version: 66.08
glider: 176
mission: 2
dive: 232
start: 10 10 110 2 51 30
data:
$ID,176
$MISSION,2
$DIVE,232
$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,-5071.3228
$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
$GPS1,101010,024630,2428.465,12706.260,37,1.7,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-72.1
$GPS2,101010,025102,2428.436,12706.311,11,1.8,11,-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,301.0,3643,-20.3,-15.152
$D_GRID,1000
$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,-219.0,0.0,0.0,0,75,0.00,0.00,-57.65,0.000,2,0.000,0.000,200,2436,2644,0,0,0,0,0,0
$GC,77,-0.72,-219.0,3.5,-5.7,7,119,8.43,2.05,-23.85,0.000,4,0.237,0.066,2349,3763,3922,0,0,0,0,0,0
$GC,239,-0.71,-219.0,51.2,-24.9,32,248,0.03,2.05,0.00,0.000,6,0.181,0.031,2359,2360,3924,0,0,0,0,0,0
$GC,603,-0.70,-219.0,148.8,-23.0,93,613,0.00,2.17,0.00,0.000,4,0.000,0.057,2359,3767,3925,0,0,0,0,0,0
$GC,729,-0.71,-219.0,172.3,-16.9,114,737,0.00,2.05,0.00,0.000,6,0.000,0.028,2360,2345,3925,0,0,0,0,0,0
$GC,1078,-0.70,-219.0,243.4,-20.3,175,1085,0.00,2.15,0.00,0.000,4,0.000,0.054,2360,3766,3926,0,0,0,0,0,0
$GC,1115,-0.70,-219.0,250.6,-18.1,181,1123,0.00,2.00,0.00,0.000,6,0.000,0.027,2360,2347,3926,0,0,0,0,0,0
$GC,1462,-0.70,-219.0,314.7,-18.9,236,1466,0.00,2.15,0.00,0.000,4,0.000,0.055,2360,3770,3925,0,0,0,0,0,0
$GC,1511,-0.70,-219.0,323.6,-15.8,240,1520,0.00,2.03,0.00,0.000,6,0.000,0.028,2360,2347,3926,0,0,0,0,0,0
$GC,1838,-0.70,-219.0,381.0,-15.5,271,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2343,3925,0,0,0,0,0,0
$GC,2158,-0.70,-219.0,429.3,-14.0,301,2162,0.00,2.15,0.00,0.000,4,0.000,0.055,2360,3776,3925,0,0,0,0,0,0
$GC,2203,-0.72,-219.0,435.3,-11.0,304,2211,0.00,2.05,0.00,0.000,6,0.000,0.028,2360,2341,3925,0,0,0,0,0,0
$GC,2530,-0.72,-219.0,477.0,-13.0,335,2534,0.00,2.17,0.00,0.000,4,0.000,0.055,2360,3771,3924,0,0,0,0,0,0
$GC,2565,-0.73,-219.0,481.4,-12.5,338,2568,0.00,2.03,0.00,0.000,6,0.000,0.027,2360,2343,3923,0,0,0,0,0,0
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2713,begin apogee
$GC,2717,-0.11,0.0,500.1,13.3,352,2889,0.55,0.20,165.12,0.848,6,0.108,0.068,2559,2149,3026,0,0,0,0,0,0
$STATE,2889,end apogee,CONTROL_FINISHED_OK
$STATE,2890,begin climb
$GC,2891,0.72,219.0,509.4,0.0,366,3069,0.68,2.17,169.98,0.834,4,0.039,0.045,2860,3533,2133,0,0,0,0,0,0
$GC,3267,0.70,219.0,460.4,21.1,397,3272,0.22,2.20,0.00,0.000,6,0.177,0.032,2808,2058,2127,0,0,0,0,0,0
$GC,3595,0.69,220.8,408.2,15.1,427,3599,0.00,2.05,0.00,0.000,4,0.000,0.042,2818,656,2122,0,0,0,0,0,0
$GC,3671,0.70,234.8,396.8,14.5,433,3688,0.00,2.17,11.95,0.717,6,0.000,0.037,2818,2122,2069,0,0,0,0,0,0
$GC,4008,0.69,235.5,343.4,15.1,464,4012,0.05,2.20,0.00,0.000,4,0.246,0.045,2807,662,2064,0,0,0,0,0,0
$GC,4076,0.73,274.8,333.9,13.3,470,4115,0.08,2.15,32.08,0.743,6,0.125,0.034,2859,2125,1905,0,0,0,0,0,0
$GC,4448,0.71,274.8,262.8,19.6,519,4454,0.17,0.00,0.00,0.000,6,0.165,0.000,2808,2126,1898,0,0,0,0,0,0
$GC,4803,0.75,309.9,211.0,13.5,580,4840,0.10,2.22,27.75,0.662,4,0.104,0.041,2887,669,1761,0,0,0,0,0,0
$GC,5019,0.74,309.9,170.8,19.2,615,5027,0.22,2.17,0.00,0.000,6,0.155,0.037,2819,2128,1756,0,0,0,0,0,0
$GC,5382,0.78,339.6,115.3,13.8,676,5417,0.10,2.25,23.65,0.587,4,0.105,0.042,2898,659,1642,0,0,0,0,0,0
$GC,5518,0.77,339.6,91.2,17.6,697,5527,0.20,2.20,0.00,0.000,6,0.133,0.037,2830,2119,1637,0,0,0,0,0,0
$GC,5885,0.98,509.3,54.1,7.3,758,6025,0.22,2.20,129.65,0.539,4,0.060,0.049,2950,3525,948,0,0,0,0,0,0
$STATE,6147,end climb,SURFACE_DEPTH_REACHED
$STATE,6147,begin surface coast
$FINISH,1.2,1.022022
$STATE,6156,end surface coast,CONTROL_FINISHED_OK
$STATE,6156,begin surface
$SM_CCo,6231,0.00,0.000,0,0,942,511.45
$SM_GC,1.42,6.95,0.00,0.00,0.035,0.000,0.000,202,2330,942,-7.40,-1.98,511.45
$IRIDIUM_FIX,2418.11,12703.08,101010,000047
$TT8_MAMPS,0.026215
$HUMID,53.30
$INTERNAL_PRESSURE,8.77261
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.6,30.641
$10V_AH,10.6,26.497
$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,18.000,51.350,560.175,0.000,0.000,26.313,38.569,107.064,0.000,0.000,14.061,1872.141,1529.060,488.429,2483.611,133.659,0.000,1304.412,0.000,2310.871,0.000,0.542,0.000
$DEVICE_MAMPS,246.330,68.085,847.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.512,0.000,1683.978,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46999,797
$CAP_FILE_SIZE,82509,0
$CFSIZE,260165632,242122752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.279,115.4,1
$GPS,101010,043616,2428.539,12706.527,10,4.3,29,-3.7