version: 66.08
glider: 176
mission: 2
dive: 127
start: 10 2 110 2 20 11
data:
$ID,176
$MISSION,2
$DIVE,127
$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,-4916.1426
$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
$GPS1,021010,021538,2313.861,12600.023,9,1.7,9,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.2
$GPS2,021010,021944,2313.892,12600.045,9,1.8,9,-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,57.6,178466,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.80,0.000,2,0.000,0.000,202,2427,2738,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.7,-6.7,9,127,8.48,2.10,-20.40,0.000,4,0.243,0.067,2348,3774,3922,0,0,0,0,0,0
$GC,165,-0.69,-219.0,33.4,-45.1,19,175,0.08,2.08,0.00,0.000,6,0.163,0.031,2372,2361,3925,0,0,0,0,0,0
$GC,531,-0.68,-219.0,143.4,-25.1,80,540,0.00,2.05,0.00,0.000,4,0.000,0.034,2373,948,3926,0,0,0,0,0,0
$GC,548,-0.67,-219.0,148.0,-25.7,82,557,0.00,2.22,0.00,0.000,6,0.000,0.044,2372,2417,3926,0,0,0,0,0,0
$GC,898,-0.66,-219.0,224.5,-20.7,143,906,0.00,2.00,0.00,0.000,4,0.000,0.056,2373,3767,3927,0,0,0,0,0,0
$GC,914,-0.66,-219.0,227.7,-20.3,145,921,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2335,3927,0,0,0,0,0,0
$GC,1259,-0.66,-219.0,295.4,-19.5,206,1268,0.00,2.20,0.00,0.000,4,0.000,0.054,2373,3770,3927,0,0,0,0,0,0
$GC,1301,-0.66,-219.0,303.5,-18.0,211,1310,0.00,2.05,0.00,0.000,6,0.000,0.029,2372,2347,3927,0,0,0,0,0,0
$GC,1626,-0.67,-219.0,359.9,-16.1,242,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2343,3926,0,0,0,0,0,0
$GC,1947,-0.67,-219.0,407.1,-13.9,272,1950,0.00,2.12,0.00,0.000,4,0.000,0.054,2373,3766,3925,0,0,0,0,0,0
$GC,1968,-0.68,-219.0,410.3,-13.2,273,1975,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2345,3925,0,0,0,0,0,0
$GC,2294,-0.69,-219.0,450.5,-13.6,304,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2341,3924,0,0,0,0,0,0
$GC,2613,-0.70,-219.0,495.8,-14.2,334,2617,0.00,1.98,0.00,0.000,4,0.000,0.036,2373,949,3921,0,0,0,0,0,0
$GC,2637,-0.71,-219.0,499.1,-13.6,336,2642,0.05,2.20,0.00,0.000,6,0.173,0.044,2325,2426,3921,0,0,0,0,0,0
$STATE,2654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2654,begin apogee
$GC,2658,-0.11,0.0,501.2,12.5,337,2828,0.65,0.20,164.75,0.848,6,0.116,0.068,2555,2142,3027,0,0,0,0,0,0
$STATE,2829,end apogee,CONTROL_FINISHED_OK
$STATE,2829,begin climb
$GC,2831,0.72,219.0,513.2,0.0,351,3009,0.70,2.25,171.05,0.836,4,0.047,0.047,2846,3533,2133,0,0,0,0,0,0
$GC,3206,0.70,219.0,460.1,24.7,383,3215,0.17,2.17,0.00,0.000,6,0.184,0.031,2809,2059,2126,0,0,0,0,0,0
$GC,3532,0.69,219.6,403.7,15.1,414,3535,0.00,2.08,0.00,0.000,4,0.000,0.044,2818,657,2122,0,0,0,0,0,0
$GC,3635,0.73,258.7,389.4,13.3,423,3672,0.00,2.17,30.55,0.760,6,0.000,0.037,2818,2122,1972,0,0,0,0,0,0
$GC,3990,0.72,258.7,335.9,15.2,456,3994,0.00,2.10,0.00,0.000,4,0.000,0.049,2818,3529,1964,0,0,0,0,0,0
$GC,4027,0.70,258.7,328.9,17.5,459,4036,0.00,2.17,0.00,0.000,6,0.000,0.033,2818,2063,1964,0,0,0,0,0,0
$GC,4363,0.70,258.7,273.8,16.0,504,4372,0.00,2.10,0.00,0.000,4,0.000,0.046,2819,659,1961,0,0,0,0,0,0
$GC,4401,0.69,258.7,267.8,15.2,510,4409,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2117,1960,0,0,0,0,0,0
$GC,4747,0.68,258.7,214.2,15.8,571,4755,0.08,0.00,0.00,0.000,6,0.216,0.000,2801,2118,1959,0,0,0,0,0,0
$GC,5093,0.79,347.1,167.4,11.0,632,5171,0.15,2.25,68.32,0.633,4,0.080,0.041,2899,660,1608,0,0,0,0,0,0
$GC,5239,0.78,347.1,140.1,19.6,654,5248,0.17,2.22,0.00,0.000,6,0.142,0.037,2841,2120,1603,0,0,0,0,0,0
$GC,5603,0.81,365.3,84.8,14.3,715,5620,0.00,0.00,13.85,0.539,6,0.000,0.000,2840,2120,1536,0,0,0,0,0,0
$GC,5970,1.02,531.7,42.9,7.4,777,6108,0.22,2.28,125.72,0.528,4,0.060,0.044,2966,674,857,0,0,0,0,0,0
$GC,6158,1.02,531.7,7.1,20.4,802,6167,0.15,2.22,0.00,0.000,6,0.127,0.037,2915,2123,853,0,0,0,0,0,0
$STATE,6180,end climb,SURFACE_DEPTH_REACHED
$STATE,6180,begin surface coast
$FINISH,0.7,1.009246
$STATE,6200,end surface coast,CONTROL_FINISHED_OK
$STATE,6200,begin surface
$SM_CCo,6213,44.92,0.069,0,0,539,610.06
$SM_GC,1.26,0.00,0.00,44.92,0.000,0.000,0.069,209,2442,539,-7.44,1.19,610.06
$IRIDIUM_FIX,2307.44,12601.99,021010,000023
$TT8_MAMPS,0.026964
$HUMID,50.82
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,17.731
$10V_AH,10.8,14.867
$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,17.750,52.375,574.250,44.925,0.000,27.861,26.597,101.708,0.000,0.000,11.986,1872.673,1487.358,566.170,2473.934,111.274,0.000,1398.394,0.000,2316.050,0.000,0.542,0.000
$DEVICE_MAMPS,242.505,68.085,848.385,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.652,0.000,1687.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,46975,808
$CAP_FILE_SIZE,84214,0
$CFSIZE,260165632,247021568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.135,298.9,1
$GPS,021010,040537,2314.684,12600.616,40,1.0,40,-3.4