version: 66.08
glider: 176
mission: 2
dive: 243
start: 10 10 110 23 25 3
data:
$ID,176
$MISSION,2
$DIVE,243
$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,-5085.9795
$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
$GPS1,101010,231608,2430.237,12705.562,12,1.9,12,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.0
$GPS2,101010,232437,2430.262,12705.690,13,1.2,30,-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,264.6,1260,-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,-219.0,0.0,0.0,0,67,0.00,0.00,-49.60,0.000,2,0.000,0.000,202,2455,2540,0,0,0,0,0,0
$GC,69,-0.72,-219.0,3.0,-5.1,6,112,8.45,2.25,-27.62,0.000,4,0.239,0.047,2356,953,3922,0,0,0,0,0,0
$GC,277,-0.71,-219.0,55.8,-23.4,39,287,0.00,2.25,0.00,0.000,6,0.000,0.047,2355,2419,3924,0,0,0,0,0,0
$GC,633,-0.70,-219.0,154.7,-25.3,100,642,0.05,2.08,0.00,0.000,4,0.257,0.057,2365,3771,3925,0,0,0,0,0,0
$GC,730,-0.71,-219.0,171.0,-12.6,116,738,0.00,2.05,0.00,0.000,6,0.000,0.028,2365,2348,3926,0,0,0,0,0,0
$GC,1080,-0.71,-219.0,239.8,-19.7,177,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2345,3926,0,0,0,0,0,0
$GC,1429,-0.71,-219.0,305.5,-15.5,236,1433,0.00,2.15,0.00,0.000,4,0.000,0.055,2365,3766,3927,0,0,0,0,0,0
$GC,1482,-0.72,-219.0,312.5,-11.6,240,1486,0.00,2.03,0.00,0.000,6,0.000,0.028,2365,2340,3926,0,0,0,0,0,0
$GC,1815,-0.72,-219.0,360.7,-15.1,271,1819,0.00,2.17,0.00,0.000,4,0.000,0.055,2365,3769,3925,0,0,0,0,0,0
$GC,1870,-0.73,-219.0,368.3,-12.5,275,1875,0.05,2.03,0.00,0.000,6,0.176,0.029,2319,2344,3925,0,0,0,0,0,0
$GC,2197,-0.73,-219.0,436.7,-21.0,305,2199,0.15,0.00,0.00,0.000,6,0.159,0.000,2365,2339,3924,0,0,0,0,0,0
$GC,2516,-0.74,-219.0,486.2,-14.1,335,2521,0.08,2.20,0.00,0.000,4,0.133,0.056,2318,3771,3922,0,0,0,0,0,0
$GC,2559,-0.74,-219.0,493.8,-16.2,338,2569,0.10,2.05,0.00,0.000,6,0.116,0.028,2359,2344,3922,0,0,0,0,0,0
$STATE,2608,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2608,begin apogee
$GC,2613,-0.11,0.0,500.4,14.2,343,2785,0.55,0.15,164.18,0.851,6,0.109,0.078,2557,2146,3026,0,0,0,0,0,0
$STATE,2786,end apogee,CONTROL_FINISHED_OK
$STATE,2786,begin climb
$GC,2788,0.72,219.0,512.3,0.0,357,2966,0.70,2.35,169.40,0.838,4,0.044,0.041,2859,671,2133,0,0,0,0,0,0
$GC,3031,0.70,219.0,497.3,20.5,377,3036,0.17,2.22,0.00,0.000,6,0.169,0.034,2811,2138,2128,0,0,0,0,0,0
$GC,3357,0.69,219.0,439.7,16.5,407,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2138,2124,0,0,0,0,0,0
$GC,3677,0.73,257.8,392.5,13.3,437,3715,0.05,2.22,29.55,0.768,4,0.172,0.042,2865,663,1975,0,0,0,0,0,0
$GC,3761,0.71,257.8,377.7,17.9,444,3766,0.20,2.20,0.00,0.000,6,0.159,0.035,2807,2130,1971,0,0,0,0,0,0
$GC,4087,0.72,274.7,327.9,14.4,474,4106,0.08,2.17,13.93,0.700,4,0.126,0.048,2860,3528,1907,0,0,0,0,0,0
$GC,4187,0.70,274.7,308.7,20.2,482,4192,0.22,2.15,0.00,0.000,6,0.168,0.032,2806,2066,1904,0,0,0,0,0,0
$GC,4530,0.70,274.7,257.4,15.8,538,4539,0.00,2.10,0.00,0.000,4,0.000,0.043,2816,659,1900,0,0,0,0,0,0
$GC,4576,0.71,282.8,250.8,14.8,545,4592,0.00,2.17,7.25,0.592,6,0.000,0.036,2816,2130,1873,0,0,0,0,0,0
$GC,4932,0.76,332.4,195.3,12.8,607,4982,0.08,2.22,40.58,0.656,4,0.131,0.043,2885,660,1669,0,0,0,0,0,0
$GC,5096,0.75,332.4,163.9,18.2,634,5106,0.17,2.22,0.00,0.000,6,0.137,0.037,2825,2129,1664,0,0,0,0,0,0
$GC,5451,0.86,420.5,117.6,11.1,695,5526,0.15,2.30,68.03,0.594,4,0.076,0.041,2919,661,1311,0,0,0,0,0,0
$GC,5535,0.85,420.5,100.8,23.7,705,5545,0.17,2.25,0.00,0.000,6,0.138,0.039,2860,2116,1309,0,0,0,0,0,0
$GC,5903,0.95,499.4,45.8,11.5,766,5970,0.12,2.28,60.10,0.535,4,0.086,0.043,2941,665,989,0,0,0,0,0,0
$GC,5998,0.95,499.4,29.2,19.4,778,6007,0.15,2.22,0.00,0.000,6,0.121,0.037,2888,2116,987,0,0,0,0,0,0
$STATE,6171,end climb,SURFACE_DEPTH_REACHED
$STATE,6171,begin surface coast
$FINISH,0.6,1.021532
$STATE,6197,end surface coast,CONTROL_FINISHED_OK
$STATE,6197,begin surface
$SM_CCo,6271,0.00,0.000,0,0,983,501.15
$SM_GC,1.57,6.75,0.00,0.00,0.036,0.000,0.000,200,2434,983,-7.40,0.96,501.15
$IRIDIUM_FIX,2420.48,12703.08,101010,232329
$TT8_MAMPS,0.026215
$HUMID,52.00
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,31.999
$10V_AH,10.6,27.740
$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,18.450,53.325,553.000,0.000,0.000,54.342,76.227,161.014,0.000,0.000,32.618,1919.504,1568.765,485.561,2656.355,150.161,0.000,1302.609,0.000,2323.176,0.000,0.543,0.000
$DEVICE_MAMPS,257.040,78.030,851.445,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.939,0.000,1709.597,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46935,811
$CAP_FILE_SIZE,88712,0
$CFSIZE,260165632,241598464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.268, 98.8,1
$GPS,111010,011036,2430.051,12705.562,36,1.1,36,-3.7