version: 66.08
glider: 176
mission: 2
dive: 151
start: 10 3 110 22 35 11
data:
$ID,176
$MISSION,2
$DIVE,151
$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,-4948.1592
$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
$GPS1,031010,223044,2330.242,12612.519,10,1.7,10,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-72.6
$GPS2,031010,223444,2330.254,12612.515,13,1.7,13,-3.5
$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,66.6,141658,-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,-219.0,0.0,0.0,0,88,0.00,0.00,-70.55,0.000,2,0.000,0.000,199,2476,2658,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.7,-7.1,9,132,8.50,2.28,-22.50,0.000,4,0.243,0.050,2357,948,3924,0,0,0,0,0,0
$GC,171,-0.70,-219.0,32.0,-38.7,20,179,0.00,2.28,0.00,0.000,6,0.000,0.050,2358,2422,3925,0,0,0,0,0,0
$GC,535,-0.68,-219.0,140.1,-27.3,81,544,0.08,2.08,0.00,0.000,4,0.223,0.057,2375,3767,3926,0,0,0,0,0,0
$GC,580,-0.67,-219.0,152.4,-24.5,88,588,0.00,2.05,0.00,0.000,6,0.000,0.030,2375,2349,3927,0,0,0,0,0,0
$GC,927,-0.67,-219.0,228.8,-20.4,149,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2343,3928,0,0,0,0,0,0
$GC,1269,-0.67,-219.0,289.7,-15.7,210,1278,0.00,2.17,0.00,0.000,4,0.000,0.055,2375,3764,3927,0,0,0,0,0,0
$GC,1308,-0.67,-219.0,295.6,-15.2,216,1316,0.00,2.03,0.00,0.000,6,0.000,0.030,2375,2357,3927,0,0,0,0,0,0
$GC,1642,-0.68,-219.0,344.4,-15.2,250,1646,0.00,2.15,0.00,0.000,4,0.000,0.054,2375,3777,3927,0,0,0,0,0,0
$GC,1685,-0.69,-219.0,350.1,-13.7,253,1689,0.00,2.03,0.00,0.000,6,0.000,0.028,2375,2347,3926,0,0,0,0,0,0
$GC,2017,-0.69,-219.0,400.1,-14.5,284,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2343,3926,0,0,0,0,0,0
$GC,2335,-0.70,-219.0,445.2,-13.1,314,2340,0.05,2.15,0.00,0.000,4,0.184,0.056,2333,3766,3925,0,0,0,0,0,0
$GC,2379,-0.70,-219.0,452.4,-15.2,317,2387,0.12,2.03,0.00,0.000,6,0.141,0.029,2374,2349,3924,0,0,0,0,0,0
$GC,2705,-0.71,-219.0,495.7,-13.8,348,2709,0.08,2.00,0.00,0.000,4,0.134,0.034,2322,949,3923,0,0,0,0,0,0
$STATE,2730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2730,begin apogee
$GC,2736,-0.11,0.0,500.1,16.2,350,2905,0.68,0.00,165.20,0.846,6,0.114,0.000,2560,2119,3027,0,0,0,0,0,0
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin climb
$GC,2908,0.72,219.0,512.4,0.0,364,3087,0.70,2.22,171.18,0.835,4,0.042,0.044,2860,3527,2132,0,0,0,0,0,0
$GC,3290,0.70,219.0,466.5,21.9,396,3295,0.22,2.15,0.00,0.000,6,0.181,0.031,2809,2061,2127,0,0,0,0,0,0
$GC,3615,0.69,220.4,413.9,15.1,426,3619,0.00,2.20,0.00,0.000,4,0.000,0.047,2809,3527,2122,0,0,0,0,0,0
$GC,3625,0.68,220.4,412.0,15.3,426,3635,0.05,2.17,0.00,0.000,6,0.184,0.031,2803,2053,2123,0,0,0,0,0,0
$GC,3952,0.67,220.4,363.1,15.2,457,3956,0.00,2.03,0.00,0.000,4,0.000,0.044,2812,658,2120,0,0,0,0,0,0
$GC,4033,0.68,232.9,350.6,14.6,464,4050,0.00,2.17,10.32,0.683,6,0.000,0.036,2812,2131,2077,0,0,0,0,0,0
$GC,4371,0.67,232.9,298.4,16.0,496,4380,0.05,2.15,0.00,0.000,4,0.247,0.050,2801,3533,2072,0,0,0,0,0,0
$GC,4399,0.66,232.9,294.1,16.2,500,4407,0.00,2.17,0.00,0.000,6,0.000,0.033,2805,2060,2072,0,0,0,0,0,0
$GC,4748,0.67,250.6,243.6,14.3,561,4770,0.00,2.30,14.75,0.657,4,0.000,0.047,2805,3535,2004,0,0,0,0,0,0
$GC,4835,0.69,267.1,230.9,14.4,575,4856,0.00,2.15,14.27,0.641,6,0.000,0.031,2815,2059,1937,0,0,0,0,0,0
$GC,5194,0.74,311.5,181.2,13.1,638,5239,0.05,2.08,35.72,0.640,4,0.179,0.041,2870,661,1755,0,0,0,0,0,0
$GC,5315,0.73,311.5,161.2,17.2,657,5322,0.17,2.20,0.00,0.000,6,0.155,0.036,2818,2135,1750,0,0,0,0,0,0
$GC,5669,0.76,335.0,110.8,14.1,718,5696,0.08,2.22,18.77,0.571,4,0.130,0.041,2886,660,1661,0,0,0,0,0,0
$GC,5781,0.75,335.0,91.5,16.7,735,5791,0.17,2.20,0.00,0.000,6,0.134,0.037,2825,2124,1657,0,0,0,0,0,0
$GC,6140,0.92,465.3,48.5,9.1,796,6247,0.17,2.25,99.50,0.537,4,0.069,0.050,2928,3536,1128,0,0,0,0,0,0
$GC,6360,0.92,465.3,8.9,16.5,828,6369,0.17,2.22,0.00,0.000,6,0.134,0.034,2880,2065,1122,0,0,0,0,0,0
$STATE,6399,end climb,SURFACE_DEPTH_REACHED
$STATE,6399,begin surface coast
$FINISH,0.5,1.009397
$STATE,6424,end surface coast,CONTROL_FINISHED_OK
$STATE,6425,begin surface
$SM_CCo,6438,80.00,0.068,0,0,540,610.06
$SM_GC,1.36,0.00,0.00,80.00,0.000,0.000,0.068,199,2477,540,-7.47,2.18,610.06
$IRIDIUM_FIX,2323.87,12612.70,031010,202013
$TT8_MAMPS,0.026964
$HUMID,50.55
$INTERNAL_PRESSURE,8.73355
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.5,20.675
$10V_AH,10.7,17.547
$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,18.125,60.450,529.725,80.000,0.000,24.733,18.958,104.582,0.000,0.000,15.851,1970.823,1565.857,572.402,2536.617,118.972,0.000,1416.807,0.000,2390.103,0.000,0.542,0.000
$DEVICE_MAMPS,247.095,57.375,846.090,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.899,0.000,1748.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,50362,838
$CAP_FILE_SIZE,88724,0
$CFSIZE,260165632,245886976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160, 18.0,1
$GPS,041010,002500,2331.144,12613.588,37,1.0,43,-3.5