version: 66.08
glider: 176
mission: 2
dive: 136
start: 10 2 110 19 12 52
data:
$ID,176
$MISSION,2
$DIVE,136
$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,-4928.0005
$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
$GPS1,021010,190814,2320.687,12604.034,9,1.5,9,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.0
$GPS2,021010,191225,2320.687,12603.999,12,1.0,17,-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,64.8,164458,-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,-72.03,0.000,2,0.000,0.000,188,2445,2695,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.5,-6.9,9,134,8.75,2.08,-21.20,0.000,4,0.252,0.068,2349,3775,3923,0,0,0,0,0,0
$GC,143,-0.67,-219.0,22.7,-39.8,15,152,0.08,2.08,0.00,0.000,6,0.170,0.028,2373,2341,3923,0,0,0,0,0,0
$GC,508,-0.66,-219.0,128.3,-23.1,76,517,0.00,2.20,0.00,0.000,4,0.000,0.057,2373,3766,3925,0,0,0,0,0,0
$GC,601,-0.67,-219.0,147.3,-16.3,91,610,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,2351,3925,0,0,0,0,0,0
$GC,958,-0.66,-219.0,221.5,-19.8,152,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2347,3926,0,0,0,0,0,0
$GC,1315,-0.66,-219.0,287.9,-17.5,213,1322,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3774,3926,0,0,0,0,0,0
$GC,1342,-0.66,-219.0,292.5,-17.2,217,1348,0.00,2.03,0.00,0.000,6,0.000,0.028,2374,2343,3926,0,0,0,0,0,0
$GC,1677,-0.66,-219.0,349.6,-16.9,252,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2339,3926,0,0,0,0,0,0
$GC,1996,-0.67,-219.0,395.2,-12.5,282,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2339,3925,0,0,0,0,0,0
$GC,2315,-0.68,-219.0,437.8,-14.1,312,2319,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3777,3924,0,0,0,0,0,0
$GC,2372,-0.69,-219.0,445.0,-10.7,316,2381,0.00,2.05,0.00,0.000,6,0.000,0.028,2373,2346,3923,0,0,0,0,0,0
$GC,2700,-0.70,-219.0,488.8,-12.7,347,2701,0.05,0.00,0.00,0.000,6,0.177,0.000,2330,2345,3921,0,0,0,0,0,0
$STATE,2771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2771,begin apogee
$GC,2775,-0.11,0.0,500.5,16.6,354,2946,0.65,0.15,165.25,0.838,6,0.122,0.080,2557,2145,3027,0,0,0,0,0,0
$STATE,2947,end apogee,CONTROL_FINISHED_OK
$STATE,2947,begin climb
$GC,2949,0.72,219.0,511.2,0.0,368,3135,0.70,2.22,171.38,0.827,4,0.049,0.047,2840,3525,2132,0,0,0,0,0,0
$GC,3274,0.70,219.0,477.0,20.2,395,3279,0.15,2.15,0.00,0.000,6,0.188,0.031,2812,2062,2128,0,0,0,0,0,0
$GC,3601,0.69,219.0,417.0,18.9,425,3605,0.00,2.05,0.00,0.000,4,0.000,0.043,2818,661,2123,0,0,0,0,0,0
$GC,3631,0.68,219.0,411.8,18.0,427,3636,0.08,2.17,0.00,0.000,6,0.198,0.036,2800,2129,2121,0,0,0,0,0,0
$GC,3958,0.70,242.6,362.6,14.1,457,3985,0.08,2.12,18.20,0.721,4,0.125,0.046,2851,3527,2036,0,0,0,0,0,0
$GC,4043,0.68,242.6,345.9,21.9,464,4048,0.22,2.15,0.00,0.000,6,0.173,0.032,2798,2058,2033,0,0,0,0,0,0
$GC,4371,0.67,242.6,297.8,15.3,495,4378,0.00,2.08,0.00,0.000,4,0.000,0.043,2805,655,2029,0,0,0,0,0,0
$GC,4425,0.71,277.6,290.1,13.5,504,4462,0.03,2.20,28.10,0.698,6,0.107,0.037,2845,2119,1894,0,0,0,0,0,0
$GC,4813,0.70,277.6,222.7,16.1,569,4820,0.12,2.20,0.00,0.000,4,0.181,0.043,2818,657,1888,0,0,0,0,0,0
$GC,4841,0.70,279.8,218.6,15.0,573,4848,0.00,2.17,0.00,0.000,6,0.000,0.037,2818,2120,1886,0,0,0,0,0,0
$GC,5197,0.72,299.6,168.6,14.2,634,5220,0.00,2.12,17.40,0.601,4,0.000,0.046,2818,3532,1805,0,0,0,0,0,0
$GC,5235,0.71,299.6,162.9,15.7,639,5241,0.00,2.15,0.00,0.000,6,0.000,0.032,2818,2066,1804,0,0,0,0,0,0
$GC,5596,0.75,324.6,111.6,14.0,700,5623,0.05,2.12,21.00,0.569,4,0.184,0.041,2871,663,1702,0,0,0,0,0,0
$GC,5638,0.74,324.6,105.2,16.0,705,5647,0.12,2.20,0.00,0.000,6,0.132,0.036,2826,2128,1699,0,0,0,0,0,0
$GC,6003,0.96,497.1,63.8,7.1,766,6142,0.22,2.25,130.60,0.536,4,0.061,0.050,2943,3534,999,0,0,0,0,0,0
$GC,6169,0.95,497.1,32.1,26.0,787,6178,0.20,2.22,0.00,0.000,6,0.147,0.033,2889,2074,995,0,0,0,0,0,0
$STATE,6350,end climb,SURFACE_DEPTH_REACHED
$STATE,6350,begin surface coast
$FINISH,0.5,1.021818
$STATE,6375,end surface coast,CONTROL_FINISHED_OK
$STATE,6375,begin surface
$SM_CCo,6389,61.65,0.068,0,0,540,610.06
$SM_GC,1.24,0.00,0.00,61.65,0.000,0.000,0.068,211,2458,540,-7.43,1.67,610.06
$IRIDIUM_FIX,2312.13,12605.27,021010,171729
$TT8_MAMPS,0.026215
$HUMID,50.35
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.5,18.841
$10V_AH,10.8,15.892
$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,18.300,52.425,551.925,61.650,0.000,30.789,19.737,104.090,0.000,0.000,20.397,1915.160,1602.800,563.512,2511.105,114.482,0.000,1396.222,0.000,2351.872,0.000,0.542,0.000
$DEVICE_MAMPS,251.685,80.325,837.675,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.000,0.000,1728.814,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,50311,821
$CAP_FILE_SIZE,85559,0
$CFSIZE,260165632,246587392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,  0.5,1
$GPS,021010,210130,2321.730,12605.010,40,1.3,40,-3.4