version: 66.08
glider: 176
mission: 2
dive: 256
start: 10 11 110 22 58 29
data:
$ID,176
$MISSION,2
$DIVE,256
$N_DIVES,275
$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,-5103.4189
$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
$GPS1,111010,225320,2430.174,12705.360,7,1.4,7,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-74.9
$GPS2,111010,225802,2430.177,12705.401,10,2.0,10,-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,260.9,751,-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,-219.0,0.0,0.0,0,59,0.00,0.00,-41.53,0.000,2,0.000,0.000,202,2446,2496,0,0,0,0,0,0
$GC,61,-0.72,-219.0,3.1,-4.7,5,112,8.40,2.25,-29.23,0.000,4,0.235,0.048,2359,944,3923,0,0,0,0,0,0
$GC,259,-0.71,-219.0,56.1,-27.5,36,268,0.00,2.28,0.00,0.000,6,0.000,0.049,2358,2414,3924,0,0,0,0,0,0
$GC,624,-0.70,-219.0,148.6,-22.6,97,633,0.00,2.05,0.00,0.000,4,0.000,0.052,2359,3766,3926,0,0,0,0,0,0
$GC,657,-0.70,-219.0,155.8,-19.1,102,667,0.00,2.05,0.00,0.000,6,0.000,0.028,2359,2349,3927,0,0,0,0,0,0
$GC,1018,-0.70,-219.0,228.3,-19.5,163,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2345,3927,0,0,0,0,0,0
$GC,1370,-0.70,-219.0,297.6,-19.1,224,1379,0.00,2.03,0.00,0.000,4,0.000,0.037,2359,955,3927,0,0,0,0,0,0
$GC,1412,-0.71,-219.0,305.4,-16.6,228,1421,0.00,2.22,0.00,0.000,6,0.000,0.044,2359,2424,3927,0,0,0,0,0,0
$GC,1739,-0.71,-219.0,359.4,-16.0,259,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2425,3927,0,0,0,0,0,0
$GC,2058,-0.71,-219.0,410.4,-17.0,289,2062,0.00,2.03,0.00,0.000,4,0.000,0.054,2358,3776,3926,0,0,0,0,0,0
$GC,2086,-0.72,-219.0,415.8,-17.1,291,2093,0.00,2.05,0.00,0.000,6,0.000,0.028,2358,2338,3926,0,0,0,0,0,0
$GC,2413,-0.72,-219.0,464.9,-13.8,322,2417,0.00,2.00,0.00,0.000,4,0.000,0.037,2358,949,3925,0,0,0,0,0,0
$GC,2464,-0.74,-219.0,471.4,-10.4,326,2474,0.00,2.22,0.00,0.000,6,0.000,0.044,2358,2417,3924,0,0,0,0,0,0
$STATE,2704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2704,begin apogee
$GC,2708,-0.11,0.0,500.2,13.2,349,2883,0.55,0.12,165.30,0.858,6,0.106,0.056,2557,2140,3025,0,0,0,0,0,0
$STATE,2883,end apogee,CONTROL_FINISHED_OK
$STATE,2883,begin climb
$GC,2885,0.72,219.0,510.5,0.0,363,3064,0.70,2.25,169.55,0.846,4,0.041,0.046,2859,3526,2132,0,0,0,0,0,0
$GC,3115,0.70,219.0,496.7,21.7,382,3120,0.22,2.20,0.00,0.000,6,0.174,0.030,2808,2062,2129,0,0,0,0,0,0
$GC,3440,0.68,219.0,442.8,16.5,412,3444,0.00,2.05,0.00,0.000,4,0.000,0.042,2818,663,2124,0,0,0,0,0,0
$GC,3508,0.67,219.0,431.2,16.1,418,3513,0.08,2.17,0.00,0.000,6,0.194,0.036,2800,2122,2122,0,0,0,0,0,0
$GC,3833,0.67,219.0,380.2,17.0,448,3837,0.00,2.10,0.00,0.000,4,0.000,0.049,2800,3530,2120,0,0,0,0,0,0
$GC,3925,0.65,219.0,363.7,18.4,456,3929,0.00,2.15,0.00,0.000,6,0.000,0.031,2805,2059,2121,0,0,0,0,0,0
$GC,4250,0.72,275.9,316.9,12.5,486,4300,0.08,2.17,43.08,0.755,4,0.130,0.043,2875,653,1901,0,0,0,0,0,0
$GC,4497,0.70,275.9,273.8,17.0,519,4506,0.22,2.20,0.00,0.000,6,0.156,0.037,2808,2120,1893,0,0,0,0,0,0
$GC,4846,0.73,299.1,221.8,14.1,580,4870,0.08,2.25,18.58,0.668,4,0.125,0.041,2875,662,1806,0,0,0,0,0,0
$GC,4929,0.72,299.1,207.8,17.8,593,4936,0.20,2.20,0.00,0.000,6,0.153,0.037,2815,2132,1802,0,0,0,0,0,0
$GC,5280,0.78,349.8,157.2,12.8,654,5332,0.10,2.28,40.35,0.637,4,0.107,0.042,2895,657,1600,0,0,0,0,0,0
$GC,5430,0.77,349.8,129.8,17.7,677,5439,0.17,2.22,0.00,0.000,6,0.135,0.038,2834,2117,1595,0,0,0,0,0,0
$GC,5797,0.87,430.5,76.6,11.4,738,5871,0.12,2.20,62.60,0.573,4,0.087,0.048,2912,3520,1270,0,0,0,0,0,0
$GC,5951,0.90,450.9,51.1,14.2,760,5976,0.12,2.20,16.92,0.523,6,0.134,0.033,2870,2064,1186,0,0,0,0,0,0
$GC,6327,0.97,505.5,4.6,12.6,823,6347,0.12,0.00,16.40,0.489,2,0.086,0.000,2949,2061,1098,0,0,0,0,0,0
$STATE,6347,end climb,SURFACE_DEPTH_REACHED
$STATE,6347,begin surface coast
$FINISH,0.6,1.008743
$STATE,6374,end surface coast,CONTROL_FINISHED_OK
$STATE,6374,begin surface
$SM_CCo,6449,0.00,0.000,0,0,1094,474.16
$SM_GC,1.53,6.93,0.00,0.00,0.037,0.000,0.000,201,2440,1094,-7.39,1.13,474.16
$IRIDIUM_FIX,2422.84,12704.51,111010,212151
$TT8_MAMPS,0.026215
$HUMID,52.52
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,33.544
$10V_AH,10.6,29.176
$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,18.100,53.000,532.775,0.000,0.000,22.362,37.643,120.519,0.000,0.000,12.918,1955.531,1589.304,481.973,2556.116,151.454,0.000,1304.439,0.000,2386.889,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,55.845,858.330,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.660,0.000,1754.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,50281,829
$CAP_FILE_SIZE,85237,0
$CFSIZE,260165632,240988160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.324, 78.7,1
$GPS,121010,004706,2430.247,12705.613,35,0.9,42,-3.7