version: 66.08
glider: 176
mission: 2
dive: 236
start: 10 10 110 10 15 6
data:
$ID,176
$MISSION,2
$DIVE,236
$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,-5076.7222
$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
$GPS1,101010,101024,2429.489,12706.316,38,1.3,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-70.0
$GPS2,101010,101438,2429.487,12706.400,10,1.7,10,-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,292.7,2544,-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,-219.0,0.0,0.0,0,74,0.00,0.00,-57.15,0.000,2,0.000,0.000,193,2431,2720,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.6,-6.4,7,111,8.52,2.22,-21.08,0.000,4,0.241,0.047,2354,947,3923,0,0,0,0,0,0
$GC,212,-0.71,-219.0,44.6,-25.5,28,221,0.00,2.28,0.00,0.000,6,0.000,0.047,2354,2422,3925,0,0,0,0,0,0
$GC,578,-0.70,-219.0,152.4,-27.8,89,586,0.08,2.05,0.00,0.000,4,0.223,0.056,2372,3767,3926,0,0,0,0,0,0
$GC,618,-0.69,-219.0,163.0,-23.9,95,624,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2346,3926,0,0,0,0,0,0
$GC,962,-0.69,-219.0,234.6,-19.9,156,971,0.00,2.20,0.00,0.000,4,0.000,0.056,2372,3768,3927,0,0,0,0,0,0
$GC,1042,-0.70,-219.0,246.5,-12.4,169,1050,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2337,3927,0,0,0,0,0,0
$GC,1393,-0.70,-219.0,305.9,-18.2,228,1397,0.00,1.98,0.00,0.000,4,0.000,0.035,2372,956,3927,0,0,0,0,0,0
$GC,1420,-0.70,-219.0,310.7,-16.6,230,1430,0.03,2.20,0.00,0.000,6,0.108,0.044,2335,2420,3927,0,0,0,0,0,0
$GC,1747,-0.69,-219.0,376.5,-19.4,261,1752,0.12,2.05,0.00,0.000,4,0.171,0.057,2372,3769,3927,0,0,0,0,0,0
$GC,1777,-0.69,-219.0,382.2,-17.9,263,1780,0.00,2.00,0.00,0.000,6,0.000,0.028,2372,2343,3926,0,0,0,0,0,0
$GC,2109,-0.70,-219.0,430.4,-13.2,294,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2338,3926,0,0,0,0,0,0
$GC,2428,-0.71,-219.0,473.0,-12.6,324,2433,0.08,2.17,0.00,0.000,4,0.132,0.056,2317,3769,3924,0,0,0,0,0,0
$GC,2469,-0.71,-219.0,479.2,-16.1,327,2473,0.17,2.03,0.00,0.000,6,0.133,0.028,2375,2344,3924,0,0,0,0,0,0
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2650,-0.11,0.0,501.3,11.9,343,2820,0.50,0.15,164.68,0.855,6,0.106,0.080,2557,2143,3026,0,0,0,0,0,0
$STATE,2821,end apogee,CONTROL_FINISHED_OK
$STATE,2821,begin climb
$GC,2823,0.72,219.0,509.9,0.0,357,3001,0.70,2.35,169.12,0.839,4,0.041,0.041,2869,663,2132,0,0,0,0,0,0
$GC,3189,0.70,219.0,467.0,19.8,388,3194,0.22,2.17,0.00,0.000,6,0.168,0.034,2806,2128,2125,0,0,0,0,0,0
$GC,3515,0.71,235.8,417.9,14.4,418,3538,0.05,2.28,13.10,0.737,4,0.173,0.043,2857,658,2063,0,0,0,0,0,0
$GC,3562,0.69,235.8,410.1,17.0,422,3567,0.17,2.17,0.00,0.000,6,0.164,0.035,2807,2131,2061,0,0,0,0,0,0
$GC,3888,0.68,235.8,356.5,16.7,452,3892,0.00,2.17,0.00,0.000,4,0.000,0.044,2818,663,2058,0,0,0,0,0,0
$GC,3948,0.67,235.8,345.9,16.2,457,3957,0.05,2.17,0.00,0.000,6,0.155,0.037,2799,2120,2056,0,0,0,0,0,0
$GC,4277,0.69,254.1,297.3,14.3,489,4299,0.05,2.17,14.52,0.699,4,0.174,0.041,2858,662,1989,0,0,0,0,0,0
$GC,4413,0.67,254.1,275.0,17.2,512,4422,0.17,2.20,0.00,0.000,6,0.140,0.036,2798,2127,1986,0,0,0,0,0,0
$GC,4763,0.77,337.5,232.3,11.3,573,4834,0.12,0.00,65.57,0.690,6,0.088,0.000,2874,2128,1650,0,0,0,0,0,0
$GC,5176,0.76,337.5,144.4,23.2,643,5185,0.17,2.22,0.00,0.000,4,0.161,0.044,2832,661,1641,0,0,0,0,0,0
$GC,5277,0.80,372.2,128.8,13.5,659,5312,0.05,2.20,27.00,0.598,6,0.073,0.036,2889,2124,1509,0,0,0,0,0,0
$GC,5663,0.80,375.9,60.0,15.0,723,5671,0.17,0.00,0.00,0.000,6,0.157,0.000,2836,2124,1502,0,0,0,0,0,0
$GC,6028,0.99,522.8,26.0,8.3,784,6151,0.22,2.25,113.72,0.518,4,0.060,0.041,2965,659,893,0,0,0,0,0,0
$STATE,6158,end climb,SURFACE_DEPTH_REACHED
$STATE,6159,begin surface coast
$FINISH,0.7,1.000124
$STATE,6172,end surface coast,CONTROL_FINISHED_OK
$STATE,6172,begin surface
$SM_CCo,6249,0.00,0.000,0,0,888,524.70
$SM_GC,1.40,7.15,0.00,0.00,0.044,0.000,0.000,213,2415,888,-7.38,0.45,524.70
$IRIDIUM_FIX,2418.11,12704.97,101010,080832
$TT8_MAMPS,0.026215
$HUMID,51.06
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.5,31.142
$10V_AH,10.6,26.945
$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,18.825,52.875,567.725,0.000,0.000,28.510,18.137,109.763,0.000,0.000,13.322,1881.562,1535.209,497.694,2452.311,139.629,0.000,1309.147,0.000,2307.272,0.000,0.543,0.000
$DEVICE_MAMPS,240.975,80.325,854.505,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.560,0.000,1687.185,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46869,802
$CAP_FILE_SIZE,84045,0
$CFSIZE,260165632,241934336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223, 95.9,1
$GPS,101010,120010,2429.865,12706.270,9,2.6,28,-3.7