version: 66.08
glider: 176
mission: 2
dive: 437
start: 11 12 110 17 58 33
data:
$ID,176
$MISSION,2
$DIVE,437
$N_DIVES,450
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,950
$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,120
$T_MISSION,180
$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,200
$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,-5487.1465
$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,3
$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
$GPS1,121110,175158,2124.948,12604.104,9,2.1,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.2
$GPS2,121110,175809,2124.919,12604.169,11,2.5,30,-2.9
$SPEED_LIMITS,0.241,0.329
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,228.1,8000,-20.0,-13.889
$D_GRID,1000
$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,16,-0.68,-194.6,0.0,0.0,0,75,0.00,0.00,-56.33,0.000,2,0.000,0.000,202,2343,2483,0,0,0,0,0,0
$GC,78,-0.68,-194.6,3.1,-4.1,7,127,8.68,2.05,-30.23,0.000,4,0.236,0.043,2363,942,3823,0,0,0,0,0,0
$GC,202,-0.68,-194.6,24.5,-18.4,25,211,0.00,2.25,0.00,0.000,6,0.000,0.041,2362,2422,3824,0,0,0,0,0,0
$GC,569,-0.68,-194.6,111.3,-19.2,86,578,0.05,2.05,0.00,0.000,4,0.242,0.052,2375,3766,3824,0,0,0,0,0,0
$GC,605,-0.68,-194.6,117.2,-15.0,91,614,0.00,2.03,0.00,0.000,6,0.000,0.024,2375,2336,3824,0,0,0,0,0,0
$GC,963,-0.69,-194.6,172.0,-14.3,152,971,0.00,1.98,0.00,0.000,4,0.000,0.031,2376,956,3825,0,0,0,0,0,0
$GC,998,-0.70,-194.6,176.2,-13.0,157,1006,0.05,2.17,0.00,0.000,6,0.178,0.039,2335,2426,3825,0,0,0,0,0,0
$GC,1349,-0.70,-194.6,234.4,-16.7,218,1359,0.12,2.05,0.00,0.000,4,0.164,0.051,2372,3767,3825,0,0,0,0,0,0
$GC,1378,-0.70,-194.6,238.3,-13.9,222,1387,0.03,2.03,0.00,0.000,6,0.103,0.025,2327,2330,3825,0,0,0,0,0,0
$GC,1726,-0.70,-194.6,290.9,-14.9,283,1733,0.15,0.00,0.00,0.000,6,0.154,0.000,2373,2326,3825,0,0,0,0,0,0
$GC,2072,-0.71,-194.6,327.0,-10.2,344,2081,0.08,2.00,0.00,0.000,4,0.128,0.033,2318,951,3825,0,0,0,0,0,0
$GC,2096,-0.72,-194.6,329.8,-11.5,347,2103,0.15,2.20,0.00,0.000,6,0.147,0.039,2364,2434,3825,0,0,0,0,0,0
$GC,2446,-0.73,-194.6,367.2,-9.8,408,2455,0.05,2.17,0.00,0.000,4,0.181,0.031,2320,950,3824,0,0,0,0,0,0
$GC,2504,-0.74,-194.6,373.7,-11.8,417,2512,0.12,2.20,0.00,0.000,6,0.151,0.038,2359,2434,3824,0,0,0,0,0,0
$GC,2856,-0.75,-194.6,407.0,-9.7,478,2865,0.08,2.17,0.00,0.000,4,0.129,0.031,2304,952,3822,0,0,0,0,0,0
$GC,2937,-0.76,-194.6,417.2,-13.4,491,2944,0.17,2.20,0.00,0.000,6,0.141,0.040,2360,2429,3822,0,0,0,0,0,0
$GC,3288,-0.77,-194.6,450.9,-9.7,552,3297,0.08,2.17,0.00,0.000,4,0.129,0.032,2299,954,3820,0,0,0,0,0,0
$GC,3334,-0.78,-194.6,456.5,-13.4,559,3342,0.17,2.20,0.00,0.000,6,0.142,0.041,2353,2427,3820,0,0,0,0,0,0
$GC,3684,-0.79,-194.6,489.3,-8.6,620,3694,0.08,2.17,0.00,0.000,4,0.129,0.032,2303,952,3817,0,0,0,0,0,0
$GC,3724,-0.79,-194.6,493.9,-12.4,626,3733,0.10,2.22,0.00,0.000,6,0.127,0.041,2341,2421,3817,0,0,0,0,0,0
$STATE,3779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3779,begin apogee
$GC,3785,-0.11,0.0,500.3,10.4,635,4010,0.60,0.17,219.98,0.763,6,0.104,0.072,2556,2144,3027,0,0,0,0,0,0
$STATE,4013,end apogee,CONTROL_FINISHED_OK
$STATE,4013,begin climb
$GC,4015,0.68,194.6,517.0,0.0,655,4251,0.70,2.20,224.12,0.750,4,0.047,0.045,2836,3529,2232,0,0,0,0,0,0
$GC,4365,0.66,194.6,500.3,15.1,687,4369,0.17,2.15,0.00,0.000,6,0.175,0.028,2799,2061,2227,0,0,0,0,0,0
$GC,4713,0.71,236.7,458.3,11.9,747,4770,0.08,2.30,48.33,0.738,4,0.126,0.044,2855,3521,2061,0,0,0,0,0,0
$GC,4878,0.69,236.7,429.4,18.4,774,4887,0.17,2.17,0.00,0.000,6,0.150,0.028,2809,2051,2057,0,0,0,0,0,0
$GC,5228,0.71,261.3,383.6,12.7,835,5264,0.00,0.00,28.55,0.708,6,0.000,0.000,2809,2048,1960,0,0,0,0,0,0
$GC,5604,0.72,276.0,333.7,13.2,900,5628,0.08,2.33,17.88,0.672,4,0.129,0.047,2871,3529,1900,0,0,0,0,0,0
$GC,5645,0.71,276.0,326.8,17.2,906,5655,0.20,2.17,0.00,0.000,6,0.145,0.028,2816,2061,1899,0,0,0,0,0,0
$GC,5997,0.77,329.1,282.6,11.3,967,6069,0.10,2.30,63.40,0.675,4,0.104,0.044,2886,3532,1685,0,0,0,0,0,0
$GC,6085,0.75,329.1,269.3,16.9,979,6094,0.25,2.20,0.00,0.000,6,0.154,0.028,2823,2053,1683,0,0,0,0,0,0
$GC,6437,0.76,336.6,222.7,13.5,1040,6453,0.08,2.33,9.52,0.565,4,0.126,0.046,2880,3536,1654,0,0,0,0,0,0
$GC,6530,0.75,336.6,206.1,17.7,1055,6538,0.22,2.15,0.00,0.000,6,0.155,0.028,2822,2059,1651,0,0,0,0,0,0
$GC,6881,0.85,413.2,165.6,10.2,1116,6980,0.15,2.28,90.75,0.599,4,0.078,0.044,2915,3529,1341,0,0,0,0,0,0
$GC,7025,0.84,413.2,138.6,22.6,1137,7035,0.20,2.20,0.00,0.000,6,0.136,0.030,2859,2067,1338,0,0,0,0,0,0
$GC,7396,0.93,474.8,88.7,10.9,1198,7478,0.10,2.30,72.07,0.544,4,0.102,0.043,2938,3527,1089,0,0,0,0,0,0
$GC,7507,0.92,474.8,70.5,19.4,1212,7516,0.17,2.20,0.00,0.000,6,0.127,0.031,2881,2068,1088,0,0,0,0,0,0
$GC,7874,0.98,518.0,25.3,11.8,1273,7933,0.10,2.10,49.05,0.496,4,0.100,0.040,2963,659,914,0,0,0,0,0,0
$GC,7954,0.98,518.0,10.2,22.5,1283,7964,0.20,2.20,0.00,0.000,6,0.117,0.034,2894,2118,913,0,0,0,0,0,0
$STATE,8000,end climb,SURFACE_DEPTH_REACHED
$STATE,8001,begin surface coast
$FINISH,0.8,1.004243
$STATE,8026,end surface coast,CONTROL_FINISHED_OK
$STATE,8026,begin surface
$SM_CCo,8102,0.00,0.000,0,0,910,519.30
$SM_GC,1.70,6.80,0.00,0.00,0.036,0.000,0.000,201,2475,910,-7.39,2.12,519.30
$IRIDIUM_FIX,2117.95,12602.66,121110,151509
$TT8_MAMPS,0.026215
$HUMID,54.09
$INTERNAL_PRESSURE,8.76285
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,69.885
$10V_AH,10.3,66.407
$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,20.525,75.025,823.650,0.000,0.000,29.189,40.700,149.951,0.000,0.000,34.050,2942.676,807.335,765.949,3664.278,281.113,0.000,1947.750,0.000,3461.007,0.000,0.542,0.000
$DEVICE_MAMPS,241.740,71.910,763.470,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.227,0.000,2448.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,77123,1294
$CAP_FILE_SIZE,123549,0
$CFSIZE,260165632,224215040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161, 86.1,1
$GPS,121110,201437,2124.138,12604.014,34,0.9,35,-2.9