version: 66.08
glider: 176
mission: 2
dive: 291
start: 10 14 110 17 21 12
data:
$ID,176
$MISSION,2
$DIVE,291
$N_DIVES,298
$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,-5164.2949
$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
$GPS1,141010,171554,2422.067,12708.412,25,1.1,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-76.7
$GPS2,141010,172044,2422.059,12708.507,12,1.5,12,-3.7
$SPEED_LIMITS,0.262,0.357
$TGT_NAME,DIAG_SECTION
$TGT_LATLONG,2300.000,12600.000
$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,252.5,191665,-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,-219.0,0.0,0.0,0,57,0.00,0.00,-39.58,0.000,2,0.000,0.000,204,2346,2539,0,0,0,0,0,0
$GC,59,-0.72,-219.0,3.2,-5.7,5,101,8.43,2.00,-26.45,0.000,4,0.235,0.043,2358,951,3921,0,0,0,0,0,0
$GC,164,-0.72,-219.0,32.6,-25.6,20,173,0.00,2.28,0.00,0.000,6,0.000,0.047,2357,2423,3923,0,0,0,0,0,0
$GC,522,-0.71,-219.0,133.3,-23.4,81,531,0.00,2.05,0.00,0.000,4,0.000,0.057,2356,3763,3924,0,0,0,0,0,0
$GC,633,-0.71,-219.0,153.9,-14.8,99,640,0.00,2.03,0.00,0.000,6,0.000,0.028,2356,2336,3926,0,0,0,0,0,0
$GC,988,-0.70,-219.0,229.2,-23.6,160,997,0.00,2.20,0.00,0.000,4,0.000,0.055,2355,3764,3926,0,0,0,0,0,0
$GC,1094,-0.71,-219.0,247.3,-14.9,177,1101,0.00,2.00,0.00,0.000,6,0.000,0.028,2355,2346,3926,0,0,0,0,0,0
$GC,1445,-0.71,-219.0,313.2,-17.7,231,1446,0.00,0.00,0.00,0.000,6,0.000,0.000,2355,2342,3926,0,0,0,0,0,0
$GC,1763,-0.71,-219.0,366.2,-15.2,261,1767,0.00,2.15,0.00,0.000,4,0.000,0.054,2353,3766,3926,0,0,0,0,0,0
$GC,1824,-0.72,-219.0,374.5,-10.5,266,1834,0.00,2.03,0.00,0.000,6,0.000,0.027,2353,2342,3925,0,0,0,0,0,0
$GC,2151,-0.73,-219.0,420.2,-14.6,297,2155,0.00,2.15,0.00,0.000,4,0.000,0.054,2353,3766,3925,0,0,0,0,0,0
$GC,2212,-0.74,-219.0,429.3,-12.3,302,2222,0.00,2.03,0.00,0.000,6,0.000,0.026,2353,2351,3924,0,0,0,0,0,0
$GC,2539,-0.75,-219.0,474.8,-13.0,333,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2348,3924,0,0,0,0,0,0
$STATE,2736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2736,begin apogee
$GC,2741,-0.11,0.0,501.1,13.0,352,2913,0.57,0.17,165.80,0.856,6,0.111,0.074,2556,2147,3026,0,0,0,0,0,0
$STATE,2914,end apogee,CONTROL_FINISHED_OK
$STATE,2914,begin climb
$GC,2915,0.72,219.0,511.2,0.0,366,3094,0.70,2.17,170.70,0.845,4,0.043,0.044,2851,3530,2132,0,0,0,0,0,0
$GC,3258,0.70,219.0,476.1,19.5,394,3269,0.15,2.20,0.00,0.000,6,0.158,0.030,2814,2068,2126,0,0,0,0,0,0
$GC,3586,0.69,224.3,426.0,14.9,425,3596,0.00,0.00,3.97,0.503,6,0.000,0.000,2815,2065,2112,0,0,0,0,0,0
$GC,3917,0.70,243.1,376.3,14.3,456,3941,0.00,2.28,16.45,0.749,4,0.000,0.047,2814,3525,2034,0,0,0,0,0,0
$GC,3966,0.69,243.1,368.4,17.6,460,3970,0.08,2.15,0.00,0.000,6,0.210,0.030,2807,2062,2033,0,0,0,0,0,0
$GC,4292,0.74,287.2,323.4,13.1,490,4335,0.10,2.30,35.33,0.752,4,0.103,0.047,2876,3521,1855,0,0,0,0,0,0
$GC,4369,0.72,287.2,309.0,20.9,496,4379,0.22,2.20,0.00,0.000,6,0.151,0.031,2815,2063,1852,0,0,0,0,0,0
$GC,4719,0.71,287.2,254.3,15.5,552,4727,0.00,2.10,0.00,0.000,4,0.000,0.043,2818,661,1847,0,0,0,0,0,0
$GC,4792,0.76,325.7,243.7,13.4,564,4830,0.05,2.20,30.92,0.693,6,0.073,0.036,2874,2125,1698,0,0,0,0,0,0
$GC,5182,0.75,325.7,163.9,18.4,629,5189,0.17,2.10,0.00,0.000,4,0.159,0.047,2821,3528,1691,0,0,0,0,0,0
$GC,5210,0.74,325.7,158.6,19.0,633,5217,0.00,2.15,0.00,0.000,6,0.000,0.031,2830,2063,1691,0,0,0,0,0,0
$GC,5567,0.77,348.5,108.6,14.1,694,5592,0.00,2.08,18.12,0.584,4,0.000,0.043,2831,664,1604,0,0,0,0,0,0
$GC,5648,0.81,380.9,97.1,13.6,706,5683,0.05,2.17,26.92,0.578,6,0.073,0.035,2889,2116,1473,0,0,0,0,0,0
$GC,6034,0.93,473.4,42.1,10.9,770,6116,0.00,2.22,71.45,0.542,4,0.000,0.049,2890,3529,1094,0,0,0,0,0,0
$GC,6167,0.98,506.6,25.3,13.6,788,6201,0.00,2.20,26.38,0.508,6,0.000,0.031,2898,2069,960,0,0,0,0,0,0
$STATE,6319,end climb,SURFACE_DEPTH_REACHED
$STATE,6319,begin surface coast
$FINISH,0.6,1.021800
$STATE,6339,end surface coast,CONTROL_FINISHED_OK
$STATE,6340,begin surface
$SM_CCo,6414,0.00,0.000,0,0,953,508.75
$SM_GC,1.36,6.85,0.00,0.00,0.038,0.000,0.000,204,2445,953,-7.40,1.27,508.75
$IRIDIUM_FIX,2413.38,12710.17,141010,151533
$TT8_MAMPS,0.026215
$HUMID,52.63
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,37.978
$10V_AH,10.5,33.184
$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,17.375,52.550,566.050,0.000,0.000,30.140,44.571,110.409,0.000,0.000,16.629,1921.773,1624.965,495.427,2510.459,154.167,0.000,1321.107,0.000,2329.309,0.000,0.542,0.000
$DEVICE_MAMPS,234.855,74.205,856.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.577,0.000,1731.989,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334060
$DATA_FILE_SIZE,50466,815
$CAP_FILE_SIZE,84813,0
$CFSIZE,260165632,239251456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.282, 96.6,1
$GPS,141010,190904,2421.788,12708.597,12,2.6,31,-3.7