version: 66.08
glider: 176
mission: 2
dive: 268
start: 10 12 110 21 33 12
data:
$ID,176
$MISSION,2
$DIVE,268
$N_DIVES,278
$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,-5134.3965
$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
$GPS1,121010,212754,2430.028,12706.843,39,1.3,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-74.6
$GPS2,121010,213244,2430.037,12706.884,11,1.4,11,-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,271.2,3175,-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,-55.65,0.000,2,0.000,0.000,199,2474,2561,0,0,0,0,0,0
$GC,75,-0.72,-219.0,3.4,-6.4,7,117,8.48,1.98,-25.42,0.000,4,0.238,0.063,2349,3770,3921,0,0,0,0,0,0
$GC,260,-0.71,-219.0,56.5,-26.9,36,269,0.03,2.08,0.00,0.000,6,0.174,0.029,2360,2351,3923,0,0,0,0,0,0
$GC,625,-0.71,-219.0,140.7,-22.4,97,635,0.00,2.17,0.00,0.000,4,0.000,0.054,2360,3765,3924,0,0,0,0,0,0
$GC,680,-0.71,-219.0,151.3,-17.7,105,687,0.00,2.03,0.00,0.000,6,0.000,0.028,2360,2345,3925,0,0,0,0,0,0
$GC,1027,-0.70,-219.0,220.6,-18.8,166,1036,0.00,2.00,0.00,0.000,4,0.000,0.034,2360,962,3925,0,0,0,0,0,0
$GC,1073,-0.71,-219.0,228.4,-16.3,173,1080,0.00,2.17,0.00,0.000,6,0.000,0.044,2360,2421,3925,0,0,0,0,0,0
$GC,1420,-0.71,-219.0,287.9,-17.0,234,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2422,3925,0,0,0,0,0,0
$GC,1753,-0.71,-219.0,344.1,-17.4,271,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2421,3925,0,0,0,0,0,0
$GC,2073,-0.72,-219.0,392.2,-14.2,301,2076,0.00,2.12,0.00,0.000,4,0.000,0.034,2360,956,3924,0,0,0,0,0,0
$GC,2094,-0.72,-219.0,396.0,-14.3,302,2103,0.00,2.22,0.00,0.000,6,0.000,0.044,2360,2420,3924,0,0,0,0,0,0
$GC,2422,-0.73,-219.0,439.4,-14.4,333,2425,0.00,2.00,0.00,0.000,4,0.000,0.055,2360,3766,3923,0,0,0,0,0,0
$GC,2492,-0.75,-219.0,448.2,-10.5,339,2496,0.08,2.03,0.00,0.000,6,0.125,0.028,2289,2339,3922,0,0,0,0,0,0
$STATE,2741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2742,begin apogee
$GC,2746,-0.11,0.0,500.9,22.4,362,2916,0.80,0.17,164.48,0.858,6,0.130,0.072,2559,2153,3027,0,0,0,0,0,0
$STATE,2917,end apogee,CONTROL_FINISHED_OK
$STATE,2917,begin climb
$GC,2919,0.72,219.0,513.4,0.0,376,3097,0.68,2.38,169.40,0.842,4,0.039,0.040,2870,660,2133,0,0,0,0,0,0
$GC,3343,0.70,219.0,454.4,19.8,412,3353,0.17,2.22,0.00,0.000,6,0.155,0.036,2814,2126,2124,0,0,0,0,0,0
$GC,3670,0.69,219.0,403.2,15.6,443,3674,0.00,2.12,0.00,0.000,4,0.000,0.049,2814,3532,2122,0,0,0,0,0,0
$GC,3725,0.67,219.0,393.0,18.2,447,3733,0.10,2.15,0.00,0.000,6,0.198,0.031,2798,2058,2122,0,0,0,0,0,0
$GC,4051,0.68,232.0,343.2,14.5,478,4066,0.05,2.12,9.57,0.682,4,0.172,0.044,2848,660,2080,0,0,0,0,0,0
$GC,4114,0.67,232.0,333.3,16.3,483,4119,0.17,2.17,0.00,0.000,6,0.159,0.036,2797,2122,2078,0,0,0,0,0,0
$GC,4443,0.76,311.4,291.2,11.5,520,4515,0.12,2.22,62.67,0.735,4,0.087,0.040,2885,663,1755,0,0,0,0,0,0
$GC,4594,0.75,311.4,263.2,18.7,544,4603,0.17,2.25,0.00,0.000,6,0.143,0.038,2826,2122,1749,0,0,0,0,0,0
$GC,4944,0.74,311.4,204.4,15.3,605,4952,0.00,2.12,0.00,0.000,4,0.000,0.049,2826,3527,1746,0,0,0,0,0,0
$GC,5041,0.75,323.7,189.0,14.6,621,5057,0.00,2.15,9.35,0.592,6,0.000,0.031,2831,2063,1707,0,0,0,0,0,0
$GC,5404,0.75,323.7,137.5,15.4,683,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2061,1703,0,0,0,0,0,0
$GC,5769,0.79,354.9,81.9,13.7,744,5803,0.08,2.25,25.55,0.571,4,0.131,0.046,2893,3533,1578,0,0,0,0,0,0
$GC,5901,0.78,354.9,59.8,15.4,764,5910,0.20,2.20,0.00,0.000,6,0.130,0.032,2832,2057,1575,0,0,0,0,0,0
$GC,6268,0.99,514.9,32.2,7.7,825,6399,0.22,2.15,121.65,0.526,4,0.060,0.044,2958,656,925,0,0,0,0,0,0
$GC,6416,0.98,514.9,4.3,23.8,843,6425,0.17,2.25,0.00,0.000,6,0.132,0.035,2900,2120,923,0,0,0,0,0,0
$STATE,6432,end climb,SURFACE_DEPTH_REACHED
$STATE,6432,begin surface coast
$FINISH,0.6,1.021883
$STATE,6446,end surface coast,CONTROL_FINISHED_OK
$STATE,6446,begin surface
$SM_CCo,6521,0.00,0.000,0,0,920,516.85
$SM_GC,1.49,6.93,0.00,0.00,0.039,0.000,0.000,204,2453,920,-7.40,1.50,516.85
$IRIDIUM_FIX,2420.48,12709.72,121010,191930
$TT8_MAMPS,0.026215
$HUMID,52.04
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,35.078
$10V_AH,10.5,30.544
$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,18.450,52.575,562.675,0.000,0.000,25.053,49.071,108.394,0.000,0.000,14.455,1982.151,1540.555,502.350,2637.227,151.695,0.000,1358.833,0.000,2459.321,0.000,0.542,0.000
$DEVICE_MAMPS,237.915,71.910,857.565,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.907,0.000,1808.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50406,847
$CAP_FILE_SIZE,86819,0
$CFSIZE,260165632,240402432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.331, 72.8,1
$GPS,121010,232232,2430.314,12707.050,13,1.9,13,-3.7