version: 66.08
glider: 176
mission: 2
dive: 221
start: 10 9 110 6 45 47
data:
$ID,176
$MISSION,2
$DIVE,221
$N_DIVES,228
$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,-5049.2876
$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
$GPS1,091010,064102,2422.202,12702.218,11,1.8,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.4
$GPS2,091010,064520,2422.176,12702.270,12,1.9,12,-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,346.5,15204,-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,-219.0,0.0,0.0,0,66,0.00,0.00,-48.72,0.000,2,0.000,0.000,199,2439,2581,0,0,0,0,0,0
$GC,68,-0.72,-219.0,3.4,-5.8,6,109,8.40,0.00,-25.02,0.000,6,0.238,0.000,2354,2439,3922,0,0,0,0,0,0
$GC,460,-0.71,-219.0,136.1,-25.2,71,469,0.05,2.20,0.00,0.000,4,0.257,0.037,2366,953,3925,0,0,0,0,0,0
$GC,539,-0.71,-219.0,154.7,-18.7,84,549,0.00,2.22,0.00,0.000,6,0.000,0.047,2365,2415,3925,0,0,0,0,0,0
$GC,899,-0.71,-219.0,228.0,-18.6,145,905,0.00,2.03,0.00,0.000,4,0.000,0.057,2365,3766,3926,0,0,0,0,0,0
$GC,937,-0.71,-219.0,235.1,-17.8,151,944,0.00,2.03,0.00,0.000,6,0.000,0.030,2365,2344,3926,0,0,0,0,0,0
$GC,1293,-0.71,-219.0,300.0,-17.9,212,1303,0.00,2.00,0.00,0.000,4,0.000,0.037,2365,960,3926,0,0,0,0,0,0
$GC,1416,-0.72,-219.0,318.8,-14.4,223,1423,0.00,2.17,0.00,0.000,6,0.000,0.045,2363,2421,3926,0,0,0,0,0,0
$GC,1741,-0.72,-219.0,370.9,-16.6,254,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2421,3926,0,0,0,0,0,0
$GC,2060,-0.72,-219.0,421.9,-15.9,284,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2421,3924,0,0,0,0,0,0
$GC,2380,-0.73,-219.0,469.4,-14.4,314,2384,0.00,2.10,0.00,0.000,4,0.000,0.036,2363,956,3924,0,0,0,0,0,0
$GC,2436,-0.74,-219.0,476.8,-11.5,318,2445,0.03,2.20,0.00,0.000,6,0.117,0.045,2319,2413,3923,0,0,0,0,0,0
$STATE,2579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2579,begin apogee
$GC,2584,-0.11,0.0,500.5,18.2,332,2757,0.70,0.20,165.10,0.857,6,0.125,0.069,2559,2147,3027,0,0,0,0,0,0
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2760,0.72,219.0,511.9,0.0,346,2945,0.70,2.25,169.95,0.845,4,0.041,0.047,2859,3532,2132,0,0,0,0,0,0
$GC,3139,0.70,219.0,466.1,20.5,378,3144,0.22,2.17,0.00,0.000,6,0.177,0.032,2807,2064,2127,0,0,0,0,0,0
$GC,3464,0.68,219.0,413.0,16.8,408,3468,0.00,2.08,0.00,0.000,4,0.000,0.046,2818,656,2123,0,0,0,0,0,0
$GC,3533,0.68,219.0,402.0,15.2,414,3537,0.08,2.20,0.00,0.000,6,0.196,0.038,2799,2131,2120,0,0,0,0,0,0
$GC,3858,0.68,231.5,354.8,14.6,444,3874,0.05,2.28,9.30,0.682,4,0.172,0.045,2853,654,2083,0,0,0,0,0,0
$GC,3923,0.67,231.5,344.5,17.2,449,3927,0.20,2.17,0.00,0.000,6,0.157,0.039,2794,2126,2080,0,0,0,0,0,0
$GC,4249,0.78,330.0,304.3,10.6,479,4334,0.15,2.33,78.20,0.739,4,0.078,0.045,2890,664,1680,0,0,0,0,0,0
$GC,4388,0.77,330.0,278.2,19.0,498,4397,0.17,2.25,0.00,0.000,6,0.145,0.038,2833,2123,1675,0,0,0,0,0,0
$GC,4747,0.76,330.0,213.7,18.8,559,4754,0.00,2.17,0.00,0.000,4,0.000,0.044,2841,655,1670,0,0,0,0,0,0
$GC,4833,0.76,330.0,199.4,15.3,573,4840,0.05,2.20,0.00,0.000,6,0.220,0.040,2827,2126,1669,0,0,0,0,0,0
$GC,5193,0.78,345.5,142.0,14.4,634,5210,0.08,0.00,11.77,0.579,6,0.129,0.000,2884,2129,1617,0,0,0,0,0,0
$GC,5560,0.77,345.5,73.2,15.5,696,5569,0.17,0.00,0.00,0.000,6,0.155,0.000,2831,2128,1612,0,0,0,0,0,0
$GC,5926,1.00,524.8,45.7,6.8,757,6072,0.22,2.25,136.75,0.538,4,0.059,0.041,2953,666,884,0,0,0,0,0,0
$STATE,6170,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FINISH,0.7,1.007799
$STATE,6191,end surface coast,CONTROL_FINISHED_OK
$STATE,6191,begin surface
$SM_CCo,6268,0.00,0.000,0,0,878,527.15
$SM_GC,1.37,7.00,0.00,0.00,0.038,0.000,0.000,207,2424,878,-7.40,0.68,527.15
$IRIDIUM_FIX,2411.01,12702.12,091010,040452
$TT8_MAMPS,0.026215
$HUMID,51.26
$INTERNAL_PRESSURE,8.77261
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,29.279
$10V_AH,10.6,25.285
$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,18.275,44.725,571.075,0.000,0.000,30.514,17.778,107.666,0.000,0.000,16.754,1854.062,1601.983,497.956,2443.047,131.624,0.000,1305.718,0.000,2284.464,0.000,0.542,0.000
$DEVICE_MAMPS,257.040,68.850,856.800,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.047,0.000,1671.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46971,795
$CAP_FILE_SIZE,80185,0
$CFSIZE,260165632,242634752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,123.0,1
$GPS,091010,083107,2422.712,12702.551,27,1.2,27,-3.7