.0,510.6,0.0,342,2911,0.68,2.25,169.70,0.840,4,0.034,0.046,2870,3531,2132,0,0,0,0,0,0
$GC,3037,0.69,219.0,470.1,23.4,368,3042,0.25,2.17,0.00,0.000,6,0.175,0.031,2811,2054,2128,0,0,0,0,0,0
$GC,3362,0.70,229.1,416.5,14.7,398,3377,0.00,2.08,8.12,0.667,4,0.000,0.043,2818,663,2092,0,0,0,0,0,0
$GC,3485,0.74,272.9,399.6,13.1,408,3529,0.03,2.20,35.30,0.768,6,0.112,0.036,2855,2120,1915,0,0,0,0,0,0
$GC,3847,0.73,272.9,333.1,18.8,442,3851,0.15,2.12,0.00,0.000,4,0.171,0.048,2813,3527,1907,0,0,0,0,0,0
$GC,3896,0.72,272.9,323.8,16.6,446,3905,0.00,2.17,0.00,0.000,6,0.000,0.032,2820,2063,1906,0,0,0,0,0,0
$GC,4239,0.71,272.9,269.7,15.4,493,4246,0.00,2.22,0.00,0.000,4,0.000,0.047,2820,3535,1904,0,0,0,0,0,0
$GC,4301,0.70,272.9,258.7,18.0,503,4308,0.10,2.15,0.00,0.000,6,0.192,0.033,2804,2067,1904,0,0,0,0,0,0
$GC,4656,0.80,354.4,207.1,11.4,564,4728,0.15,2.12,63.22,0.666,4,0.079,0.044,2904,664,1581,0,0,0,0,0,0
$GC,4879,0.79,354.4,164.8,18.8,600,4889,0.20,2.20,0.00,0.000,6,0.144,0.036,2837,2120,1574,0,0,0,0,0,0
$GC,5244,0.79,354.4,105.0,15.8,661,5253,0.00,2.20,0.00,0.000,4,0.000,0.043,2844,666,1570,0,0,0,0,0,0
$GC,5285,0.83,380.0,98.8,14.0,667,5312,0.03,2.17,20.15,0.566,6,0.109,0.037,2890,2116,1476,0,0,0,0,0,0
$GC,5662,0.91,445.5,43.1,12.1,730,5720,0.05,2.28,50.90,0.537,4,0.248,0.044,2885,661,1209,0,0,0,0,0,0
$GC,5806,1.03,530.4,26.5,11.2,751,5880,0.10,2.22,65.07,0.516,6,0.046,0.038,2960,2129,862,0,0,0,0,0,0
$STATE,5918,end climb,SURFACE_DEPTH_REACHED
$STATE,5918,begin surface coast
$FINISH,0.7,1.011101
$STATE,5932,end surface coast,CONTROL_FINISHED_OK
$STATE,5932,begin surface
$SM_CCo,6006,0.00,0.000,0,0,856,532.30
$SM_GC,1.48,7.03,0.00,0.00,0.037,0.000,0.000,203,2452,856,-7.40,1.47,532.30
$IRIDIUM_FIX,2413.38,12658.34,081010,212158
$TT8_MAMPS,0.025466
$HUMID,51.73
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,28.780
$10V_AH,10.6,24.839
$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,17.875,48.750,577.300,0.000,0.000,23.281,36.481,107.196,0.000,0.000,32.994,1787.428,1485.449,503.091,2388.601,124.916,0.000,1298.033,0.000,2204.834,0.000,0.542,0.000
$DEVICE_MAMPS,255.510,80.325,849.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.807,0.000,1610.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46908,768
$CAP_FILE_SIZE,80001,0
$CFSIZE,260165632,242823168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.283,114.8,1
$GPS,091010,010728,2420.956,12700.742,9,3.9,28,-3.7