version: 66.08
glider: 176
mission: 2
dive: 242
start: 10 10 110 21 28 34
data:
$ID,176
$MISSION,2
$DIVE,242
$N_DIVES,251
$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,-5084.7236
$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
$GPS1,101010,212354,2430.499,12705.681,37,1.3,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-72.0
$GPS2,101010,212807,2430.503,12705.693,11,1.1,16,-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,250.2,1494,-20.3,-15.152
$D_GRID,4367
$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,-47.53,0.000,2,0.000,0.000,205,2441,2706,0,0,0,0,0,0
$GC,67,-0.72,-219.0,3.7,-6.9,6,109,8.40,2.22,-21.67,0.000,4,0.237,0.047,2358,953,3923,0,0,0,0,0,0
$GC,268,-0.72,-219.0,61.2,-24.8,38,277,0.00,2.25,0.00,0.000,6,0.000,0.048,2356,2414,3924,0,0,0,0,0,0
$GC,634,-0.71,-219.0,151.6,-21.7,99,640,0.00,2.05,0.00,0.000,4,0.000,0.056,2354,3777,3926,0,0,0,0,0,0
$GC,782,-0.71,-219.0,178.7,-15.8,124,791,0.00,2.05,0.00,0.000,6,0.000,0.028,2354,2350,3927,0,0,0,0,0,0
$GC,1143,-0.71,-219.0,255.5,-21.0,185,1151,0.05,2.03,0.00,0.000,4,0.256,0.034,2365,941,3927,0,0,0,0,0,0
$GC,1175,-0.71,-219.0,262.3,-18.7,190,1184,0.00,2.25,0.00,0.000,6,0.000,0.045,2364,2424,3928,0,0,0,0,0,0
$GC,1524,-0.71,-219.0,322.4,-16.4,239,1528,0.00,2.03,0.00,0.000,4,0.000,0.056,2363,3771,3927,0,0,0,0,0,0
$GC,1574,-0.72,-219.0,330.2,-12.5,243,1581,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2344,3927,0,0,0,0,0,0
$GC,1901,-0.73,-219.0,381.0,-16.3,274,1905,0.00,2.17,0.00,0.000,4,0.000,0.055,2363,3771,3926,0,0,0,0,0,0
$GC,1929,-0.73,-219.0,385.6,-15.6,276,1933,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2346,3927,0,0,0,0,0,0
$GC,2262,-0.74,-219.0,435.9,-16.1,307,2266,0.05,2.17,0.00,0.000,4,0.187,0.056,2321,3767,3925,0,0,0,0,0,0
$GC,2288,-0.74,-219.0,440.2,-17.7,309,2293,0.12,2.03,0.00,0.000,6,0.145,0.028,2360,2336,3925,0,0,0,0,0,0
$GC,2615,-0.74,-219.0,493.2,-14.8,339,2617,0.05,0.00,0.00,0.000,6,0.183,0.000,2318,2331,3924,0,0,0,0,0,0
$STATE,2655,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2656,begin apogee
$GC,2660,-0.11,0.0,500.6,17.1,343,2834,0.70,0.15,164.77,0.855,6,0.120,0.056,2560,2139,3027,0,0,0,0,0,0
$STATE,2835,end apogee,CONTROL_FINISHED_OK
$STATE,2835,begin climb
$GC,2837,0.72,219.0,512.6,0.0,357,3015,0.70,2.35,169.88,0.841,4,0.044,0.041,2862,662,2132,0,0,0,0,0,0
$GC,3046,0.70,219.0,500.8,21.4,375,3051,0.20,2.25,0.00,0.000,6,0.169,0.034,2808,2131,2128,0,0,0,0,0,0
$GC,3373,0.69,219.0,443.4,15.4,405,3374,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2131,2125,0,0,0,0,0,0
$GC,3693,0.68,219.0,394.7,15.7,435,3697,0.00,2.20,0.00,0.000,4,0.000,0.043,2818,657,2121,0,0,0,0,0,0
$GC,3793,0.70,241.9,379.1,14.1,443,3816,0.00,2.17,17.62,0.750,6,0.000,0.036,2818,2130,2039,0,0,0,0,0,0
$GC,4142,0.69,241.9,323.8,16.9,476,4143,0.05,0.00,0.00,0.000,6,0.246,0.000,2806,2130,2033,0,0,0,0,0,0
$GC,4474,0.73,287.4,275.1,13.0,521,4518,0.10,2.15,35.85,0.719,4,0.103,0.047,2875,3533,1853,0,0,0,0,0,0
$GC,4560,0.72,287.4,259.3,20.6,534,4569,0.22,2.20,0.00,0.000,6,0.151,0.032,2813,2073,1851,0,0,0,0,0,0
$GC,4911,0.73,301.5,204.4,14.5,595,4933,0.05,2.15,11.48,0.624,4,0.171,0.043,2870,662,1796,0,0,0,0,0,0
$GC,5067,0.72,301.5,177.9,16.2,621,5075,0.20,2.17,0.00,0.000,6,0.154,0.036,2810,2126,1793,0,0,0,0,0,0
$GC,5422,0.76,333.6,129.1,13.7,682,5456,0.10,2.28,26.58,0.610,4,0.103,0.043,2891,654,1665,0,0,0,0,0,0
$GC,5512,0.75,333.6,113.5,18.2,695,5521,0.20,2.22,0.00,0.000,6,0.135,0.037,2823,2127,1661,0,0,0,0,0,0
$GC,5878,0.93,473.3,77.3,8.7,756,5994,0.20,2.25,107.03,0.566,4,0.063,0.050,2932,3530,1094,0,0,0,0,0,0
$GC,6038,0.92,473.3,45.2,19.8,777,6048,0.17,2.22,0.00,0.000,6,0.136,0.033,2881,2069,1091,0,0,0,0,0,0
$STATE,6321,end climb,SURFACE_DEPTH_REACHED
$STATE,6321,begin surface coast
$FINISH,0.6,1.022046
$STATE,6340,end surface coast,CONTROL_FINISHED_OK
$STATE,6340,begin surface
$SM_CCo,6415,0.00,0.000,0,0,1086,476.13
$SM_GC,1.56,6.75,0.00,0.00,0.038,0.000,0.000,205,2449,1086,-7.40,1.41,476.13
$IRIDIUM_FIX,2413.38,12350.60,101010,191935
$TT8_MAMPS,0.026215
$HUMID,53.22
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.5,31.867
$10V_AH,10.6,27.626
$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,18.325,53.000,533.200,0.000,0.000,24.693,20.278,106.778,0.000,0.000,17.827,1943.528,1597.954,474.796,2513.356,141.180,0.000,1281.560,0.000,2367.054,0.000,0.542,0.000
$DEVICE_MAMPS,256.275,55.845,855.270,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.325,0.000,1754.397,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50347,827
$CAP_FILE_SIZE,84854,0
$CFSIZE,260165632,241643520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.224, 89.4,1
$GPS,101010,231608,2430.237,12705.562,12,1.9,12,-3.7