version: 66.08
glider: 176
mission: 2
dive: 218
start: 10 9 110 1 12 49
data:
$ID,176
$MISSION,2
$DIVE,218
$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,-5045.2373
$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
$GPS1,091010,010728,2420.956,12700.742,9,3.9,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.1
$GPS2,091010,011222,2420.926,12700.862,14,4.2,33,-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,341.2,18194,-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,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,82,0.00,0.00,-64.80,0.000,2,0.000,0.000,202,2454,2807,0,0,0,0,0,0
$GC,84,-0.72,-219.0,4.1,-7.7,8,119,8.40,2.20,-18.77,0.000,4,0.237,0.045,2357,945,3922,0,0,0,0,0,0
$GC,227,-0.71,-219.0,52.0,-27.3,30,236,0.00,2.28,0.00,0.000,6,0.000,0.047,2356,2423,3924,0,0,0,0,0,0
$GC,584,-0.69,-219.0,162.4,-28.8,91,591,0.08,2.05,0.00,0.000,4,0.220,0.057,2374,3770,3925,0,0,0,0,0,0
$GC,623,-0.69,-219.0,173.2,-26.3,97,630,0.00,2.03,0.00,0.000,6,0.000,0.029,2374,2351,3926,0,0,0,0,0,0
$GC,979,-0.68,-219.0,246.0,-19.5,158,988,0.00,2.03,0.00,0.000,4,0.000,0.035,2374,949,3927,0,0,0,0,0,0
$GC,1025,-0.69,-219.0,253.9,-16.1,165,1033,0.00,2.20,0.00,0.000,6,0.000,0.044,2374,2423,3926,0,0,0,0,0,0
$GC,1379,-0.69,-219.0,317.8,-17.6,218,1382,0.00,2.00,0.00,0.000,4,0.000,0.056,2374,3773,3926,0,0,0,0,0,0
$GC,1453,-0.70,-219.0,328.4,-11.0,224,1462,0.03,2.03,0.00,0.000,6,0.106,0.028,2333,2347,3926,0,0,0,0,0,0
$GC,1780,-0.70,-219.0,394.3,-20.7,255,1782,0.12,0.00,0.00,0.000,6,0.174,0.000,2369,2345,3926,0,0,0,0,0,0
$GC,2098,-0.70,-219.0,443.8,-15.3,285,2102,0.00,2.00,0.00,0.000,4,0.000,0.037,2369,945,3924,0,0,0,0,0,0
$GC,2146,-0.72,-219.0,450.5,-13.0,289,2151,0.05,2.17,0.00,0.000,6,0.172,0.044,2324,2422,3924,0,0,0,0,0,0
$STATE,2417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2417,begin apogee
$GC,2421,-0.11,0.0,501.3,17.8,314,2593,0.68,0.17,164.82,0.850,6,0.121,0.073,2557,2144,3027,0,0,0,0,0,0
$STATE,2594,end apogee,CONTROL_FINISHED_OK
$STATE,2594,begin climb
$GC,2596,0.72,219.0,511.3,0.0,328,2780,0.70,2.25,169.57,0.840,4,0.046,0.047,2847,3540,2132,0,0,0,0,0,0
$GC,2854,0.70,219.0,487.3,23.0,349,2861,0.17,2.20,0.00,0.000,6,0.182,0.031,2811,2066,2129,0,0,0,0,0,0
$GC,3181,0.70,227.5,434.3,14.8,380,3195,0.00,2.08,6.95,0.644,4,0.000,0.042,2818,663,2098,0,0,0,0,0,0
$GC,3221,0.69,227.5,428.3,15.2,383,3226,0.05,2.17,0.00,0.000,6,0.227,0.035,2806,2129,2097,0,0,0,0,0,0
$GC,3548,0.68,227.5,377.1,15.4,413,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2130,2095,0,0,0,0,0,0
$GC,3868,0.70,253.9,329.2,13.9,443,3896,0.00,2.25,21.23,0.728,4,0.000,0.043,2807,660,1990,0,0,0,0,0,0
$GC,3917,0.73,280.7,322.2,13.9,447,3945,0.08,2.17,22.50,0.718,6,0.130,0.036,2859,2124,1882,0,0,0,0,0,0
$GC,4289,0.71,280.7,252.7,19.9,501,4297,0.15,2.10,0.00,0.000,4,0.170,0.048,2816,3530,1873,0,0,0,0,0,0
$GC,4353,0.71,280.7,241.1,16.3,511,4360,0.05,2.15,0.00,0.000,6,0.240,0.033,2813,2061,1873,0,0,0,0,0,0
$GC,4711,0.75,312.4,191.9,13.7,572,4741,0.08,2.12,24.73,0.646,4,0.129,0.043,2877,663,1752,0,0,0,0,0,0
$GC,4905,0.74,312.4,158.5,16.7,604,4914,0.15,2.17,0.00,0.000,6,0.135,0.037,2824,2118,1746,0,0,0,0,0,0
$GC,5269,0.83,389.3,112.6,11.6,665,5336,0.12,2.22,59.75,0.593,4,0.088,0.048,2905,3537,1438,0,0,0,0,0,0
$GC,5460,0.83,389.3,77.3,17.8,694,5470,0.17,2.20,0.00,0.000,6,0.138,0.035,2852,2073,1434,0,0,0,0,0,0
$GC,5826,0.97,494.0,37.7,10.3,755,5916,0.15,2.15,79.15,0.529,4,0.076,0.043,2952,670,1011,0,0,0,0,0,0
$STATE,6023,end climb,SURFACE_DEPTH_REACHED
$STATE,6023,begin surface coast
$FINISH,0.7,1.021906
$STATE,6036,end surface coast,CONTROL_FINISHED_OK
$STATE,6036,begin surface
$SM_CCo,6113,0.00,0.000,0,0,1005,496.00
$SM_GC,1.57,7.05,0.00,0.00,0.044,0.000,0.000,208,2431,1005,-7.40,0.88,496.00
$IRIDIUM_FIX,2411.01,12658.34,081010,232336
$TT8_MAMPS,0.026215
$HUMID,51.22
$INTERNAL_PRESSURE,8.81168
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.6,28.905
$10V_AH,10.6,24.949
$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,18.275,52.600,548.700,0.000,0.000,25.529,37.138,112.875,0.000,0.000,36.835,1839.677,1507.266,489.623,2446.958,126.843,0.000,1281.783,0.000,2247.513,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,73.440,849.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.429,0.000,1668.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46983,786
$CAP_FILE_SIZE,81602,0
$CFSIZE,260165632,242778112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.290,120.0,1
$GPS,091010,025537,2421.231,12701.471,30,1.0,30,-3.7