version: 66.08
glider: 176
mission: 2
dive: 174
start: 10 5 110 17 1 4
data:
$ID,176
$MISSION,2
$DIVE,174
$N_DIVES,190
$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,375
$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,-4986.1108
$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
$GPS1,051010,165632,2346.236,12626.346,12,1.5,12,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.1
$GPS2,051010,170038,2346.286,12626.286,9,1.9,9,-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,47.8,103976,-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,-219.0,0.0,0.0,0,66,0.00,0.00,-48.20,0.000,2,0.000,0.000,198,2456,2572,0,0,0,0,0,0
$GC,68,-0.72,-219.0,3.3,-5.8,6,110,8.52,2.20,-25.30,0.000,4,0.243,0.045,2356,949,3921,0,0,0,0,0,0
$GC,137,-0.70,-219.0,25.3,-38.9,15,147,0.03,2.30,0.00,0.000,6,0.217,0.054,2365,2417,3922,0,0,0,0,0,0
$GC,496,-0.68,-219.0,133.9,-28.3,76,504,0.00,2.08,0.00,0.000,4,0.000,0.059,2363,3769,3925,0,0,0,0,0,0
$GC,616,-0.69,-219.0,160.1,-16.6,96,624,0.00,2.05,0.00,0.000,6,0.000,0.031,2363,2353,3925,0,0,0,0,0,0
$GC,964,-0.68,-219.0,237.8,-20.2,157,971,0.05,2.15,0.00,0.000,4,0.251,0.057,2374,3769,3925,0,0,0,0,0,0
$GC,1013,-0.69,-219.0,246.8,-15.3,165,1019,0.00,2.03,0.00,0.000,6,0.000,0.029,2375,2346,3926,0,0,0,0,0,0
$GC,1364,-0.69,-219.0,305.7,-17.0,224,1368,0.00,1.98,0.00,0.000,4,0.000,0.032,2375,951,3926,0,0,0,0,0,0
$GC,1400,-0.69,-219.0,311.3,-15.7,227,1404,0.00,2.20,0.00,0.000,6,0.000,0.044,2375,2430,3926,0,0,0,0,0,0
$GC,1727,-0.70,-219.0,362.1,-15.2,257,1731,0.05,2.03,0.00,0.000,4,0.180,0.058,2334,3777,3925,0,0,0,0,0,0
$GC,1761,-0.70,-219.0,368.1,-18.3,260,1765,0.12,2.00,0.00,0.000,6,0.150,0.029,2373,2348,3925,0,0,0,0,0,0
$GC,2086,-0.70,-219.0,415.7,-14.8,290,2090,0.00,2.17,0.00,0.000,4,0.000,0.057,2373,3776,3924,0,0,0,0,0,0
$GC,2173,-0.72,-219.0,425.7,-9.8,297,2178,0.08,2.03,0.00,0.000,6,0.125,0.029,2308,2349,3924,0,0,0,0,0,0
$GC,2500,-0.71,-219.0,492.5,-20.5,327,2504,0.20,1.98,0.00,0.000,4,0.151,0.031,2371,949,3922,0,0,0,0,0,0
$GC,2543,-0.73,-219.0,499.8,-12.8,330,2552,0.05,2.20,0.00,0.000,6,0.068,0.044,2309,2415,3922,0,0,0,0,0,0
$STATE,2559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2559,begin apogee
$GC,2563,-0.11,0.0,501.6,11.3,332,2736,0.73,0.17,164.45,0.846,6,0.122,0.074,2559,2157,3027,0,0,0,0,0,0
$STATE,2737,end apogee,CONTROL_FINISHED_OK
$STATE,2737,begin climb
$GC,2739,0.72,219.0,511.3,0.0,346,2924,0.70,2.40,169.75,0.834,4,0.041,0.041,2873,659,2131,0,0,0,0,0,0
$GC,3109,0.70,219.0,466.9,19.7,377,3114,0.22,2.17,0.00,0.000,6,0.171,0.036,2809,2124,2125,0,0,0,0,0,0
$GC,3435,0.69,219.0,412.0,15.2,407,3439,0.00,2.17,0.00,0.000,4,0.000,0.041,2818,662,2122,0,0,0,0,0,0
$GC,3467,0.69,227.4,407.6,14.8,409,3480,0.05,2.17,6.53,0.625,6,0.226,0.037,2806,2129,2099,0,0,0,0,0,0
$GC,3798,0.74,273.8,360.5,13.0,440,3841,0.10,2.15,37.42,0.751,4,0.101,0.047,2875,3538,1909,0,0,0,0,0,0
$GC,3892,0.71,273.8,339.9,25.0,447,3899,0.25,2.17,0.00,0.000,6,0.170,0.031,2814,2056,1905,0,0,0,0,0,0
$GC,4228,0.71,273.8,281.4,16.5,487,4235,0.00,2.22,0.00,0.000,4,0.000,0.049,2814,3534,1901,0,0,0,0,0,0
$GC,4294,0.70,273.8,269.7,17.4,498,4302,0.00,2.17,0.00,0.000,6,0.000,0.032,2818,2069,1901,0,0,0,0,0,0
$GC,4652,0.70,279.9,215.4,14.9,559,4659,0.00,0.00,4.55,0.480,6,0.000,0.000,2819,2066,1886,0,0,0,0,0,0
$GC,5009,0.72,301.7,161.6,14.1,620,5033,0.00,2.15,19.02,0.613,4,0.000,0.042,2827,652,1795,0,0,0,0,0,0
$GC,5063,0.75,327.5,153.9,14.0,628,5092,0.00,2.22,21.42,0.601,6,0.000,0.038,2827,2125,1690,0,0,0,0,0,0
$GC,5441,0.82,382.3,98.7,12.6,692,5492,0.10,2.15,42.95,0.576,4,0.103,0.045,2900,3536,1466,0,0,0,0,0,0
$GC,5547,0.81,382.3,78.1,20.6,707,5557,0.17,2.22,0.00,0.000,6,0.144,0.033,2848,2060,1462,0,0,0,0,0,0
$GC,5913,1.00,527.1,32.9,8.4,768,6027,0.20,2.38,108.18,0.522,4,0.063,0.047,2955,3538,877,0,0,0,0,0,0
$GC,6055,0.99,527.1,4.7,24.8,786,6064,0.20,2.25,0.00,0.000,6,0.135,0.037,2900,2080,875,0,0,0,0,0,0
$STATE,6071,end climb,SURFACE_DEPTH_REACHED
$STATE,6071,begin surface coast
$FINISH,0.6,0.998797
$STATE,6085,end surface coast,CONTROL_FINISHED_OK
$STATE,6085,begin surface
$SM_CCo,6160,0.00,0.000,0,0,872,528.62
$SM_GC,1.50,6.88,0.00,0.00,0.037,0.000,0.000,199,2433,872,-7.39,0.93,528.62
$IRIDIUM_FIX,2337.99,12623.46,051010,151525
$TT8_MAMPS,0.026215
$HUMID,52.40
$INTERNAL_PRESSURE,8.77261
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.6,23.458
$10V_AH,10.6,20.114
$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,18.700,61.600,574.275,0.000,0.000,29.880,16.674,105.416,0.000,0.000,14.610,1863.326,1490.977,502.765,2427.516,123.895,0.000,1325.846,0.000,2275.397,0.000,0.544,0.000
$DEVICE_MAMPS,250.920,74.205,846.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.156,0.000,1655.186,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334096
$DATA_FILE_SIZE,46982,790
$CAP_FILE_SIZE,86854,0
$CFSIZE,260165632,244801536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,300.8,1
$GPS,051010,184454,2347.065,12626.650,28,0.9,45,-3.5