version: 66.08
glider: 176
mission: 2
dive: 220
start: 10 9 110 4 52 10
data:
$ID,176
$MISSION,2
$DIVE,220
$N_DIVES,228
$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,-5047.9365
$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
$GPS1,091010,044736,2421.631,12701.960,11,1.0,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.1
$GPS2,091010,045144,2421.586,12702.015,13,0.9,13,-3.7
$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,338.0,16375,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-219.0,0.0,0.0,0,73,0.00,0.00,-55.53,0.000,2,0.000,0.000,202,2428,2706,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.8,-7.1,7,118,8.40,2.22,-21.40,0.000,4,0.236,0.050,2358,946,3925,0,0,0,0,0,0
$GC,126,-0.67,-219.0,22.2,-38.4,13,137,0.08,2.28,0.00,0.000,6,0.183,0.049,2375,2413,3925,0,0,0,0,0,0
$GC,492,-0.66,-219.0,135.1,-28.4,74,501,0.00,2.08,0.00,0.000,4,0.000,0.057,2375,3772,3926,0,0,0,0,0,0
$GC,576,-0.66,-219.0,153.3,-15.8,88,585,0.00,2.05,0.00,0.000,6,0.000,0.029,2375,2352,3927,0,0,0,0,0,0
$GC,925,-0.66,-219.0,221.2,-19.5,149,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2347,3927,0,0,0,0,0,0
$GC,1272,-0.66,-219.0,287.7,-17.0,210,1281,0.00,2.17,0.00,0.000,4,0.000,0.055,2375,3771,3927,0,0,0,0,0,0
$GC,1340,-0.68,-219.0,297.2,-11.2,221,1348,0.00,2.03,0.00,0.000,6,0.000,0.028,2375,2335,3927,0,0,0,0,0,0
$GC,1674,-0.68,-219.0,347.9,-14.3,254,1678,0.00,2.00,0.00,0.000,4,0.000,0.035,2375,922,3927,0,0,0,0,0,0
$GC,1698,-0.69,-219.0,351.4,-14.5,256,1702,0.00,2.22,0.00,0.000,6,0.000,0.043,2375,2423,3927,0,0,0,0,0,0
$GC,2030,-0.69,-219.0,396.4,-12.2,287,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2424,3927,0,0,0,0,0,0
$GC,2349,-0.70,-219.0,434.9,-12.3,317,2354,0.05,2.12,0.00,0.000,4,0.184,0.035,2334,948,3925,0,0,0,0,0,0
$GC,2381,-0.70,-219.0,440.1,-15.0,319,2389,0.12,2.20,0.00,0.000,6,0.155,0.045,2373,2432,3925,0,0,0,0,0,0
$GC,2707,-0.71,-219.0,481.9,-13.1,350,2712,0.08,2.15,0.00,0.000,4,0.129,0.036,2318,949,3924,0,0,0,0,0,0
$GC,2727,-0.72,-219.0,484.4,-14.0,351,2731,0.15,2.20,0.00,0.000,6,0.149,0.046,2365,2431,3924,0,0,0,0,0,0
$STATE,2839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2839,begin apogee
$GC,2844,-0.11,0.0,500.4,13.4,361,3017,0.55,0.15,165.15,0.861,6,0.106,0.082,2564,2142,3026,0,0,0,0,0,0
$STATE,3018,end apogee,CONTROL_FINISHED_OK
$STATE,3018,begin climb
$GC,3019,0.72,219.0,511.9,0.0,375,3197,0.68,2.22,169.77,0.848,4,0.034,0.047,2867,3521,2133,0,0,0,0,0,0
$GC,3249,0.69,219.0,495.9,23.2,394,3254,0.25,2.17,0.00,0.000,6,0.181,0.031,2810,2059,2130,0,0,0,0,0,0
$GC,3574,0.68,219.0,435.7,17.5,424,3578,0.00,2.05,0.00,0.000,4,0.000,0.046,2818,666,2124,0,0,0,0,0,0
$GC,3623,0.67,219.0,427.2,15.6,428,3633,0.05,2.20,0.00,0.000,6,0.162,0.037,2800,2129,2122,0,0,0,0,0,0
$GC,3950,0.71,255.8,377.3,13.4,459,3987,0.08,2.12,28.23,0.770,4,0.125,0.049,2854,3530,1983,0,0,0,0,0,0
$GC,4003,0.69,255.8,367.8,18.4,463,4011,0.15,2.20,0.00,0.000,6,0.155,0.034,2801,2069,1980,0,0,0,0,0,0
$GC,4330,0.72,286.4,320.7,13.7,494,4367,0.10,2.17,24.73,0.734,4,0.103,0.044,2877,653,1857,0,0,0,0,0,0
$GC,4406,0.71,286.4,307.1,18.6,500,4415,0.20,2.22,0.00,0.000,6,0.145,0.038,2811,2119,1854,0,0,0,0,0,0
$GC,4748,0.70,286.4,253.9,15.2,557,4756,0.00,2.15,0.00,0.000,4,0.000,0.043,2818,660,1850,0,0,0,0,0,0
$GC,4788,0.72,299.9,248.0,14.5,563,4803,0.00,2.17,11.23,0.646,6,0.000,0.037,2818,2131,1804,0,0,0,0,0,0
$GC,5148,0.71,299.9,189.0,16.6,625,5156,0.00,2.10,0.00,0.000,4,0.000,0.051,2818,3529,1799,0,0,0,0,0,0
$GC,5169,0.71,299.9,185.3,16.0,628,5177,0.00,2.17,0.00,0.000,6,0.000,0.035,2818,2065,1798,0,0,0,0,0,0
$GC,5524,0.78,362.5,133.5,12.2,689,5582,0.10,2.10,49.50,0.621,4,0.106,0.041,2896,660,1548,0,0,0,0,0,0
$GC,5650,0.77,362.5,111.9,17.9,707,5659,0.17,2.20,0.00,0.000,6,0.137,0.036,2836,2116,1544,0,0,0,0,0,0
$GC,6016,0.90,457.2,59.9,10.8,768,6099,0.15,2.20,73.30,0.558,4,0.076,0.041,2935,664,1161,0,0,0,0,0,0
$GC,6131,0.90,457.2,40.1,18.4,783,6140,0.17,2.22,0.00,0.000,6,0.122,0.039,2874,2115,1158,0,0,0,0,0,0
$STATE,6394,end climb,SURFACE_DEPTH_REACHED
$STATE,6394,begin surface coast
$FINISH,0.7,1.021868
$STATE,6420,end surface coast,CONTROL_FINISHED_OK
$STATE,6420,begin surface
$SM_CCo,6495,0.00,0.000,0,0,1153,459.45
$SM_GC,1.35,6.65,0.00,0.00,0.033,0.000,0.000,199,2434,1153,-7.40,0.96,459.45
$IRIDIUM_FIX,2413.38,12700.23,091010,020256
$TT8_MAMPS,0.026215
$HUMID,53.11
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,29.150
$10V_AH,10.6,25.175
$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,18.175,61.550,521.900,0.000,0.000,22.964,14.783,107.599,0.000,0.000,16.613,1959.710,1641.837,489.735,2509.928,143.603,0.000,1321.009,0.000,2368.650,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,81.855,861.390,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.070,0.000,1725.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50272,831
$CAP_FILE_SIZE,88776,0
$CFSIZE,260165632,242667520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.214,125.4,1
$GPS,091010,064102,2422.202,12702.218,11,1.8,11,-3.7