version: 66.08
glider: 176
mission: 2
dive: 124
start: 10 1 110 20 52 16
data:
$ID,176
$MISSION,2
$DIVE,124
$N_DIVES,140
$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,610
$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,-4912.0942
$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
$GPS1,011010,204731,2311.297,12557.355,38,1.2,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.7
$GPS2,011010,205149,2311.354,12557.361,11,1.2,11,-3.4
$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,67.1,184954,-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,-219.0,0.0,0.0,0,82,0.00,0.00,-65.10,0.000,2,0.000,0.000,202,2331,2462,0,0,0,0,0,0
$GC,84,-0.72,-219.0,3.0,-4.7,8,127,8.43,2.25,-28.80,0.000,4,0.240,0.067,2349,3767,3921,0,0,0,0,0,0
$GC,166,-0.69,-219.0,27.9,-41.1,19,175,0.05,2.08,0.00,0.000,6,0.176,0.029,2366,2342,3923,0,0,0,0,0,0
$GC,530,-0.68,-219.0,141.0,-27.2,80,539,0.00,2.20,0.00,0.000,4,0.000,0.054,2366,3769,3925,0,0,0,0,0,0
$GC,570,-0.67,-219.0,152.5,-26.4,86,579,0.03,2.05,0.00,0.000,6,0.185,0.029,2376,2350,3925,0,0,0,0,0,0
$GC,917,-0.66,-219.0,230.7,-21.0,147,924,0.00,1.98,0.00,0.000,4,0.000,0.034,2376,945,3925,0,0,0,0,0,0
$GC,947,-0.66,-219.0,237.6,-20.6,152,955,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,2418,3926,0,0,0,0,0,0
$GC,1293,-0.66,-219.0,302.8,-17.3,212,1296,0.00,2.10,0.00,0.000,4,0.000,0.034,2376,944,3926,0,0,0,0,0,0
$GC,1314,-0.67,-219.0,306.9,-18.6,213,1322,0.00,2.22,0.00,0.000,6,0.000,0.044,2376,2419,3926,0,0,0,0,0,0
$GC,1639,-0.67,-219.0,360.1,-16.1,244,1643,0.00,2.00,0.00,0.000,4,0.000,0.055,2376,3775,3926,0,0,0,0,0,0
$GC,1723,-0.69,-219.0,370.7,-10.3,251,1730,0.00,2.05,0.00,0.000,6,0.000,0.030,2376,2348,3925,0,0,0,0,0,0
$GC,2049,-0.69,-219.0,415.3,-14.1,282,2051,0.05,0.00,0.00,0.000,6,0.185,0.000,2335,2344,3924,0,0,0,0,0,0
$GC,2366,-0.69,-219.0,475.0,-18.5,312,2371,0.12,2.15,0.00,0.000,4,0.158,0.056,2373,3768,3922,0,0,0,0,0,0
$GC,2421,-0.71,-219.0,482.4,-10.3,316,2431,0.05,2.03,0.00,0.000,6,0.070,0.030,2315,2356,3921,0,0,0,0,0,0
$STATE,2534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2534,begin apogee
$GC,2538,-0.11,0.0,501.8,19.8,327,2711,0.70,0.15,164.77,0.838,6,0.128,0.080,2556,2139,3027,0,0,0,0,0,0
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2712,begin climb
$GC,2713,0.72,219.0,512.0,0.0,341,2889,0.70,0.00,171.15,0.825,6,0.049,0.000,2841,2138,2134,0,0,0,0,0,0
$GC,3207,0.70,219.0,440.6,19.1,387,3211,0.12,2.20,0.00,0.000,4,0.194,0.041,2818,658,2124,0,0,0,0,0,0
$GC,3264,0.69,219.0,430.3,16.3,392,3268,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2128,2122,0,0,0,0,0,0
$GC,3588,0.68,219.0,378.7,15.6,422,3593,0.08,2.17,0.00,0.000,4,0.218,0.044,2804,660,2121,0,0,0,0,0,0
$GC,3654,0.72,255.6,369.7,13.4,427,3690,0.08,2.17,27.90,0.741,6,0.129,0.037,2853,2131,1984,0,0,0,0,0,0
$GC,4007,0.70,255.6,304.9,17.2,460,4011,0.15,2.10,0.00,0.000,4,0.174,0.047,2810,3539,1976,0,0,0,0,0,0
$GC,4066,0.70,255.6,295.0,17.6,467,4073,0.00,2.17,0.00,0.000,6,0.000,0.032,2817,2060,1975,0,0,0,0,0,0
$GC,4421,0.73,288.2,241.0,13.6,528,4458,0.00,2.15,25.55,0.668,4,0.000,0.044,2825,658,1851,0,0,0,0,0,0
$GC,4545,0.74,302.1,223.1,14.5,548,4569,0.00,2.20,12.40,0.613,6,0.000,0.037,2826,2116,1793,0,0,0,0,0,0
$GC,4920,0.75,310.4,166.0,14.8,611,4935,0.00,2.17,7.53,0.535,4,0.000,0.042,2831,663,1759,0,0,0,0,0,0
$GC,4965,0.79,338.5,159.0,13.8,618,4995,0.03,2.20,23.98,0.604,6,0.114,0.037,2873,2126,1646,0,0,0,0,0,0
$GC,5351,0.78,338.5,84.8,18.4,682,5361,0.15,2.20,0.00,0.000,4,0.164,0.044,2831,664,1637,0,0,0,0,0,0
$GC,5400,0.81,358.5,77.5,14.2,689,5426,0.05,2.17,15.65,0.534,6,0.073,0.038,2891,2116,1564,0,0,0,0,0,0
$GC,5775,0.98,494.2,26.8,8.8,752,5889,0.08,2.22,103.03,0.513,4,0.129,0.047,2944,3531,1009,0,0,0,0,0,0
$GC,5898,0.97,494.2,6.1,21.7,767,5908,0.17,2.22,0.00,0.000,6,0.147,0.034,2896,2073,1008,0,0,0,0,0,0
$STATE,5914,end climb,SURFACE_DEPTH_REACHED
$STATE,5914,begin surface coast
$FINISH,0.6,1.021318
$STATE,5928,end surface coast,CONTROL_FINISHED_OK
$STATE,5928,begin surface
$SM_CCo,5942,64.47,0.068,0,0,540,610.06
$SM_GC,1.36,0.00,0.00,64.47,0.000,0.000,0.068,206,2439,540,-7.45,1.13,610.06
$IRIDIUM_FIX,2302.75,12557.33,011010,181801
$TT8_MAMPS,0.026964
$HUMID,50.23
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,17.352
$10V_AH,10.8,14.530
$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,17.875,56.975,551.950,64.475,0.000,25.312,37.472,106.472,0.000,0.000,14.177,1797.270,1429.095,583.667,2353.473,106.861,0.000,1373.714,0.000,2185.595,0.000,0.542,0.000
$DEVICE_MAMPS,240.210,80.325,837.675,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.548,0.000,1600.743,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334080
$DATA_FILE_SIZE,47002,771
$CAP_FILE_SIZE,83457,0
$CFSIZE,260165632,247160832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,331.9,1
$GPS,011010,223302,2312.185,12558.201,12,2.0,12,-3.4