version: 66.08
glider: 176
mission: 2
dive: 261
start: 10 12 110 8 25 29
data:
$ID,176
$MISSION,2
$DIVE,261
$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,-5124.9458
$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
$GPS1,121010,081930,2429.987,12706.110,37,1.5,37,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-74.5
$GPS2,121010,082501,2430.035,12706.172,10,1.5,15,-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,284.2,1976,-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,-219.0,0.0,0.0,0,73,0.00,0.00,-56.25,0.000,2,0.000,0.000,206,2448,2503,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.2,-5.3,7,118,8.45,2.08,-27.60,0.000,4,0.237,0.068,2349,3769,3923,0,0,0,0,0,0
$GC,266,-0.72,-219.0,59.6,-23.1,37,275,0.03,2.08,0.00,0.000,6,0.169,0.030,2361,2353,3924,0,0,0,0,0,0
$GC,632,-0.71,-219.0,145.7,-21.9,98,641,0.00,2.03,0.00,0.000,4,0.000,0.035,2361,959,3926,0,0,0,0,0,0
$GC,702,-0.71,-219.0,158.6,-14.9,109,709,0.00,2.17,0.00,0.000,6,0.000,0.044,2361,2422,3926,0,0,0,0,0,0
$GC,1059,-0.71,-219.0,224.5,-18.1,170,1067,0.00,2.05,0.00,0.000,4,0.000,0.054,2361,3769,3927,0,0,0,0,0,0
$GC,1105,-0.71,-219.0,232.3,-16.3,177,1112,0.00,2.03,0.00,0.000,6,0.000,0.028,2361,2338,3927,0,0,0,0,0,0
$GC,1460,-0.71,-219.0,291.9,-15.2,238,1469,0.00,2.00,0.00,0.000,4,0.000,0.035,2361,955,3927,0,0,0,0,0,0
$GC,1496,-0.72,-219.0,296.8,-14.7,243,1503,0.00,2.20,0.00,0.000,6,0.000,0.044,2360,2429,3927,0,0,0,0,0,0
$GC,1829,-0.72,-219.0,348.5,-15.8,276,1833,0.00,2.00,0.00,0.000,4,0.000,0.055,2361,3767,3926,0,0,0,0,0,0
$GC,1868,-0.73,-219.0,354.3,-13.7,279,1875,0.00,2.03,0.00,0.000,6,0.000,0.028,2361,2341,3925,0,0,0,0,0,0
$GC,2195,-0.74,-219.0,400.9,-14.5,310,2199,0.00,2.00,0.00,0.000,4,0.000,0.035,2361,944,3924,0,0,0,0,0,0
$GC,2264,-0.75,-219.0,409.8,-11.2,316,2269,0.08,2.22,0.00,0.000,6,0.128,0.043,2305,2433,3924,0,0,0,0,0,0
$GC,2589,-0.75,-219.0,472.2,-20.5,346,2591,0.17,0.00,0.00,0.000,6,0.155,0.000,2359,2433,3923,0,0,0,0,0,0
$STATE,2800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2800,begin apogee
$GC,2805,-0.11,0.0,500.8,12.4,366,2975,0.55,0.15,165.27,0.858,6,0.103,0.080,2559,2150,3027,0,0,0,0,0,0
$STATE,2976,end apogee,CONTROL_FINISHED_OK
$STATE,2976,begin climb
$GC,2978,0.72,219.0,511.0,0.0,380,3156,0.68,2.17,170.20,0.842,4,0.038,0.046,2861,3530,2133,0,0,0,0,0,0
$GC,3343,0.70,219.0,466.0,20.5,410,3353,0.20,2.20,0.00,0.000,6,0.161,0.030,2810,2063,2127,0,0,0,0,0,0
$GC,3671,0.68,219.0,412.7,16.5,441,3674,0.00,2.08,0.00,0.000,4,0.000,0.041,2818,657,2122,0,0,0,0,0,0
$GC,3797,0.68,223.5,394.0,14.9,452,3801,0.08,2.15,0.00,0.000,6,0.197,0.034,2801,2120,2120,0,0,0,0,0,0
$GC,4122,0.75,288.1,352.5,12.2,482,4185,0.12,2.22,53.28,0.768,4,0.087,0.050,2874,3531,1849,0,0,0,0,0,0
$GC,4233,0.73,288.1,330.6,24.6,491,4238,0.22,2.20,0.00,0.000,6,0.168,0.031,2821,2061,1847,0,0,0,0,0,0
$GC,4573,0.72,288.1,270.2,17.3,535,4579,0.00,2.05,0.00,0.000,4,0.000,0.041,2831,655,1840,0,0,0,0,0,0
$GC,4674,0.72,288.1,253.2,15.5,552,4684,0.03,2.20,0.00,0.000,6,0.181,0.035,2819,2118,1839,0,0,0,0,0,0
$GC,5036,0.73,303.3,197.3,14.4,613,5057,0.00,2.20,11.48,0.623,4,0.000,0.050,2820,3537,1789,0,0,0,0,0,0
$GC,5104,0.73,303.3,186.6,15.5,624,5113,0.00,2.17,0.00,0.000,6,0.000,0.031,2828,2066,1788,0,0,0,0,0,0
$GC,5467,0.74,316.1,134.7,14.6,685,5485,0.00,2.08,11.27,0.577,4,0.000,0.042,2830,653,1736,0,0,0,0,0,0
$GC,5540,0.79,352.9,124.3,13.4,696,5583,0.03,2.20,30.38,0.603,6,0.112,0.035,2873,2120,1586,0,0,0,0,0,0
$GC,5934,0.81,373.6,59.5,14.2,761,5959,0.10,2.20,16.75,0.537,4,0.174,0.041,2844,660,1502,0,0,0,0,0,0
$GC,6057,1.01,518.8,47.7,8.4,780,6179,0.17,2.20,111.38,0.540,6,0.037,0.037,2949,2120,911,0,0,0,0,0,0
$STATE,6287,end climb,SURFACE_DEPTH_REACHED
$STATE,6287,begin surface coast
$FINISH,0.6,1.010843
$STATE,6300,end surface coast,CONTROL_FINISHED_OK
$STATE,6301,begin surface
$SM_CCo,6375,0.00,0.000,0,0,905,520.53
$SM_GC,1.40,6.97,0.00,0.00,0.037,0.000,0.000,210,2442,905,-7.38,1.16,520.53
$IRIDIUM_FIX,2420.48,12706.40,121010,060605
$TT8_MAMPS,0.026215
$HUMID,54.01
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.5,34.185
$10V_AH,10.5,29.745
$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,17.875,56.325,570.000,0.000,0.000,27.199,14.908,152.015,0.000,0.000,19.334,1917.703,1577.185,504.317,2566.495,142.432,0.000,1348.657,0.000,2340.321,0.000,0.542,0.000
$DEVICE_MAMPS,237.150,80.325,857.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.845,0.000,1703.164,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334084
$DATA_FILE_SIZE,50357,815
$CAP_FILE_SIZE,86426,0
$CFSIZE,260165632,240742400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,100.8,1
$GPS,121010,101236,2430.104,12705.843,10,1.5,26,-3.7