version: 66.08
glider: 176
mission: 2
dive: 190
start: 10 6 110 22 1 39
data:
$ID,176
$MISSION,2
$DIVE,190
$N_DIVES,210
$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,-5007.7144
$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
$GPS1,061010,215655,2359.465,12638.803,7,1.4,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-69.2
$GPS2,061010,220113,2359.497,12638.802,10,1.4,15,-3.6
$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,47.9,71697,-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,-219.0,0.0,0.0,0,75,0.00,0.00,-57.00,0.000,2,0.000,0.000,201,2475,2631,0,0,0,0,0,0
$GC,77,-0.72,-219.0,3.4,-5.3,7,119,8.55,2.00,-23.62,0.000,4,0.244,0.065,2349,3767,3922,0,0,0,0,0,0
$GC,127,-0.67,-219.0,19.3,-33.8,13,137,0.08,2.05,0.00,0.000,6,0.171,0.027,2373,2347,3922,0,0,0,0,0,0
$GC,492,-0.66,-219.0,133.8,-26.3,74,501,0.00,2.20,0.00,0.000,4,0.000,0.056,2373,3768,3924,0,0,0,0,0,0
$GC,545,-0.66,-219.0,146.8,-22.3,82,553,0.00,2.05,0.00,0.000,6,0.000,0.029,2373,2354,3925,0,0,0,0,0,0
$GC,892,-0.65,-219.0,225.0,-20.1,143,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2350,3926,0,0,0,0,0,0
$GC,1236,-0.65,-219.0,289.5,-17.2,204,1244,0.00,2.17,0.00,0.000,4,0.000,0.055,2373,3770,3926,0,0,0,0,0,0
$GC,1259,-0.65,-219.0,292.8,-16.1,207,1266,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2343,3926,0,0,0,0,0,0
$GC,1594,-0.66,-219.0,347.7,-15.8,242,1597,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3777,3926,0,0,0,0,0,0
$GC,1646,-0.67,-219.0,355.1,-12.4,246,1650,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,2348,3925,0,0,0,0,0,0
$GC,1980,-0.67,-219.0,402.0,-14.0,277,1983,0.00,1.98,0.00,0.000,4,0.000,0.033,2373,945,3925,0,0,0,0,0,0
$GC,2041,-0.69,-219.0,410.0,-10.3,282,2050,0.00,2.22,0.00,0.000,6,0.000,0.044,2373,2419,3924,0,0,0,0,0,0
$GC,2368,-0.70,-219.0,451.2,-12.3,313,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2418,3924,0,0,0,0,0,0
$GC,2687,-0.71,-219.0,493.0,-12.8,343,2694,0.05,0.00,0.00,0.000,6,0.177,0.000,2328,2420,3921,0,0,0,0,0,0
$STATE,2734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2734,begin apogee
$GC,2739,-0.11,0.0,500.9,15.9,348,2911,0.65,0.15,165.35,0.848,6,0.120,0.081,2555,2142,3027,0,0,0,0,0,0
$STATE,2912,end apogee,CONTROL_FINISHED_OK
$STATE,2912,begin climb
$GC,2914,0.72,219.0,510.7,0.0,362,3092,0.70,2.33,170.93,0.833,4,0.044,0.040,2858,660,2133,0,0,0,0,0,0
$GC,3331,0.70,219.0,458.0,19.8,397,3336,0.17,2.17,0.00,0.000,6,0.164,0.036,2809,2127,2125,0,0,0,0,0,0
$GC,3658,0.69,219.0,403.5,16.4,427,3662,0.00,2.20,0.00,0.000,4,0.000,0.043,2818,655,2122,0,0,0,0,0,0
$GC,3733,0.69,226.9,392.1,14.8,433,3746,0.00,2.15,6.20,0.610,6,0.000,0.037,2818,2123,2100,0,0,0,0,0,0
$GC,4063,0.70,243.1,342.0,14.4,464,4082,0.00,2.25,14.05,0.705,4,0.000,0.043,2818,662,2033,0,0,0,0,0,0
$GC,4117,0.73,266.8,334.4,14.1,468,4143,0.00,2.15,19.58,0.714,6,0.000,0.037,2818,2122,1939,0,0,0,0,0,0
$GC,4466,0.72,266.8,281.9,15.9,510,4475,0.00,2.12,0.00,0.000,4,0.000,0.048,2818,3519,1933,0,0,0,0,0,0
$GC,4601,0.71,266.8,260.0,16.4,533,4608,0.00,2.12,0.00,0.000,6,0.000,0.032,2818,2066,1933,0,0,0,0,0,0
$GC,4949,0.77,316.2,208.8,12.9,594,5000,0.08,2.12,38.92,0.656,4,0.133,0.042,2891,667,1737,0,0,0,0,0,0
$GC,5052,0.76,316.2,190.9,18.4,610,5062,0.17,2.20,0.00,0.000,6,0.143,0.037,2831,2120,1732,0,0,0,0,0,0
$GC,5406,0.80,349.2,141.0,13.6,671,5440,0.08,2.20,26.62,0.598,4,0.129,0.042,2903,663,1601,0,0,0,0,0,0
$GC,5483,0.79,349.2,127.0,18.6,682,5493,0.20,2.20,0.00,0.000,6,0.142,0.036,2836,2120,1598,0,0,0,0,0,0
$GC,5850,0.92,455.5,82.5,10.2,743,5940,0.15,2.22,82.28,0.558,4,0.075,0.046,2927,3530,1168,0,0,0,0,0,0
$GC,5962,0.91,455.5,63.1,21.1,757,5972,0.15,2.22,0.00,0.000,6,0.142,0.034,2878,2074,1166,0,0,0,0,0,0
$GC,6329,0.97,503.4,10.6,12.9,818,6371,0.10,2.15,36.70,0.493,4,0.101,0.040,2952,666,973,0,0,0,0,0,0
$STATE,6378,end climb,SURFACE_DEPTH_REACHED
$STATE,6378,begin surface coast
$FINISH,0.7,1.016223
$STATE,6392,end surface coast,CONTROL_FINISHED_OK
$STATE,6392,begin surface
$SM_CCo,6468,0.00,0.000,0,0,969,504.58
$SM_GC,1.53,7.00,0.00,0.00,0.040,0.000,0.000,208,2436,969,-7.39,1.02,504.58
$IRIDIUM_FIX,2349.77,12641.35,061010,202007
$TT8_MAMPS,0.026215
$HUMID,51.53
$INTERNAL_PRESSURE,8.80191
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.6,25.443
$10V_AH,10.6,21.869
$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,18.125,57.000,560.625,0.000,0.000,30.956,22.795,103.619,0.000,0.000,17.714,1932.665,1615.309,507.184,2541.693,132.277,0.000,1351.306,0.000,2382.481,0.000,0.542,0.000
$DEVICE_MAMPS,244.035,81.090,847.620,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.290,0.000,1722.425,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50366,826
$CAP_FILE_SIZE,86514,0
$CFSIZE,260165632,244051968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093, 65.7,1
$GPS,061010,235031,2400.270,12639.839,38,2.0,38,-3.6