version: 66.08
glider: 176
mission: 2
dive: 168
start: 10 5 110 5 54 49
data:
$ID,176
$MISSION,2
$DIVE,168
$N_DIVES,180
$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,610
$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,-4978.019
$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
$GPS1,051010,054940,2341.897,12622.734,10,2.1,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-62.7
$GPS2,051010,055422,2341.899,12622.742,15,2.1,34,-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,32.8,114049,-20.3,-15.152
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,90,0.00,0.00,-73.25,0.000,2,0.000,0.000,202,2453,2753,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.7,-6.4,9,127,8.55,2.05,-20.33,0.000,4,0.246,0.070,2349,3766,3923,0,0,0,0,0,0
$GC,147,-0.67,-219.0,25.7,-46.0,16,156,0.08,2.05,0.00,0.000,6,0.174,0.028,2372,2348,3924,0,0,0,0,0,0
$GC,513,-0.66,-219.0,132.9,-26.2,77,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2343,3925,0,0,0,0,0,0
$GC,863,-0.66,-219.0,212.9,-22.2,138,871,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3764,3926,0,0,0,0,0,0
$GC,920,-0.66,-219.0,223.5,-16.5,147,927,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2342,3926,0,0,0,0,0,0
$GC,1265,-0.66,-219.0,287.2,-16.8,208,1273,0.00,2.00,0.00,0.000,4,0.000,0.035,2373,958,3926,0,0,0,0,0,0
$GC,1310,-0.67,-219.0,293.9,-13.6,215,1317,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,2432,3926,0,0,0,0,0,0
$GC,1644,-0.67,-219.0,346.8,-15.2,250,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2432,3925,0,0,0,0,0,0
$GC,1964,-0.68,-219.0,396.9,-16.1,280,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2432,3924,0,0,0,0,0,0
$GC,2283,-0.68,-219.0,445.8,-14.4,310,2287,0.00,2.12,0.00,0.000,4,0.000,0.035,2373,948,3923,0,0,0,0,0,0
$GC,2325,-0.69,-219.0,451.2,-12.2,313,2330,0.00,2.20,0.00,0.000,6,0.000,0.046,2373,2431,3922,0,0,0,0,0,0
$GC,2653,-0.70,-219.0,493.1,-12.6,343,2656,0.00,2.03,0.00,0.000,4,0.000,0.057,2373,3774,3921,0,0,0,0,0,0
$GC,2691,-0.71,-219.0,498.0,-10.4,346,2701,0.05,2.05,0.00,0.000,6,0.067,0.031,2307,2343,3920,0,0,0,0,0,0
$STATE,2719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2719,begin apogee
$GC,2723,-0.11,0.0,501.1,11.4,349,2895,0.73,0.15,164.40,0.839,6,0.127,0.081,2556,2142,3027,0,0,0,0,0,0
$STATE,2896,end apogee,CONTROL_FINISHED_OK
$STATE,2896,begin climb
$GC,2898,0.72,219.0,510.4,0.0,363,3076,0.70,2.22,170.32,0.828,4,0.043,0.047,2850,3519,2133,0,0,0,0,0,0
$GC,3233,0.70,219.0,473.0,20.0,391,3242,0.12,2.20,0.00,0.000,6,0.168,0.031,2806,2057,2127,0,0,0,0,0,0
$GC,3559,0.70,227.2,421.4,14.8,422,3573,0.00,2.08,6.65,0.626,4,0.000,0.041,2817,659,2099,0,0,0,0,0,0
$GC,3721,0.69,227.2,396.3,15.3,436,3725,0.00,2.15,0.00,0.000,6,0.000,0.037,2817,2120,2096,0,0,0,0,0,0
$GC,4045,0.68,227.2,341.0,16.6,466,4050,0.08,2.17,0.00,0.000,4,0.211,0.044,2804,658,2095,0,0,0,0,0,0
$GC,4078,0.68,238.7,335.9,14.6,468,4097,0.00,2.20,9.88,0.662,6,0.000,0.037,2804,2127,2053,0,0,0,0,0,0
$GC,4420,0.69,251.3,285.3,14.6,508,4436,0.00,2.25,11.05,0.649,4,0.000,0.044,2805,663,2002,0,0,0,0,0,0
$GC,4478,0.70,263.0,276.8,14.6,517,4494,0.05,2.17,10.73,0.638,6,0.176,0.037,2850,2126,1954,0,0,0,0,0,0
$GC,4834,0.69,263.0,212.0,17.9,579,4842,0.15,0.00,0.00,0.000,6,0.169,0.000,2806,2126,1948,0,0,0,0,0,0
$GC,5182,0.73,295.9,163.8,13.6,640,5220,0.08,2.15,26.48,0.618,4,0.129,0.047,2865,3524,1819,0,0,0,0,0,0
$GC,5249,0.71,295.9,151.8,19.8,650,5258,0.17,2.17,0.00,0.000,6,0.148,0.033,2817,2067,1817,0,0,0,0,0,0
$GC,5613,0.79,361.2,104.9,12.1,711,5672,0.10,2.10,50.83,0.580,4,0.106,0.040,2893,662,1552,0,0,0,0,0,0
$GC,5734,0.79,361.2,83.3,19.3,728,5743,0.15,2.20,0.00,0.000,6,0.129,0.036,2840,2116,1547,0,0,0,0,0,0
$GC,6101,0.99,519.3,37.1,7.8,789,6231,0.20,2.22,118.25,0.521,4,0.063,0.049,2950,3523,908,0,0,0,0,0,0
$GC,6251,0.98,519.3,10.9,22.9,808,6261,0.15,2.22,0.00,0.000,6,0.142,0.034,2903,2070,905,0,0,0,0,0,0
$STATE,6291,end climb,SURFACE_DEPTH_REACHED
$STATE,6292,begin surface coast
$FINISH,0.7,1.008484
$STATE,6311,end surface coast,CONTROL_FINISHED_OK
$STATE,6312,begin surface
$SM_CCo,6325,49.38,0.067,0,0,541,610.06
$SM_GC,1.23,0.00,0.00,49.38,0.000,0.000,0.067,206,2451,541,-7.45,1.44,610.06
$IRIDIUM_FIX,2333.28,12612.19,051010,030356
$TT8_MAMPS,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,24.6,22.727
$10V_AH,10.7,19.445
$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,18.300,52.450,568.575,49.375,0.000,27.440,37.304,103.296,0.000,0.000,38.006,1902.975,1532.667,562.876,2545.099,119.224,0.000,1406.675,0.000,2355.210,0.000,0.542,0.000
$DEVICE_MAMPS,245.565,81.090,839.205,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.825,0.000,1712.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50239,817
$CAP_FILE_SIZE,86506,0
$CFSIZE,260165632,245084160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,238.4,1
$GPS,051010,074206,2342.704,12623.160,33,1.0,34,-3.5