version: 66.08
glider: 176
mission: 2
dive: 161
start: 10 4 110 17 2 23
data:
$ID,176
$MISSION,2
$DIVE,161
$N_DIVES,170
$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,-4968.8462
$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
$GPS1,041010,165713,2336.048,12617.361,7,1.5,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-67.7
$GPS2,041010,170156,2336.073,12617.250,14,1.5,14,-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,64.1,128257,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.65,0.000,2,0.000,0.000,202,2443,2721,0,0,0,0,0,0
$GC,93,-0.72,-219.0,3.7,-7.1,9,126,8.50,0.00,-21.10,0.000,6,0.243,0.000,2358,2443,3921,0,0,0,0,0,0
$GC,476,-0.70,-219.0,129.7,-26.2,73,484,0.00,2.03,0.00,0.000,4,0.000,0.056,2353,3764,3924,0,0,0,0,0,0
$GC,579,-0.70,-219.0,151.7,-17.6,90,588,0.03,2.05,0.00,0.000,6,0.171,0.030,2364,2343,3925,0,0,0,0,0,0
$GC,928,-0.70,-219.0,223.6,-21.1,151,936,0.00,2.17,0.00,0.000,4,0.000,0.056,2364,3771,3926,0,0,0,0,0,0
$GC,969,-0.70,-219.0,232.2,-18.2,158,978,0.00,2.05,0.00,0.000,6,0.000,0.029,2365,2346,3926,0,0,0,0,0,0
$GC,1317,-0.70,-219.0,301.1,-19.9,219,1321,0.00,1.95,0.00,0.000,4,0.000,0.034,2365,951,3926,0,0,0,0,0,0
$GC,1341,-0.70,-219.0,305.8,-19.3,221,1345,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2426,3926,0,0,0,0,0,0
$GC,1667,-0.70,-219.0,363.3,-16.7,251,1671,0.00,2.00,0.00,0.000,4,0.000,0.057,2363,3773,3925,0,0,0,0,0,0
$GC,1702,-0.70,-219.0,368.9,-15.1,254,1705,0.00,2.03,0.00,0.000,6,0.000,0.029,2363,2345,3925,0,0,0,0,0,0
$GC,2034,-0.70,-219.0,419.8,-15.2,285,2038,0.00,2.15,0.00,0.000,4,0.000,0.057,2363,3769,3924,0,0,0,0,0,0
$GC,2103,-0.72,-219.0,429.1,-11.6,291,2107,0.00,2.03,0.00,0.000,6,0.000,0.029,2363,2344,3924,0,0,0,0,0,0
$GC,2436,-0.72,-219.0,477.1,-14.1,322,2440,0.00,2.15,0.00,0.000,4,0.000,0.056,2363,3770,3922,0,0,0,0,0,0
$GC,2468,-0.73,-219.0,482.1,-13.5,324,2477,0.03,2.03,0.00,0.000,6,0.113,0.028,2320,2349,3921,0,0,0,0,0,0
$STATE,2581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2581,begin apogee
$GC,2585,-0.11,0.0,501.8,19.7,335,2757,0.68,0.15,165.10,0.843,6,0.122,0.080,2553,2142,3027,0,0,0,0,0,0
$STATE,2758,end apogee,CONTROL_FINISHED_OK
$STATE,2758,begin climb
$GC,2759,0.72,219.0,513.7,0.0,349,2938,0.70,2.20,170.85,0.833,4,0.041,0.045,2852,3538,2133,0,0,0,0,0,0
$GC,3062,0.70,219.0,482.7,22.9,374,3067,0.20,2.20,0.00,0.000,6,0.181,0.030,2809,2058,2129,0,0,0,0,0,0
$GC,3387,0.68,219.0,427.6,15.4,404,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2054,2123,0,0,0,0,0,0
$GC,3706,0.67,219.0,379.0,15.9,434,3710,0.00,2.22,0.00,0.000,4,0.000,0.048,2808,3538,2121,0,0,0,0,0,0
$GC,3757,0.66,219.0,370.3,17.1,438,3761,0.10,2.12,0.00,0.000,6,0.203,0.031,2793,2064,2121,0,0,0,0,0,0
$GC,4082,0.72,272.7,326.2,12.7,468,4129,0.10,2.10,41.00,0.740,4,0.103,0.041,2867,656,1914,0,0,0,0,0,0
$GC,4145,0.70,272.7,315.6,18.8,473,4153,0.17,2.22,0.00,0.000,6,0.145,0.037,2809,2119,1910,0,0,0,0,0,0
$GC,4487,0.69,272.7,263.1,16.3,525,4494,0.00,2.17,0.00,0.000,4,0.000,0.043,2818,664,1906,0,0,0,0,0,0
$GC,4529,0.69,272.7,256.0,16.4,532,4538,0.03,2.20,0.00,0.000,6,0.181,0.037,2807,2129,1905,0,0,0,0,0,0
$GC,4879,0.71,296.5,203.7,14.0,593,4909,0.08,2.22,18.70,0.635,4,0.127,0.042,2877,667,1816,0,0,0,0,0,0
$GC,4973,0.70,296.5,186.6,18.3,608,4982,0.20,2.20,0.00,0.000,6,0.143,0.038,2810,2129,1813,0,0,0,0,0,0
$GC,5327,0.73,315.7,132.4,14.3,669,5353,0.08,2.22,16.08,0.582,4,0.127,0.042,2877,663,1738,0,0,0,0,0,0
$GC,5407,0.72,315.7,118.0,18.0,681,5417,0.17,2.20,0.00,0.000,6,0.135,0.037,2817,2126,1735,0,0,0,0,0,0
$GC,5773,0.87,433.1,74.3,9.7,742,5871,0.17,2.17,90.05,0.554,4,0.069,0.047,2919,3534,1260,0,0,0,0,0,0
$GC,5904,0.86,433.1,50.5,23.0,759,5914,0.20,2.22,0.00,0.000,6,0.139,0.034,2861,2075,1256,0,0,0,0,0,0
$GC,6270,0.93,487.5,3.7,12.6,820,6280,0.10,0.00,7.43,0.427,2,0.103,0.000,2931,2070,1219,0,0,0,0,0,0
$STATE,6281,end climb,SURFACE_DEPTH_REACHED
$STATE,6281,begin surface coast
$FINISH,0.9,1.021829
$STATE,6308,end surface coast,CONTROL_FINISHED_OK
$STATE,6308,begin surface
$SM_CCo,6321,86.40,0.067,0,0,540,610.06
$SM_GC,1.28,0.00,0.00,86.40,0.000,0.000,0.067,191,2439,540,-7.50,1.10,610.06
$IRIDIUM_FIX,2328.57,12617.38,041010,151526
$TT8_MAMPS,0.026964
$HUMID,50.78
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,21.874
$10V_AH,10.7,18.667
$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,18.325,56.575,509.200,86.400,0.000,30.248,41.150,108.955,0.000,0.000,16.972,1953.675,1499.067,559.836,2560.921,124.089,0.000,1380.418,0.000,2373.563,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,80.325,843.030,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.986,0.000,1744.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50344,825
$CAP_FILE_SIZE,87298,0
$CFSIZE,260165632,245411840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.193,300.1,1
$GPS,041010,185024,2336.790,12617.625,26,1.3,45,-3.5