version: 66.08
glider: 176
mission: 2
dive: 235
start: 10 10 110 8 22 17
data:
$ID,176
$MISSION,2
$DIVE,235
$N_DIVES,247
$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,-5075.3721
$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
$GPS1,101010,081710,2429.081,12706.386,11,1.7,13,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.9
$GPS2,101010,082150,2429.087,12706.450,12,1.7,12,-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,305.2,2972,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-219.0,0.0,0.0,0,74,0.00,0.00,-56.35,0.000,2,0.000,0.000,193,2332,2543,0,0,0,0,0,0
$GC,77,-0.72,-219.0,3.1,-5.4,7,119,8.52,2.25,-27.27,0.000,4,0.239,0.065,2348,3766,3923,0,0,0,0,0,0
$GC,232,-0.71,-219.0,48.1,-25.4,31,241,0.05,2.08,0.00,0.000,6,0.147,0.031,2367,2356,3924,0,0,0,0,0,0
$GC,598,-0.70,-219.0,141.9,-24.9,92,606,0.00,2.03,0.00,0.000,4,0.000,0.034,2368,956,3926,0,0,0,0,0,0
$GC,634,-0.70,-219.0,149.6,-20.7,97,643,0.00,2.22,0.00,0.000,6,0.000,0.045,2368,2417,3926,0,0,0,0,0,0
$GC,981,-0.69,-219.0,224.7,-20.9,158,989,0.00,2.05,0.00,0.000,4,0.000,0.056,2366,3766,3926,0,0,0,0,0,0
$GC,1072,-0.70,-219.0,240.2,-15.8,173,1079,0.00,2.03,0.00,0.000,6,0.000,0.028,2366,2339,3927,0,0,0,0,0,0
$GC,1418,-0.70,-219.0,304.5,-18.9,232,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2335,3927,0,0,0,0,0,0
$GC,1737,-0.70,-219.0,361.4,-17.4,262,1741,0.00,2.15,0.00,0.000,4,0.000,0.055,2366,3766,3927,0,0,0,0,0,0
$GC,1782,-0.71,-219.0,368.8,-13.5,265,1790,0.00,2.03,0.00,0.000,6,0.000,0.028,2366,2335,3926,0,0,0,0,0,0
$GC,2107,-0.71,-219.0,417.7,-14.6,296,2111,0.00,2.15,0.00,0.000,4,0.000,0.055,2366,3765,3926,0,0,0,0,0,0
$GC,2148,-0.72,-219.0,422.9,-12.3,299,2152,0.00,2.03,0.00,0.000,6,0.000,0.028,2365,2340,3925,0,0,0,0,0,0
$GC,2481,-0.73,-219.0,467.3,-13.9,330,2486,0.05,2.17,0.00,0.000,4,0.186,0.057,2329,3767,3924,0,0,0,0,0,0
$GC,2533,-0.73,-219.0,475.7,-15.3,334,2537,0.12,2.03,0.00,0.000,6,0.148,0.028,2369,2341,3924,0,0,0,0,0,0
$STATE,2720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2720,begin apogee
$GC,2724,-0.11,0.0,501.3,13.1,351,2895,0.52,0.17,165.30,0.855,6,0.109,0.072,2559,2156,3027,0,0,0,0,0,0
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2898,0.72,219.0,513.3,0.0,365,3075,0.70,2.17,169.82,0.843,4,0.049,0.045,2842,3534,2134,0,0,0,0,0,0
$GC,3316,0.70,219.0,459.4,19.4,400,3326,0.12,2.20,0.00,0.000,6,0.164,0.031,2813,2066,2127,0,0,0,0,0,0
$GC,3644,0.70,226.9,407.7,14.8,431,3658,0.00,2.15,6.55,0.641,4,0.000,0.043,2823,657,2099,0,0,0,0,0,0
$GC,3718,0.73,266.2,396.4,13.3,437,3755,0.00,2.17,31.77,0.777,6,0.000,0.034,2822,2126,1941,0,0,0,0,0,0
$GC,4074,0.72,266.2,334.3,18.6,470,4078,0.00,2.20,0.00,0.000,4,0.000,0.044,2831,658,1933,0,0,0,0,0,0
$GC,4132,0.71,266.2,325.0,17.1,475,4137,0.08,2.17,0.00,0.000,6,0.195,0.035,2813,2122,1931,0,0,0,0,0,0
$GC,4469,0.72,277.2,271.4,14.6,521,4484,0.00,2.20,8.73,0.633,4,0.000,0.043,2818,660,1896,0,0,0,0,0,0
$GC,4533,0.71,277.2,261.5,15.7,531,4540,0.00,2.17,0.00,0.000,6,0.000,0.035,2818,2126,1894,0,0,0,0,0,0
$GC,4881,0.71,277.2,205.9,15.7,592,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2126,1892,0,0,0,0,0,0
$GC,5232,0.76,326.2,157.2,12.9,653,5282,0.08,2.17,39.33,0.632,4,0.136,0.048,2873,3526,1695,0,0,0,0,0,0
$GC,5321,0.75,326.2,142.0,18.6,666,5330,0.17,2.20,0.00,0.000,6,0.146,0.033,2826,2065,1693,0,0,0,0,0,0
$GC,5683,0.85,402.9,94.6,11.6,727,5749,0.12,2.17,59.92,0.579,4,0.090,0.044,2912,666,1382,0,0,0,0,0,0
$GC,5882,0.86,411.2,60.5,14.8,757,5900,0.15,2.22,6.93,0.467,6,0.125,0.037,2859,2129,1349,0,0,0,0,0,0
$GC,6250,0.96,491.3,18.3,11.4,819,6325,0.15,2.28,61.85,0.512,4,0.077,0.041,2953,663,1022,0,0,0,0,0,0
$STATE,6332,end climb,SURFACE_DEPTH_REACHED
$STATE,6332,begin surface coast
$FINISH,0.6,1.021991
$STATE,6346,end surface coast,CONTROL_FINISHED_OK
$STATE,6346,begin surface
$SM_CCo,6423,0.00,0.000,0,0,1019,492.81
$SM_GC,1.48,7.05,0.00,0.00,0.041,0.000,0.000,209,2429,1019,-7.38,0.82,492.81
$IRIDIUM_FIX,2420.48,12706.40,101010,060619
$TT8_MAMPS,0.026215
$HUMID,52.55
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,31.015
$10V_AH,10.6,26.834
$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,17.900,56.950,550.200,0.000,0.000,27.562,40.523,110.430,0.000,0.000,15.341,1957.014,1527.403,499.717,2583.791,137.698,0.000,1339.211,0.000,2407.650,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,71.910,855.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.499,0.000,1760.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50286,831
$CAP_FILE_SIZE,86898,0
$CFSIZE,260165632,241971200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185,106.4,1
$GPS,101010,101024,2429.489,12706.316,38,1.3,38,-3.7