version: 66.08
glider: 176
mission: 2
dive: 226
start: 10 9 110 15 48 15
data:
$ID,176
$MISSION,2
$DIVE,226
$N_DIVES,239
$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,-5055.9424
$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
$GPS1,091010,154336,2425.007,12704.762,32,0.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-73.5
$GPS2,091010,154749,2424.989,12704.782,12,1.7,12,-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,328.7,9289,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-219.0,0.0,0.0,0,65,0.00,0.00,-47.40,0.000,2,0.000,0.000,204,2443,2518,0,0,0,0,0,0
$GC,67,-0.72,-219.0,3.2,-5.2,6,110,8.38,2.08,-27.38,0.000,4,0.236,0.067,2348,3772,3923,0,0,0,0,0,0
$GC,177,-0.71,-219.0,35.6,-29.5,22,186,0.05,2.08,0.00,0.000,6,0.152,0.030,2368,2356,3925,0,0,0,0,0,0
$GC,543,-0.70,-219.0,137.3,-22.6,83,552,0.00,2.17,0.00,0.000,4,0.000,0.054,2367,3767,3926,0,0,0,0,0,0
$GC,595,-0.70,-219.0,148.2,-19.1,91,605,0.00,2.03,0.00,0.000,6,0.000,0.028,2368,2351,3926,0,0,0,0,0,0
$GC,945,-0.69,-219.0,223.0,-23.2,152,954,0.00,2.17,0.00,0.000,4,0.000,0.055,2368,3769,3927,0,0,0,0,0,0
$GC,1023,-0.70,-219.0,237.6,-16.2,165,1030,0.00,2.03,0.00,0.000,6,0.000,0.028,2368,2335,3927,0,0,0,0,0,0
$GC,1366,-0.70,-219.0,300.4,-15.8,226,1370,0.00,2.15,0.00,0.000,4,0.000,0.054,2367,3766,3927,0,0,0,0,0,0
$GC,1402,-0.70,-219.0,305.7,-14.9,229,1406,0.00,2.00,0.00,0.000,6,0.000,0.028,2368,2346,3927,0,0,0,0,0,0
$GC,1734,-0.70,-219.0,357.2,-16.4,260,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2340,3927,0,0,0,0,0,0
$GC,2054,-0.70,-219.0,408.7,-15.5,290,2057,0.00,2.15,0.00,0.000,4,0.000,0.054,2366,3777,3926,0,0,0,0,0,0
$GC,2097,-0.71,-219.0,415.5,-13.4,293,2104,0.00,2.03,0.00,0.000,6,0.000,0.028,2366,2339,3926,0,0,0,0,0,0
$GC,2423,-0.71,-219.0,459.9,-13.8,324,2427,0.00,2.15,0.00,0.000,4,0.000,0.055,2363,3765,3925,0,0,0,0,0,0
$GC,2468,-0.73,-219.0,465.7,-10.8,327,2476,0.00,2.00,0.00,0.000,6,0.000,0.028,2363,2344,3925,0,0,0,0,0,0
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2754,-0.11,0.0,501.1,12.5,354,2925,0.55,0.17,165.38,0.852,6,0.112,0.072,2558,2154,3027,0,0,0,0,0,0
$STATE,2926,end apogee,CONTROL_FINISHED_OK
$STATE,2926,begin climb
$GC,2928,0.72,219.0,509.8,0.0,368,3105,0.70,2.35,169.75,0.840,4,0.040,0.042,2873,661,2133,0,0,0,0,0,0
$GC,3341,0.70,219.0,455.4,20.1,403,3348,0.22,2.17,0.00,0.000,6,0.165,0.035,2809,2124,2124,0,0,0,0,0,0
$GC,3668,0.69,219.0,403.5,15.4,434,3669,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2124,2122,0,0,0,0,0,0
$GC,3987,0.69,227.3,356.1,14.8,464,4001,0.00,0.00,6.05,0.610,6,0.000,0.000,2809,2124,2099,0,0,0,0,0,0
$GC,4319,0.68,227.3,305.8,16.1,495,4323,0.00,2.15,0.00,0.000,4,0.000,0.043,2817,664,2097,0,0,0,0,0,0
$GC,4395,0.67,229.8,293.6,15.0,505,4403,0.08,2.17,0.00,0.000,6,0.192,0.038,2799,2131,2095,0,0,0,0,0,0
$GC,4747,0.72,271.7,242.1,13.2,566,4790,0.10,2.12,35.12,0.697,4,0.103,0.047,2865,3529,1917,0,0,0,0,0,0
$GC,4799,0.70,271.7,233.8,17.6,573,4807,0.22,2.15,0.00,0.000,6,0.169,0.034,2811,2068,1916,0,0,0,0,0,0
$GC,5149,0.76,327.7,184.4,12.5,634,5200,0.10,2.12,44.00,0.649,4,0.104,0.040,2886,656,1691,0,0,0,0,0,0
$GC,5226,0.75,327.7,170.7,19.0,645,5235,0.20,2.20,0.00,0.000,6,0.155,0.034,2827,2120,1688,0,0,0,0,0,0
$GC,5589,0.75,328.7,111.3,15.1,706,5598,0.00,2.15,0.00,0.000,4,0.000,0.049,2827,3533,1684,0,0,0,0,0,0
$GC,5694,0.79,364.8,96.1,13.5,723,5728,0.03,2.17,29.58,0.578,6,0.109,0.034,2879,2064,1538,0,0,0,0,0,0
$GC,6078,0.87,425.9,36.8,12.3,787,6137,0.08,2.12,47.47,0.535,4,0.208,0.041,2860,663,1288,0,0,0,0,0,0
$GC,6157,1.00,520.2,28.1,10.8,797,6240,0.12,2.20,72.53,0.521,6,0.043,0.034,2945,2118,903,0,0,0,0,0,0
$STATE,6289,end climb,SURFACE_DEPTH_REACHED
$STATE,6289,begin surface coast
$FINISH,0.5,1.008127
$STATE,6302,end surface coast,CONTROL_FINISHED_OK
$STATE,6302,begin surface
$SM_CCo,6377,0.00,0.000,0,0,898,522.49
$SM_GC,1.43,7.10,0.00,0.00,0.046,0.000,0.000,212,2424,898,-7.39,0.68,522.49
$IRIDIUM_FIX,2418.11,12703.08,091010,131334
$TT8_MAMPS,0.026215
$HUMID,52.48
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,23.60
$XPDR_PINGS,0
$24V_AH,24.5,29.900
$10V_AH,10.6,25.829
$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,17.925,52.125,569.875,0.000,0.000,31.244,15.978,107.380,0.000,0.000,15.014,1909.319,1601.620,502.541,2480.216,139.248,0.000,1328.611,0.000,2331.742,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,71.910,852.210,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.637,0.000,1699.987,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50222,817
$CAP_FILE_SIZE,83972,0
$CFSIZE,260165632,242397184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,114.5,1
$GPS,091010,173528,2425.634,12705.027,10,6.5,29,-3.7