version: 66.08
glider: 176
mission: 2
dive: 172
start: 10 5 110 13 19 43
data:
$ID,176
$MISSION,2
$DIVE,172
$N_DIVES,180
$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,-4983.4165
$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
$GPS1,051010,131446,2344.948,12625.028,12,2.1,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-64.2
$GPS2,051010,131916,2344.963,12624.982,12,2.2,31,-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,53.2,107262,-20.3,-15.152
$D_GRID,5000
$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,-73.60,0.000,2,0.000,0.000,202,2463,2773,0,0,0,0,0,0
$GC,93,-0.72,-219.0,3.8,-6.6,9,127,8.60,2.25,-19.65,0.000,4,0.248,0.044,2357,945,3923,0,0,0,0,0,0
$GC,143,-0.67,-219.0,23.4,-42.4,15,153,0.05,2.28,0.00,0.000,6,0.196,0.048,2371,2419,3925,0,0,0,0,0,0
$GC,502,-0.65,-219.0,135.7,-26.0,76,511,0.05,2.08,0.00,0.000,4,0.261,0.057,2378,3770,3926,0,0,0,0,0,0
$GC,593,-0.65,-219.0,156.3,-16.9,91,601,0.00,2.00,0.00,0.000,6,0.000,0.029,2378,2347,3926,0,0,0,0,0,0
$GC,939,-0.65,-219.0,230.7,-20.7,152,948,0.00,2.17,0.00,0.000,4,0.000,0.055,2378,3763,3927,0,0,0,0,0,0
$GC,999,-0.66,-219.0,241.7,-15.2,162,1007,0.00,2.03,0.00,0.000,6,0.000,0.028,2379,2353,3927,0,0,0,0,0,0
$GC,1350,-0.66,-219.0,303.9,-17.7,222,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2350,3927,0,0,0,0,0,0
$GC,1670,-0.66,-219.0,356.9,-15.6,252,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2350,3927,0,0,0,0,0,0
$GC,1988,-0.67,-219.0,405.0,-14.6,282,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2350,3926,0,0,0,0,0,0
$GC,2308,-0.67,-219.0,449.8,-13.1,312,2312,0.00,2.12,0.00,0.000,4,0.000,0.056,2377,3765,3924,0,0,0,0,0,0
$GC,2381,-0.69,-219.0,457.8,-8.7,318,2386,0.05,2.00,0.00,0.000,6,0.177,0.030,2329,2336,3924,0,0,0,0,0,0
$STATE,2633,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2633,begin apogee
$GC,2637,-0.11,0.0,501.1,19.0,341,2809,0.65,0.17,164.40,0.842,6,0.125,0.073,2553,2153,3027,0,0,0,0,0,0
$STATE,2810,end apogee,CONTROL_FINISHED_OK
$STATE,2810,begin climb
$GC,2812,0.72,219.0,511.8,0.0,355,2990,0.70,2.33,170.27,0.832,4,0.039,0.040,2871,659,2132,0,0,0,0,0,0
$GC,3230,0.70,219.0,456.8,19.7,390,3235,0.22,2.17,0.00,0.000,6,0.168,0.036,2807,2126,2124,0,0,0,0,0,0
$GC,3555,0.70,229.5,404.6,14.7,420,3571,0.05,2.12,8.27,0.664,4,0.171,0.045,2851,3533,2090,0,0,0,0,0,0
$GC,3675,0.68,229.5,381.2,21.0,430,3680,0.20,2.17,0.00,0.000,6,0.175,0.033,2805,2054,2088,0,0,0,0,0,0
$GC,4000,0.70,250.4,330.8,14.2,460,4026,0.05,2.10,17.02,0.707,4,0.174,0.042,2858,664,2004,0,0,0,0,0,0
$GC,4110,0.69,250.4,312.2,17.9,469,4115,0.20,2.17,0.00,0.000,6,0.157,0.037,2799,2132,2001,0,0,0,0,0,0
$GC,4458,0.71,270.9,260.9,14.2,522,4483,0.08,2.28,16.85,0.663,4,0.125,0.043,2864,656,1921,0,0,0,0,0,0
$GC,4532,0.70,270.9,248.3,18.2,533,4539,0.20,2.17,0.00,0.000,6,0.153,0.037,2804,2131,1918,0,0,0,0,0,0
$GC,4888,0.76,325.1,200.2,12.6,594,4940,0.12,2.15,42.92,0.650,4,0.087,0.046,2885,3537,1701,0,0,0,0,0,0
$GC,4954,0.74,325.1,188.4,20.7,603,4961,0.25,2.20,0.00,0.000,6,0.164,0.033,2823,2064,1699,0,0,0,0,0,0
$GC,5312,0.80,370.3,136.6,13.1,664,5356,0.10,2.15,35.42,0.597,4,0.103,0.042,2901,667,1516,0,0,0,0,0,0
$GC,5452,0.79,370.3,111.9,16.6,685,5461,0.17,2.20,0.00,0.000,6,0.137,0.037,2841,2119,1511,0,0,0,0,0,0
$GC,5817,0.90,454.7,62.9,11.2,746,5891,0.15,2.17,64.57,0.544,4,0.076,0.045,2930,3519,1170,0,0,0,0,0,0
$GC,5981,0.90,454.7,32.2,19.5,770,5991,0.20,2.17,0.00,0.000,6,0.137,0.034,2872,2074,1166,0,0,0,0,0,0
$STATE,6197,end climb,SURFACE_DEPTH_REACHED
$STATE,6197,begin surface coast
$FINISH,0.6,1.022396
$STATE,6223,end surface coast,CONTROL_FINISHED_OK
$STATE,6223,begin surface
$SM_CCo,6237,82.35,0.067,0,0,540,610.06
$SM_GC,1.51,0.00,0.00,82.35,0.000,0.000,0.067,205,2461,540,-7.45,1.72,610.06
$IRIDIUM_FIX,2333.28,12625.36,051010,111118
$TT8_MAMPS,0.026964
$HUMID,50.43
$INTERNAL_PRESSURE,8.77261
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.6,23.213
$10V_AH,10.8,19.894
$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,18.750,48.575,519.750,82.350,0.000,28.569,16.898,111.413,0.000,0.000,34.744,1907.110,1505.507,555.738,2507.055,119.537,0.000,1366.446,0.000,2329.513,0.000,0.543,0.000
$DEVICE_MAMPS,260.865,72.675,841.500,66.555,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.828,0.000,1693.639,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,46938,810
$CAP_FILE_SIZE,84244,0
$CFSIZE,260165632,244903936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,322.2,1
$GPS,051010,150607,2345.596,12625.768,37,1.0,37,-3.5