version: 66.08
glider: 176
mission: 2
dive: 150
start: 10 3 110 20 46 47
data:
$ID,176
$MISSION,2
$DIVE,150
$N_DIVES,160
$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,-4946.8066
$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
$GPS1,031010,204154,2329.457,12611.661,25,0.9,42,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.3
$GPS2,031010,204620,2329.490,12611.624,13,1.2,13,-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,72.9,143700,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-219.0,0.0,0.0,0,88,0.00,0.00,-70.25,0.000,2,0.000,0.000,201,2441,2650,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.7,-7.6,9,132,8.55,2.22,-22.48,0.000,4,0.245,0.048,2358,948,3923,0,0,0,0,0,0
$GC,187,-0.72,-219.0,34.6,-26.1,23,196,0.00,2.28,0.00,0.000,6,0.000,0.050,2358,2415,3925,0,0,0,0,0,0
$GC,552,-0.70,-219.0,144.3,-29.5,84,560,0.00,2.05,0.00,0.000,4,0.000,0.057,2354,3765,3925,0,0,0,0,0,0
$GC,625,-0.69,-219.0,164.2,-23.5,96,634,0.05,2.03,0.00,0.000,6,0.153,0.029,2373,2353,3926,0,0,0,0,0,0
$GC,984,-0.69,-219.0,238.8,-17.7,157,990,0.00,2.12,0.00,0.000,4,0.000,0.054,2373,3767,3926,0,0,0,0,0,0
$GC,1034,-0.69,-219.0,247.0,-14.3,165,1040,0.00,2.03,0.00,0.000,6,0.000,0.029,2373,2343,3927,0,0,0,0,0,0
$GC,1387,-0.69,-219.0,303.5,-16.5,224,1391,0.00,2.15,0.00,0.000,4,0.000,0.055,2373,3774,3927,0,0,0,0,0,0
$GC,1408,-0.69,-219.0,307.1,-15.5,225,1416,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,2351,3927,0,0,0,0,0,0
$GC,1734,-0.70,-219.0,357.2,-15.5,256,1738,0.00,2.12,0.00,0.000,4,0.000,0.055,2373,3767,3926,0,0,0,0,0,0
$GC,1779,-0.71,-219.0,364.1,-12.9,259,1787,0.03,2.03,0.00,0.000,6,0.103,0.029,2321,2350,3926,0,0,0,0,0,0
$GC,2104,-0.70,-219.0,429.4,-18.8,290,2109,0.17,2.00,0.00,0.000,4,0.155,0.034,2375,949,3925,0,0,0,0,0,0
$GC,2123,-0.70,-219.0,432.3,-17.9,291,2128,0.05,2.17,0.00,0.000,6,0.175,0.043,2331,2426,3925,0,0,0,0,0,0
$GC,2449,-0.70,-219.0,485.4,-16.5,321,2454,0.12,2.00,0.00,0.000,4,0.165,0.057,2363,3765,3923,0,0,0,0,0,0
$GC,2535,-0.72,-219.0,495.7,-9.4,328,2539,0.00,2.03,0.00,0.000,6,0.000,0.030,2363,2343,3923,0,0,0,0,0,0
$STATE,2577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2577,begin apogee
$GC,2581,-0.11,0.0,500.3,10.4,332,2753,0.55,0.15,165.15,0.845,6,0.110,0.081,2560,2144,3027,0,0,0,0,0,0
$STATE,2754,end apogee,CONTROL_FINISHED_OK
$STATE,2754,begin climb
$GC,2755,0.72,219.0,509.3,0.0,346,2941,0.70,2.38,170.88,0.832,4,0.047,0.041,2858,662,2132,0,0,0,0,0,0
$GC,3047,0.70,219.0,482.6,18.6,370,3058,0.15,2.22,0.00,0.000,6,0.149,0.035,2809,2121,2126,0,0,0,0,0,0
$GC,3375,0.72,243.9,433.6,14.0,401,3402,0.05,2.20,19.60,0.760,4,0.172,0.048,2853,3529,2032,0,0,0,0,0,0
$GC,3464,0.70,243.9,416.1,21.0,408,3473,0.15,2.20,0.00,0.000,6,0.161,0.032,2815,2061,2029,0,0,0,0,0,0
$GC,3791,0.69,245.6,365.2,15.1,439,3795,0.00,2.05,0.00,0.000,4,0.000,0.044,2819,659,2024,0,0,0,0,0,0
$GC,3831,0.71,267.3,359.2,14.1,442,3857,0.00,2.17,18.77,0.731,6,0.000,0.036,2819,2129,1937,0,0,0,0,0,0
$GC,4174,0.71,267.3,301.0,18.0,474,4178,0.00,2.10,0.00,0.000,4,0.000,0.048,2819,3536,1931,0,0,0,0,0,0
$GC,4227,0.69,267.3,291.0,18.4,482,4237,0.05,2.17,0.00,0.000,6,0.178,0.031,2808,2061,1931,0,0,0,0,0,0
$GC,4588,0.69,269.8,232.8,15.0,543,4594,0.00,2.05,0.00,0.000,4,0.000,0.042,2818,658,1928,0,0,0,0,0,0
$GC,4664,0.73,301.0,221.4,13.7,556,4701,0.00,2.17,27.17,0.668,6,0.000,0.036,2818,2118,1798,0,0,0,0,0,0
$GC,5054,0.75,317.7,161.1,14.4,621,5071,0.08,0.00,14.00,0.599,6,0.132,0.000,2875,2118,1731,0,0,0,0,0,0
$GC,5419,0.74,317.7,95.5,17.1,683,5428,0.17,0.00,0.00,0.000,6,0.163,0.000,2824,2118,1725,0,0,0,0,0,0
$GC,5784,0.96,487.7,52.7,7.3,744,5923,0.22,2.25,128.82,0.541,4,0.058,0.043,2953,664,1036,0,0,0,0,0,0
$GC,6018,0.96,487.7,14.2,15.7,777,6027,0.17,2.22,0.00,0.000,6,0.127,0.037,2893,2121,1032,0,0,0,0,0,0
$STATE,6093,end climb,SURFACE_DEPTH_REACHED
$STATE,6093,begin surface coast
$FINISH,0.6,1.021942
$STATE,6118,end surface coast,CONTROL_FINISHED_OK
$STATE,6119,begin surface
$SM_CCo,6133,66.75,0.068,0,0,540,610.06
$SM_GC,1.43,0.00,0.00,66.75,0.000,0.000,0.068,199,2475,540,-7.47,2.12,610.06
$IRIDIUM_FIX,2319.18,12613.21,031010,181801
$TT8_MAMPS,0.027713
$HUMID,50.63
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,20.555
$10V_AH,10.7,17.432
$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,18.050,56.400,544.400,66.750,0.000,31.215,37.127,104.027,0.000,0.000,16.623,1857.985,1464.495,569.852,2461.094,118.156,0.000,1391.242,0.000,2287.754,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,81.090,844.560,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.175,0.000,1667.980,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46916,793
$CAP_FILE_SIZE,85300,0
$CFSIZE,260165632,245944320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.191,347.7,1
$GPS,031010,223044,2330.242,12612.519,10,1.7,10,-3.5