version: 66.08
glider: 176
mission: 2
dive: 201
start: 10 7 110 18 6 28
data:
$ID,176
$MISSION,2
$DIVE,201
$N_DIVES,215
$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,-5022.4771
$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
$GPS1,071010,175907,2407.953,12647.380,30,0.9,31,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.8
$GPS2,071010,180602,2408.028,12647.347,10,1.4,10,-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,29.4,50408,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,73,0.00,0.00,-56.75,0.000,2,0.000,0.000,205,2441,2656,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.4,-6.1,7,118,8.52,2.05,-23.45,0.000,4,0.243,0.064,2349,3773,3923,0,0,0,0,0,0
$GC,157,-0.69,-219.0,31.0,-39.9,18,166,0.05,2.08,0.00,0.000,6,0.165,0.028,2366,2341,3924,0,0,0,0,0,0
$GC,521,-0.68,-219.0,147.1,-25.3,79,530,0.00,2.20,0.00,0.000,4,0.000,0.054,2366,3767,3925,0,0,0,0,0,0
$GC,605,-0.68,-219.0,165.8,-19.3,93,613,0.00,2.00,0.00,0.000,6,0.000,0.028,2366,2350,3926,0,0,0,0,0,0
$GC,954,-0.68,-219.0,242.3,-21.1,154,962,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2345,3926,0,0,0,0,0,0
$GC,1299,-0.67,-219.0,310.0,-18.5,210,1303,0.00,2.12,0.00,0.000,4,0.000,0.054,2366,3769,3926,0,0,0,0,0,0
$GC,1331,-0.67,-219.0,316.1,-17.4,212,1340,0.00,2.03,0.00,0.000,6,0.000,0.028,2366,2352,3926,0,0,0,0,0,0
$GC,1658,-0.67,-219.0,368.4,-16.6,243,1662,0.03,2.00,0.00,0.000,4,0.303,0.034,2377,950,3925,0,0,0,0,0,0
$GC,1707,-0.69,-219.0,375.5,-12.3,247,1714,0.00,2.20,0.00,0.000,6,0.000,0.044,2376,2425,3925,0,0,0,0,0,0
$GC,2033,-0.70,-219.0,419.5,-14.3,278,2037,0.08,2.00,0.00,0.000,4,0.130,0.055,2329,3766,3924,0,0,0,0,0,0
$GC,2071,-0.70,-219.0,426.1,-16.6,281,2080,0.10,2.03,0.00,0.000,6,0.119,0.029,2370,2352,3924,0,0,0,0,0,0
$GC,2397,-0.71,-219.0,470.5,-13.3,312,2401,0.00,1.98,0.00,0.000,4,0.000,0.034,2370,955,3922,0,0,0,0,0,0
$GC,2421,-0.72,-219.0,473.6,-12.6,314,2426,0.03,2.20,0.00,0.000,6,0.253,0.044,2330,2425,3922,0,0,0,0,0,0
$STATE,2587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2587,begin apogee
$GC,2591,-0.11,0.0,500.5,17.4,329,2762,0.65,0.17,164.50,0.846,6,0.119,0.073,2556,2152,3027,0,0,0,0,0,0
$STATE,2763,end apogee,CONTROL_FINISHED_OK
$STATE,2763,begin climb
$GC,2765,0.72,219.0,510.9,0.0,343,2943,0.70,2.17,170.00,0.832,4,0.043,0.045,2853,3536,2133,0,0,0,0,0,0
$GC,2955,0.70,219.0,504.8,17.7,358,2960,0.20,2.25,0.00,0.000,6,0.181,0.030,2811,2055,2131,0,0,0,0,0,0
$GC,3280,0.69,219.0,449.9,15.3,388,3284,0.00,2.08,0.00,0.000,4,0.000,0.044,2818,659,2124,0,0,0,0,0,0
$GC,3309,0.67,219.0,445.4,15.9,390,3314,0.08,2.17,0.00,0.000,6,0.196,0.037,2800,2131,2122,0,0,0,0,0,0
$GC,3634,0.68,232.0,397.8,14.5,420,3649,0.00,2.17,9.75,0.692,4,0.000,0.047,2800,3537,2081,0,0,0,0,0,0
$GC,3674,0.67,232.0,392.1,15.4,423,3678,0.00,2.17,0.00,0.000,6,0.000,0.031,2806,2055,2080,0,0,0,0,0,0
$GC,4001,0.68,243.2,342.7,14.6,453,4017,0.00,2.10,10.00,0.677,4,0.000,0.042,2816,659,2034,0,0,0,0,0,0
$GC,4049,0.70,267.0,335.8,14.0,457,4075,0.00,2.17,20.02,0.721,6,0.000,0.037,2816,2133,1938,0,0,0,0,0,0
$GC,4400,0.69,267.0,280.9,17.5,499,4406,0.00,2.10,0.00,0.000,4,0.000,0.048,2816,3528,1932,0,0,0,0,0,0
$GC,4540,0.69,267.0,256.0,17.1,523,4548,0.05,2.15,0.00,0.000,6,0.251,0.033,2807,2061,1931,0,0,0,0,0,0
$GC,4887,0.75,321.3,205.9,12.6,584,4939,0.10,2.10,42.75,0.659,4,0.105,0.038,2885,671,1714,0,0,0,0,0,0
$GC,4987,0.74,321.3,188.3,18.6,599,4994,0.22,2.17,0.00,0.000,6,0.149,0.037,2816,2134,1710,0,0,0,0,0,0
$GC,5338,0.83,395.2,139.9,11.7,660,5405,0.15,2.15,57.90,0.608,4,0.076,0.045,2908,3530,1413,0,0,0,0,0,0
$GC,5421,0.82,395.2,124.9,20.8,670,5430,0.20,2.22,0.00,0.000,6,0.148,0.034,2847,2069,1411,0,0,0,0,0,0
$GC,5787,0.87,436.8,64.4,13.2,731,5829,0.10,2.12,32.00,0.543,4,0.103,0.039,2926,665,1245,0,0,0,0,0,0
$GC,5860,0.89,453.1,52.4,14.4,741,5887,0.15,2.20,14.02,0.503,6,0.129,0.037,2873,2118,1178,0,0,0,0,0,0
$STATE,6228,end climb,SURFACE_DEPTH_REACHED
$STATE,6228,begin surface coast
$FINISH,0.5,0.997735
$STATE,6253,end surface coast,CONTROL_FINISHED_OK
$STATE,6253,begin surface
$SM_CCo,6327,0.00,0.000,0,0,1172,455.03
$SM_GC,1.66,6.60,0.00,0.00,0.032,0.000,0.000,200,2430,1172,-7.38,0.85,455.03
$IRIDIUM_FIX,2359.20,12647.47,071010,181827
$TT8_MAMPS,0.026215
$HUMID,52.32
$INTERNAL_PRESSURE,8.81168
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.6,26.796
$10V_AH,10.6,23.072
$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,18.000,60.550,520.950,0.000,0.000,58.767,91.833,107.414,0.000,0.000,13.038,1901.072,1680.103,480.731,2545.861,135.427,0.000,1287.870,0.000,2298.890,0.000,0.542,0.000
$DEVICE_MAMPS,302.940,73.440,846.090,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.576,0.000,1677.593,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,47095,807
$CAP_FILE_SIZE,87002,0
$CFSIZE,260165632,243552256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 43.8,1
$GPS,071010,195232,2409.182,12648.020,12,1.7,12,-3.6