version: 66.08
glider: 176
mission: 2
dive: 153
start: 10 4 110 2 17 34
data:
$ID,176
$MISSION,2
$DIVE,153
$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,-4950.7607
$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
$GPS1,041010,021304,2331.854,12614.753,7,5.2,26,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-72.8
$GPS2,041010,021707,2331.798,12614.720,9,1.1,14,-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,34.6,137109,-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,-71.20,0.000,2,0.000,0.000,208,2438,2695,0,0,0,0,0,0
$GC,90,-0.72,-219.0,3.7,-7.0,9,132,8.55,2.20,-21.73,0.000,4,0.246,0.046,2357,950,3923,0,0,0,0,0,0
$GC,152,-0.69,-219.0,25.5,-38.0,17,162,0.03,2.25,0.00,0.000,6,0.222,0.050,2366,2412,3923,0,0,0,0,0,0
$GC,518,-0.67,-219.0,140.2,-29.6,78,526,0.00,2.05,0.00,0.000,4,0.000,0.055,2364,3763,3925,0,0,0,0,0,0
$GC,586,-0.67,-219.0,156.5,-19.7,89,593,0.05,2.03,0.00,0.000,6,0.219,0.028,2376,2337,3926,0,0,0,0,0,0
$GC,933,-0.67,-219.0,234.0,-19.8,150,941,0.00,2.00,0.00,0.000,4,0.000,0.034,2377,948,3926,0,0,0,0,0,0
$GC,955,-0.67,-219.0,237.9,-18.8,153,962,0.00,2.20,0.00,0.000,6,0.000,0.045,2377,2418,3926,0,0,0,0,0,0
$GC,1298,-0.67,-219.0,292.4,-16.6,214,1307,0.00,2.05,0.00,0.000,4,0.000,0.056,2377,3770,3926,0,0,0,0,0,0
$GC,1381,-0.68,-219.0,303.5,-10.9,226,1385,0.00,2.03,0.00,0.000,6,0.000,0.029,2377,2342,3926,0,0,0,0,0,0
$GC,1713,-0.68,-219.0,357.6,-17.2,257,1717,0.00,2.17,0.00,0.000,4,0.000,0.054,2376,3776,3926,0,0,0,0,0,0
$GC,1747,-0.69,-219.0,363.4,-16.5,260,1752,0.05,2.00,0.00,0.000,6,0.178,0.028,2332,2343,3925,0,0,0,0,0,0
$GC,2072,-0.68,-219.0,431.6,-21.7,290,2074,0.15,0.00,0.00,0.000,6,0.163,0.000,2377,2338,3924,0,0,0,0,0,0
$GC,2391,-0.69,-219.0,477.0,-13.0,320,2396,0.05,2.20,0.00,0.000,4,0.182,0.056,2335,3776,3923,0,0,0,0,0,0
$GC,2412,-0.70,-219.0,480.3,-13.6,321,2420,0.08,2.05,0.00,0.000,6,0.120,0.028,2367,2336,3923,0,0,0,0,0,0
$STATE,2578,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2579,begin apogee
$GC,2583,-0.11,0.0,500.9,12.5,337,2754,0.52,0.17,164.73,0.844,6,0.112,0.075,2555,2142,3027,0,0,0,0,0,0
$STATE,2755,end apogee,CONTROL_FINISHED_OK
$STATE,2755,begin climb
$GC,2756,0.72,219.0,508.4,0.0,351,2935,0.70,2.33,171.10,0.828,4,0.046,0.040,2853,657,2132,0,0,0,0,0,0
$GC,3099,0.70,219.0,471.1,18.3,379,3107,0.12,2.22,0.00,0.000,6,0.149,0.035,2812,2123,2125,0,0,0,0,0,0
$GC,3424,0.69,219.0,420.5,15.6,410,3428,0.00,2.17,0.00,0.000,4,0.000,0.042,2818,662,2121,0,0,0,0,0,0
$GC,3476,0.68,219.0,412.5,15.2,414,3481,0.05,2.15,0.00,0.000,6,0.227,0.036,2805,2128,2121,0,0,0,0,0,0
$GC,3801,0.67,219.5,361.1,15.1,444,3805,0.00,2.15,0.00,0.000,4,0.000,0.043,2805,663,2119,0,0,0,0,0,0
$GC,3845,0.69,237.1,355.0,14.3,447,3871,0.00,2.15,13.43,0.706,6,0.000,0.037,2805,2131,2059,0,0,0,0,0,0
$GC,4187,0.73,274.1,304.8,13.4,479,4225,0.08,2.20,30.10,0.719,4,0.132,0.041,2867,663,1906,0,0,0,0,0,0
$GC,4257,0.71,274.1,292.7,18.5,487,4264,0.20,2.20,0.00,0.000,6,0.157,0.037,2808,2129,1903,0,0,0,0,0,0
$GC,4613,0.75,303.4,239.5,13.8,548,4643,0.10,2.20,23.45,0.668,4,0.102,0.049,2875,3538,1789,0,0,0,0,0,0
$GC,4664,0.73,303.4,230.2,20.4,555,4671,0.25,2.17,0.00,0.000,6,0.168,0.032,2813,2067,1787,0,0,0,0,0,0
$GC,5020,0.78,342.5,175.3,13.3,616,5059,0.10,2.15,31.50,0.630,4,0.103,0.043,2888,664,1629,0,0,0,0,0,0
$GC,5132,0.77,342.5,154.8,20.9,633,5139,0.20,2.17,0.00,0.000,6,0.155,0.037,2828,2124,1623,0,0,0,0,0,0
$GC,5488,0.81,376.8,96.8,13.6,694,5522,0.10,0.00,26.50,0.567,6,0.102,0.000,2899,2125,1490,0,0,0,0,0,0
$GC,5872,0.81,376.8,30.8,15.2,758,5881,0.20,2.12,0.00,0.000,4,0.150,0.046,2836,3524,1485,0,0,0,0,0,0
$GC,5973,0.98,504.9,20.1,9.2,774,6079,0.15,2.15,96.90,0.513,6,0.037,0.031,2946,2056,967,0,0,0,0,0,0
$STATE,6086,end climb,SURFACE_DEPTH_REACHED
$STATE,6086,begin surface coast
$FINISH,0.6,0.998388
$STATE,6107,end surface coast,CONTROL_FINISHED_OK
$STATE,6107,begin surface
$SM_CCo,6121,59.65,0.067,0,0,540,610.06
$SM_GC,1.34,0.00,0.00,59.65,0.000,0.000,0.067,202,2454,540,-7.46,1.53,610.06
$IRIDIUM_FIX,2321.52,12614.60,041010,000016
$TT8_MAMPS,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.5,20.923
$10V_AH,10.8,17.765
$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,18.750,56.875,557.700,59.650,0.000,22.825,15.414,110.185,0.000,0.000,16.830,1856.360,1479.314,569.219,2409.144,116.482,0.000,1382.940,0.000,2258.873,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,74.970,843.795,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.416,0.000,1648.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47000,791
$CAP_FILE_SIZE,86031,0
$CFSIZE,260165632,245792768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,112.3,1
$GPS,041010,040114,2332.491,12615.526,11,1.8,11,-3.5