version: 66.08
glider: 176
mission: 2
dive: 147
start: 10 3 110 15 17 12
data:
$ID,176
$MISSION,2
$DIVE,147
$N_DIVES,155
$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,-4942.7563
$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
$GPS1,031010,151010,2327.402,12610.205,8,2.6,27,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-74.5
$GPS2,031010,151646,2327.377,12610.101,10,2.8,29,-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,66.8,148360,-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,-64.88,0.000,2,0.000,0.000,201,2448,2457,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.0,-4.5,8,127,8.50,2.08,-28.35,0.000,4,0.243,0.072,2358,3767,3922,0,0,0,0,0,0
$GC,177,-0.69,-219.0,33.3,-39.6,21,186,0.00,2.08,0.00,0.000,6,0.000,0.031,2359,2354,3923,0,0,0,0,0,0
$GC,541,-0.68,-219.0,139.4,-25.9,82,551,0.08,2.20,0.00,0.000,4,0.225,0.059,2377,3760,3924,0,0,0,0,0,0
$GC,612,-0.68,-219.0,154.4,-17.9,93,619,0.00,2.00,0.00,0.000,6,0.000,0.029,2376,2352,3925,0,0,0,0,0,0
$GC,967,-0.68,-219.0,224.6,-17.6,154,976,0.00,2.03,0.00,0.000,4,0.000,0.036,2377,951,3925,0,0,0,0,0,0
$GC,994,-0.69,-219.0,229.0,-16.4,158,1004,0.03,2.22,0.00,0.000,6,0.122,0.047,2343,2418,3926,0,0,0,0,0,0
$GC,1359,-0.68,-219.0,302.4,-20.7,219,1364,0.12,2.03,0.00,0.000,4,0.174,0.059,2377,3766,3925,0,0,0,0,0,0
$GC,1402,-0.69,-219.0,310.7,-14.7,222,1413,0.03,2.03,0.00,0.000,6,0.114,0.028,2335,2348,3925,0,0,0,0,0,0
$GC,1729,-0.68,-219.0,373.4,-19.6,253,1734,0.15,2.15,0.00,0.000,4,0.161,0.056,2377,3767,3924,0,0,0,0,0,0
$GC,1760,-0.69,-219.0,378.7,-17.2,255,1764,0.00,2.03,0.00,0.000,6,0.000,0.028,2377,2336,3923,0,0,0,0,0,0
$GC,2092,-0.69,-219.0,425.2,-14.3,286,2097,0.05,2.17,0.00,0.000,4,0.181,0.055,2336,3770,3922,0,0,0,0,0,0
$GC,2134,-0.70,-219.0,431.7,-16.5,289,2139,0.12,2.00,0.00,0.000,6,0.140,0.028,2375,2336,3922,0,0,0,0,0,0
$GC,2462,-0.71,-219.0,473.8,-12.0,319,2466,0.08,2.17,0.00,0.000,4,0.133,0.056,2325,3767,3920,0,0,0,0,0,0
$GC,2502,-0.71,-219.0,479.3,-13.5,322,2506,0.15,2.03,0.00,0.000,6,0.135,0.029,2374,2337,3920,0,0,0,0,0,0
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2697,begin apogee
$GC,2701,-0.11,0.0,501.1,10.5,340,2873,0.50,0.17,165.35,0.844,6,0.106,0.073,2557,2151,3027,0,0,0,0,0,0
$STATE,2874,end apogee,CONTROL_FINISHED_OK
$STATE,2874,begin climb
$GC,2875,0.72,219.0,508.6,0.0,354,3054,0.70,2.33,171.52,0.830,4,0.043,0.040,2862,660,2134,0,0,0,0,0,0
$GC,3203,0.70,219.0,470.8,20.5,381,3208,0.20,2.20,0.00,0.000,6,0.168,0.035,2807,2124,2127,0,0,0,0,0,0
$GC,3530,0.69,219.0,414.3,16.6,411,3534,0.00,2.10,0.00,0.000,4,0.000,0.048,2807,3534,2123,0,0,0,0,0,0
$GC,3547,0.68,219.0,411.3,15.6,412,3552,0.08,2.15,0.00,0.000,6,0.223,0.031,2801,2050,2123,0,0,0,0,0,0
$GC,3872,0.71,256.6,365.2,13.4,442,3906,0.08,0.00,29.02,0.750,6,0.127,0.000,2854,2044,1980,0,0,0,0,0,0
$GC,4223,0.70,256.6,301.5,18.6,475,4228,0.17,2.03,0.00,0.000,4,0.172,0.044,2811,658,1972,0,0,0,0,0,0
$GC,4282,0.74,291.8,292.5,13.5,483,4319,0.08,2.17,28.77,0.708,6,0.125,0.037,2864,2122,1835,0,0,0,0,0,0
$GC,4658,0.72,291.8,213.2,20.6,548,4667,0.17,2.20,0.00,0.000,4,0.167,0.043,2818,663,1828,0,0,0,0,0,0
$GC,4753,0.75,316.2,197.9,14.0,564,4783,0.03,2.20,19.65,0.636,6,0.109,0.037,2862,2129,1736,0,0,0,0,0,0
$GC,5132,0.74,316.2,126.9,17.0,628,5141,0.15,2.12,0.00,0.000,4,0.166,0.047,2818,3533,1729,0,0,0,0,0,0
$GC,5149,0.73,316.2,123.8,16.7,630,5158,0.00,2.17,0.00,0.000,6,0.000,0.032,2818,2069,1729,0,0,0,0,0,0
$GC,5514,0.76,337.1,73.6,14.2,691,5540,0.08,2.10,17.27,0.544,4,0.133,0.041,2885,663,1649,0,0,0,0,0,0
$GC,5694,0.83,394.1,46.6,12.5,720,5744,0.10,2.17,44.65,0.539,6,0.125,0.037,2847,2119,1420,0,0,0,0,0,0
$GC,6094,1.03,545.4,8.6,8.1,786,6136,0.22,0.00,39.22,0.500,2,0.060,0.000,2963,2119,1211,0,0,0,0,0,0
$STATE,6137,end climb,SURFACE_DEPTH_REACHED
$STATE,6137,begin surface coast
$FINISH,0.5,1.004179
$STATE,6156,end surface coast,CONTROL_FINISHED_OK
$STATE,6156,begin surface
$SM_CCo,6171,89.68,0.068,0,0,540,610.06
$SM_GC,1.24,0.00,0.00,89.68,0.000,0.000,0.068,201,2454,540,-7.47,1.50,610.06
$IRIDIUM_FIX,2316.83,12609.93,031010,131342
$TT8_MAMPS,0.026964
$HUMID,49.92
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,20.190
$10V_AH,10.7,17.098
$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,18.875,56.150,515.475,89.675,0.000,56.970,51.907,113.398,0.000,0.000,33.170,1882.233,1546.118,563.162,2542.557,126.218,0.000,1363.578,0.000,2309.201,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,72.675,843.795,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.927,0.000,1709.599,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46887,794
$CAP_FILE_SIZE,87575,0
$CFSIZE,260165632,246083584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.219,299.9,1
$GPS,031010,170236,2328.018,12610.554,35,1.1,36,-3.4