version: 66.08
glider: 176
mission: 2
dive: 225
start: 10 9 110 14 0 36
data:
$ID,176
$MISSION,2
$DIVE,225
$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,-5054.5918
$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
$GPS1,091010,135508,2424.533,12704.408,11,1.8,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-76.0
$GPS2,091010,140010,2424.479,12704.447,13,3.4,32,-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,327.6,10267,-20.3,-15.152
$D_GRID,4517
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-219.0,0.0,0.0,0,66,0.00,0.00,-48.70,0.000,2,0.000,0.000,200,2444,2471,0,0,0,0,0,0
$GC,69,-0.72,-219.0,3.0,-4.5,6,111,8.45,2.08,-28.75,0.000,4,0.239,0.068,2349,3774,3922,0,0,0,0,0,0
$GC,178,-0.71,-219.0,35.7,-27.9,22,187,0.05,2.08,0.00,0.000,6,0.157,0.031,2367,2358,3924,0,0,0,0,0,0
$GC,543,-0.70,-219.0,146.7,-25.8,83,552,0.00,2.15,0.00,0.000,4,0.000,0.054,2367,3760,3925,0,0,0,0,0,0
$GC,595,-0.70,-219.0,158.5,-18.9,91,602,0.00,2.00,0.00,0.000,6,0.000,0.028,2367,2353,3925,0,0,0,0,0,0
$GC,950,-0.69,-219.0,234.1,-22.1,152,960,0.00,2.17,0.00,0.000,4,0.000,0.055,2367,3767,3926,0,0,0,0,0,0
$GC,1009,-0.69,-219.0,245.1,-17.1,161,1015,0.00,2.00,0.00,0.000,6,0.000,0.028,2367,2353,3925,0,0,0,0,0,0
$GC,1365,-0.69,-219.0,310.3,-17.7,218,1369,0.00,2.12,0.00,0.000,4,0.000,0.054,2366,3767,3926,0,0,0,0,0,0
$GC,1394,-0.69,-219.0,315.4,-16.8,220,1397,0.00,2.00,0.00,0.000,6,0.000,0.028,2366,2351,3926,0,0,0,0,0,0
$GC,1725,-0.69,-219.0,368.3,-15.6,251,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2346,3925,0,0,0,0,0,0
$GC,2045,-0.69,-219.0,420.4,-17.0,281,2049,0.00,2.12,0.00,0.000,4,0.000,0.054,2363,3766,3925,0,0,0,0,0,0
$GC,2085,-0.70,-219.0,427.3,-15.7,284,2089,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2330,3924,0,0,0,0,0,0
$GC,2418,-0.70,-219.0,479.1,-14.8,315,2422,0.00,2.17,0.00,0.000,4,0.000,0.055,2363,3773,3923,0,0,0,0,0,0
$GC,2472,-0.71,-219.0,486.1,-10.8,319,2476,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2346,3923,0,0,0,0,0,0
$STATE,2580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2580,begin apogee
$GC,2585,-0.11,0.0,500.2,13.7,329,2756,0.55,0.20,164.93,0.847,6,0.112,0.067,2558,2153,3026,0,0,0,0,0,0
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2758,0.72,219.0,509.1,0.0,343,2935,0.70,2.17,169.48,0.836,4,0.045,0.047,2849,3532,2133,0,0,0,0,0,0
$GC,3117,0.70,219.0,460.5,23.1,373,3125,0.15,2.20,0.00,0.000,6,0.161,0.032,2812,2071,2127,0,0,0,0,0,0
$GC,3443,0.69,219.0,405.8,15.8,404,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2067,2123,0,0,0,0,0,0
$GC,3764,0.69,231.8,356.0,14.6,434,3778,0.00,2.08,9.62,0.679,4,0.000,0.042,2818,660,2081,0,0,0,0,0,0
$GC,3794,0.69,239.1,350.9,14.8,436,3809,0.03,2.20,7.38,0.630,6,0.186,0.035,2808,2126,2052,0,0,0,0,0,0
$GC,4134,0.69,249.4,300.3,14.7,468,4150,0.00,2.25,9.15,0.646,4,0.000,0.044,2817,663,2009,0,0,0,0,0,0
$GC,4361,0.72,278.4,267.7,13.8,505,4391,0.00,2.17,23.90,0.693,6,0.000,0.037,2818,2136,1891,0,0,0,0,0,0
$GC,4741,0.73,294.0,211.1,14.4,569,4762,0.00,2.10,13.27,0.623,4,0.000,0.045,2818,3526,1828,0,0,0,0,0,0
$GC,4794,0.73,294.0,202.6,15.4,577,4801,0.00,2.15,0.00,0.000,6,0.000,0.035,2817,2063,1826,0,0,0,0,0,0
$GC,5149,0.72,294.0,149.5,15.4,638,5157,0.00,2.08,0.00,0.000,4,0.000,0.044,2818,663,1824,0,0,0,0,0,0
$GC,5208,0.78,337.7,141.7,13.1,647,5250,0.05,2.17,35.38,0.612,6,0.077,0.037,2872,2118,1649,0,0,0,0,0,0
$GC,5601,0.84,390.2,74.3,12.7,712,5652,0.08,2.22,40.95,0.562,4,0.203,0.041,2858,666,1435,0,0,0,0,0,0
$GC,5685,0.94,460.2,64.9,11.9,723,5751,0.08,2.22,54.97,0.548,6,0.055,0.038,2928,2122,1149,0,0,0,0,0,0
$STATE,6023,end climb,SURFACE_DEPTH_REACHED
$STATE,6023,begin surface coast
$FINISH,0.5,1.009542
$STATE,6044,end surface coast,CONTROL_FINISHED_OK
$STATE,6044,begin surface
$SM_CCo,6118,0.00,0.000,0,0,1139,462.88
$SM_GC,1.45,6.85,0.00,0.00,0.038,0.000,0.000,211,2436,1139,-7.38,1.05,462.88
$IRIDIUM_FIX,2415.74,12706.86,091010,121202
$TT8_MAMPS,0.026964
$HUMID,53.18
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.6,29.773
$10V_AH,10.6,25.717
$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,16.975,52.000,529.025,0.000,0.000,24.804,46.035,108.130,0.000,0.000,35.792,1838.717,1575.242,459.088,2416.050,133.032,0.000,1245.755,0.000,2218.459,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,68.085,846.855,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.692,0.000,1613.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47042,781
$CAP_FILE_SIZE,81085,0
$CFSIZE,260165632,242454528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234,115.0,1
$GPS,091010,154336,2425.007,12704.762,32,0.9,36,-3.7