version: 66.08
glider: 176
mission: 2
dive: 135
start: 10 2 110 17 18 10
data:
$ID,176
$MISSION,2
$DIVE,135
$N_DIVES,150
$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,-4926.6562
$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
$GPS1,021010,170924,2319.872,12603.099,23,0.9,41,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-72.8
$GPS2,021010,171744,2319.925,12603.037,12,1.5,12,-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,78.4,166573,-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,-72.88,0.000,2,0.000,0.000,195,2448,2742,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.7,-7.1,9,127,8.60,2.25,-20.23,0.000,4,0.246,0.049,2357,949,3924,0,0,0,0,0,0
$GC,154,-0.69,-219.0,27.2,-42.6,17,163,0.05,2.28,0.00,0.000,6,0.187,0.047,2373,2423,3924,0,0,0,0,0,0
$GC,519,-0.68,-219.0,130.3,-24.1,78,528,0.00,2.05,0.00,0.000,4,0.000,0.057,2374,3767,3925,0,0,0,0,0,0
$GC,608,-0.69,-219.0,147.3,-14.7,92,617,0.00,2.05,0.00,0.000,6,0.000,0.030,2374,2350,3926,0,0,0,0,0,0
$GC,958,-0.69,-219.0,212.7,-17.3,153,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2346,3926,0,0,0,0,0,0
$GC,1301,-0.69,-219.0,272.9,-17.5,214,1310,0.00,2.15,0.00,0.000,4,0.000,0.055,2373,3759,3926,0,0,0,0,0,0
$GC,1325,-0.69,-219.0,276.5,-17.3,217,1332,0.00,2.00,0.00,0.000,6,0.000,0.029,2373,2349,3926,0,0,0,0,0,0
$GC,1660,-0.69,-219.0,333.7,-16.7,260,1661,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2345,3926,0,0,0,0,0,0
$GC,1979,-0.70,-219.0,382.6,-14.9,290,1983,0.00,1.98,0.00,0.000,4,0.000,0.033,2373,955,3923,0,0,0,0,0,0
$GC,1995,-0.70,-219.0,385.4,-14.3,291,2004,0.05,2.20,0.00,0.000,6,0.177,0.044,2333,2420,3923,0,0,0,0,0,0
$GC,2320,-0.70,-219.0,442.6,-17.1,322,2324,0.12,2.00,0.00,0.000,4,0.168,0.053,2362,3767,3922,0,0,0,0,0,0
$GC,2386,-0.72,-219.0,451.0,-10.0,327,2394,0.00,2.03,0.00,0.000,6,0.000,0.029,2362,2357,3921,0,0,0,0,0,0
$GC,2711,-0.72,-219.0,488.8,-11.4,358,2715,0.00,2.15,0.00,0.000,4,0.000,0.056,2362,3772,3919,0,0,0,0,0,0
$GC,2766,-0.74,-219.0,494.4,-8.5,362,2776,0.03,2.05,0.00,0.000,6,0.110,0.029,2318,2346,3918,0,0,0,0,0,0
$STATE,2815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2815,begin apogee
$GC,2819,-0.11,0.0,500.1,12.9,367,2992,0.70,0.15,164.80,0.839,6,0.123,0.081,2559,2145,3026,0,0,0,0,0,0
$STATE,2993,end apogee,CONTROL_FINISHED_OK
$STATE,2993,begin climb
$GC,2994,0.72,219.0,508.7,0.0,381,3173,0.70,2.25,171.25,0.825,4,0.046,0.047,2848,3527,2132,0,0,0,0,0,0
$GC,3211,0.70,219.0,498.4,20.9,398,3221,0.15,2.22,0.00,0.000,6,0.167,0.031,2813,2068,2129,0,0,0,0,0,0
$GC,3539,0.68,219.0,445.4,17.3,429,3543,0.00,2.22,0.00,0.000,4,0.000,0.047,2812,3540,2123,0,0,0,0,0,0
$GC,3555,0.67,219.0,441.9,18.1,430,3560,0.10,2.15,0.00,0.000,6,0.204,0.031,2799,2061,2123,0,0,0,0,0,0
$GC,3881,0.68,234.3,390.9,14.4,460,3898,0.00,2.28,11.68,0.701,4,0.000,0.048,2798,3523,2070,0,0,0,0,0,0
$GC,3949,0.67,234.3,379.4,17.7,466,3953,0.00,2.12,0.00,0.000,6,0.000,0.031,2806,2060,2070,0,0,0,0,0,0
$GC,4276,0.67,246.4,328.3,14.6,496,4293,0.00,2.10,10.68,0.669,4,0.000,0.042,2817,666,2021,0,0,0,0,0,0
$GC,4434,0.71,281.7,306.0,13.5,510,4472,0.00,2.17,28.95,0.708,6,0.000,0.037,2817,2133,1877,0,0,0,0,0,0
$GC,4807,0.71,286.4,249.8,14.9,572,4816,0.00,0.00,4.22,0.464,6,0.000,0.000,2817,2133,1858,0,0,0,0,0,0
$GC,5156,0.71,286.4,192.2,15.5,633,5162,0.00,2.20,0.00,0.000,4,0.000,0.043,2818,656,1856,0,0,0,0,0,0
$GC,5171,0.70,286.4,189.6,15.5,635,5178,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2126,1855,0,0,0,0,0,0
$GC,5524,0.78,347.2,138.6,12.3,696,5582,0.10,2.25,48.50,0.603,4,0.109,0.042,2887,664,1609,0,0,0,0,0,0
$GC,5602,0.77,347.2,125.7,18.7,706,5611,0.17,2.22,0.00,0.000,6,0.137,0.038,2828,2120,1605,0,0,0,0,0,0
$GC,5967,0.86,419.2,80.3,11.8,767,6026,0.12,0.00,55.17,0.552,6,0.089,0.000,2906,2120,1317,0,0,0,0,0,0
$GC,6374,0.86,419.2,11.5,16.2,834,6383,0.17,2.20,0.00,0.000,4,0.152,0.044,2859,663,1309,0,0,0,0,0,0
$GC,6422,1.02,534.7,5.7,9.8,841,6457,0.15,2.20,29.25,0.485,2,0.041,0.038,2955,2131,1137,0,0,0,0,0,0
$STATE,6458,end climb,SURFACE_DEPTH_REACHED
$STATE,6458,begin surface coast
$FINISH,0.6,1.011073
$STATE,6477,end surface coast,CONTROL_FINISHED_OK
$STATE,6477,begin surface
$SM_CCo,6491,76.90,0.068,0,0,540,610.06
$SM_GC,1.39,0.00,0.00,76.90,0.000,0.000,0.068,188,2445,540,-7.51,1.24,610.06
$IRIDIUM_FIX,2314.48,12603.37,021010,171739
$TT8_MAMPS,0.026964
$HUMID,49.72
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,18.718
$10V_AH,10.6,15.778
$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,18.175,56.900,524.500,76.900,0.000,56.638,39.678,206.702,0.000,0.000,14.604,2006.308,1600.842,565.969,2774.797,124.109,0.000,1416.979,0.000,2435.776,0.000,0.544,0.000
$DEVICE_MAMPS,246.330,81.090,839.205,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.348,0.000,1773.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50291,848
$CAP_FILE_SIZE,91945,0
$CFSIZE,260165632,246628352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.182,349.8,1
$GPS,021010,190814,2320.687,12604.034,9,1.5,9,-3.4