version: 66.08
glider: 176
mission: 2
dive: 152
start: 10 4 110 0 29 34
data:
$ID,176
$MISSION,2
$DIVE,152
$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,-4949.4126
$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
$GPS1,041010,002500,2331.144,12613.588,37,1.0,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-73.5
$GPS2,041010,002908,2331.121,12613.551,10,1.9,10,-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,51.1,139314,-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,-219.0,0.0,0.0,0,83,0.00,0.00,-65.75,0.000,2,0.000,0.000,198,2478,2502,0,0,0,0,0,0
$GC,85,-0.72,-219.0,3.3,-6.0,8,128,8.52,2.30,-27.80,0.000,4,0.243,0.049,2357,947,3923,0,0,0,0,0,0
$GC,167,-0.70,-219.0,26.8,-35.4,19,175,0.00,2.28,0.00,0.000,6,0.000,0.052,2357,2409,3924,0,0,0,0,0,0
$GC,530,-0.68,-219.0,133.1,-27.0,80,540,0.08,2.08,0.00,0.000,4,0.223,0.057,2375,3758,3925,0,0,0,0,0,0
$GC,577,-0.68,-219.0,144.3,-21.3,87,586,0.00,2.03,0.00,0.000,6,0.000,0.030,2375,2357,3926,0,0,0,0,0,0
$GC,926,-0.68,-219.0,222.9,-22.4,148,935,0.00,2.03,0.00,0.000,4,0.000,0.035,2375,956,3926,0,0,0,0,0,0
$GC,959,-0.68,-219.0,229.4,-20.1,153,967,0.00,2.20,0.00,0.000,6,0.000,0.045,2375,2427,3926,0,0,0,0,0,0
$GC,1304,-0.68,-219.0,293.5,-17.7,214,1313,0.00,2.03,0.00,0.000,4,0.000,0.057,2375,3764,3926,0,0,0,0,0,0
$GC,1349,-0.69,-219.0,300.5,-15.1,221,1357,0.00,2.00,0.00,0.000,6,0.000,0.029,2375,2348,3926,0,0,0,0,0,0
$GC,1675,-0.69,-219.0,355.2,-16.5,252,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2344,3926,0,0,0,0,0,0
$GC,1996,-0.69,-219.0,405.2,-14.5,282,2000,0.00,2.12,0.00,0.000,4,0.000,0.054,2375,3766,3924,0,0,0,0,0,0
$GC,2037,-0.70,-219.0,410.8,-12.0,285,2042,0.05,2.00,0.00,0.000,6,0.174,0.029,2325,2335,3924,0,0,0,0,0,0
$GC,2364,-0.70,-219.0,472.1,-19.0,315,2366,0.15,0.00,0.00,0.000,6,0.164,0.000,2370,2329,3924,0,0,0,0,0,0
$STATE,2574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2574,begin apogee
$GC,2578,-0.11,0.0,500.6,12.1,335,2750,0.52,0.15,164.90,0.843,6,0.112,0.081,2559,2152,3027,0,0,0,0,0,0
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin climb
$GC,2752,0.72,219.0,508.7,0.0,349,2930,0.70,2.25,170.73,0.831,4,0.043,0.047,2856,3537,2133,0,0,0,0,0,0
$GC,3056,0.70,219.0,475.3,21.8,374,3061,0.22,2.20,0.00,0.000,6,0.177,0.031,2805,2057,2128,0,0,0,0,0,0
$GC,3380,0.69,219.0,423.1,15.9,404,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2053,2123,0,0,0,0,0,0
$GC,3700,0.68,219.0,370.1,16.9,434,3703,0.00,2.03,0.00,0.000,4,0.000,0.043,2815,665,2121,0,0,0,0,0,0
$GC,3738,0.67,219.0,364.3,16.4,437,3743,0.08,2.17,0.00,0.000,6,0.194,0.036,2796,2140,2118,0,0,0,0,0,0
$GC,4066,0.71,254.6,318.5,13.5,467,4098,0.10,0.00,26.77,0.721,6,0.103,0.000,2861,2139,1988,0,0,0,0,0,0
$GC,4439,0.69,254.6,247.1,20.2,523,4446,0.20,2.10,0.00,0.000,4,0.164,0.045,2802,3539,1982,0,0,0,0,0,0
$GC,4478,0.68,254.6,239.6,18.6,529,4484,0.00,2.15,0.00,0.000,6,0.000,0.032,2808,2063,1981,0,0,0,0,0,0
$GC,4833,0.69,260.6,185.0,14.9,590,4844,0.00,2.05,5.00,0.487,4,0.000,0.044,2818,663,1963,0,0,0,0,0,0
$GC,4920,0.74,301.0,172.7,13.3,604,4963,0.00,2.17,33.75,0.632,6,0.000,0.036,2818,2122,1797,0,0,0,0,0,0
$GC,5318,0.85,394.0,119.3,10.8,670,5400,0.15,2.28,71.85,0.591,4,0.080,0.044,2912,674,1418,0,0,0,0,0,0
$GC,5467,0.84,394.0,92.0,17.7,691,5477,0.15,2.22,0.00,0.000,6,0.142,0.038,2860,2128,1414,0,0,0,0,0,0
$GC,5832,0.87,409.8,38.4,14.4,752,5850,0.00,2.17,11.95,0.493,4,0.000,0.049,2860,3529,1354,0,0,0,0,0,0
$GC,5901,0.96,482.9,29.7,11.8,762,5967,0.10,2.17,56.55,0.519,6,0.044,0.032,2945,2061,1057,0,0,0,0,0,0
$STATE,6051,end climb,SURFACE_DEPTH_REACHED
$STATE,6051,begin surface coast
$FINISH,0.6,1.008418
$STATE,6070,end surface coast,CONTROL_FINISHED_OK
$STATE,6070,begin surface
$SM_CCo,6085,70.90,0.069,0,0,540,610.06
$SM_GC,1.43,0.00,0.00,70.90,0.000,0.000,0.069,210,2437,540,-7.44,1.05,610.06
$IRIDIUM_FIX,2321.52,12614.60,031010,222258
$TT8_MAMPS,0.026964
$HUMID,50.98
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,20.798
$10V_AH,10.7,17.656
$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,18.025,48.075,541.500,70.900,0.000,25.398,15.177,114.584,0.000,0.000,13.663,1836.500,1500.994,558.286,2394.428,116.724,0.000,1347.261,0.000,2242.842,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,81.090,843.030,68.850,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,525.985,0.000,1658.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334084
$DATA_FILE_SIZE,46979,787
$CAP_FILE_SIZE,81287,0
$CFSIZE,260165632,245850112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.118, 60.3,1
$GPS,041010,021304,2331.854,12614.753,7,5.2,26,-3.5