version: 66.08
glider: 176
mission: 2
dive: 177
start: 10 5 110 22 26 4
data:
$ID,176
$MISSION,2
$DIVE,177
$N_DIVES,190
$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,-4990.1606
$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
$GPS1,051010,222100,2348.793,12627.550,41,1.1,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.2
$GPS2,051010,222537,2348.860,12627.513,9,1.1,15,-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,67.9,98977,-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,-219.0,0.0,0.0,0,66,0.00,0.00,-49.38,0.000,2,0.000,0.000,199,2447,2655,0,0,0,0,0,0
$GC,69,-0.72,-219.0,3.2,-5.1,6,110,8.43,2.20,-23.33,0.000,4,0.240,0.047,2356,958,3922,0,0,0,0,0,0
$GC,154,-0.71,-219.0,32.8,-34.0,18,162,0.00,2.25,0.00,0.000,6,0.000,0.050,2356,2412,3923,0,0,0,0,0,0
$GC,519,-0.69,-219.0,140.3,-26.8,79,528,0.05,2.08,0.00,0.000,4,0.257,0.060,2367,3756,3925,0,0,0,0,0,0
$GC,642,-0.70,-219.0,164.4,-16.1,99,649,0.00,2.00,0.00,0.000,6,0.000,0.029,2367,2358,3926,0,0,0,0,0,0
$GC,997,-0.70,-219.0,239.5,-19.9,160,1007,0.00,2.03,0.00,0.000,4,0.000,0.032,2367,947,3927,0,0,0,0,0,0
$GC,1024,-0.70,-219.0,244.6,-18.8,164,1033,0.00,2.22,0.00,0.000,6,0.000,0.044,2367,2417,3926,0,0,0,0,0,0
$GC,1384,-0.70,-219.0,309.9,-17.7,221,1387,0.00,2.00,0.00,0.000,4,0.000,0.057,2363,3764,3927,0,0,0,0,0,0
$GC,1410,-0.70,-219.0,315.3,-17.2,223,1418,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2353,3926,0,0,0,0,0,0
$GC,1736,-0.70,-219.0,371.3,-16.5,254,1740,0.00,2.12,0.00,0.000,4,0.000,0.057,2363,3766,3926,0,0,0,0,0,0
$GC,1814,-0.71,-219.0,382.7,-12.5,260,1824,0.00,2.05,0.00,0.000,6,0.000,0.029,2363,2345,3926,0,0,0,0,0,0
$GC,2140,-0.71,-219.0,434.1,-15.6,291,2144,0.00,1.98,0.00,0.000,4,0.000,0.033,2363,944,3925,0,0,0,0,0,0
$GC,2201,-0.73,-219.0,442.9,-11.7,296,2212,0.00,2.22,0.00,0.000,6,0.000,0.044,2363,2419,3925,0,0,0,0,0,0
$GC,2528,-0.73,-219.0,488.7,-14.1,327,2533,0.05,2.03,0.00,0.000,4,0.183,0.056,2321,3773,3923,0,0,0,0,0,0
$GC,2576,-0.74,-219.0,496.0,-15.2,331,2580,0.12,2.03,0.00,0.000,6,0.142,0.029,2362,2344,3922,0,0,0,0,0,0
$STATE,2604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2604,begin apogee
$GC,2608,-0.11,0.0,500.1,14.2,333,2780,0.55,0.12,165.35,0.848,6,0.110,0.059,2559,2128,3026,0,0,0,0,0,0
$STATE,2781,end apogee,CONTROL_FINISHED_OK
$STATE,2781,begin climb
$GC,2783,0.72,219.0,512.2,0.0,347,2962,0.70,2.30,170.50,0.838,4,0.047,0.039,2859,659,2133,0,0,0,0,0,0
$GC,3203,0.70,219.0,465.7,19.1,383,3208,0.17,2.17,0.00,0.000,6,0.167,0.037,2809,2125,2125,0,0,0,0,0,0
$GC,3530,0.69,219.0,412.5,16.1,413,3534,0.00,2.17,0.00,0.000,4,0.000,0.044,2818,663,2122,0,0,0,0,0,0
$GC,3618,0.68,219.0,398.2,15.2,420,3628,0.03,2.17,0.00,0.000,6,0.184,0.037,2807,2120,2121,0,0,0,0,0,0
$GC,3945,0.72,260.3,352.4,13.2,451,3983,0.08,2.20,31.27,0.749,4,0.125,0.047,2866,3530,1965,0,0,0,0,0,0
$GC,4044,0.70,260.3,334.1,19.8,459,4052,0.22,2.15,0.00,0.000,6,0.172,0.032,2813,2057,1962,0,0,0,0,0,0
$GC,4375,0.72,277.7,286.1,14.3,498,4398,0.00,2.10,14.43,0.678,4,0.000,0.041,2821,662,1894,0,0,0,0,0,0
$GC,4424,0.75,306.3,279.5,13.8,505,4454,0.05,2.20,24.38,0.691,6,0.175,0.037,2862,2135,1777,0,0,0,0,0,0
$GC,4794,0.74,306.3,202.3,21.4,569,4802,0.15,2.20,0.00,0.000,4,0.164,0.044,2819,656,1769,0,0,0,0,0,0
$GC,4844,0.74,306.3,193.7,15.8,577,4850,0.00,2.17,0.00,0.000,6,0.000,0.037,2819,2122,1768,0,0,0,0,0,0
$GC,5191,0.80,354.4,145.7,12.9,638,5233,0.10,0.00,37.62,0.611,6,0.107,0.000,2891,2123,1581,0,0,0,0,0,0
$GC,5583,0.79,354.4,79.0,17.3,703,5593,0.17,2.17,0.00,0.000,4,0.156,0.042,2845,670,1573,0,0,0,0,0,0
$GC,5608,0.79,354.4,75.0,15.5,706,5616,0.00,2.17,0.00,0.000,6,0.000,0.037,2845,2119,1573,0,0,0,0,0,0
$GC,5972,0.94,468.7,41.9,9.8,767,6070,0.15,2.20,86.82,0.529,4,0.077,0.047,2942,3526,1113,0,0,0,0,0,0
$GC,6137,0.94,468.7,10.8,19.0,790,6147,0.20,2.20,0.00,0.000,6,0.136,0.034,2886,2072,1111,0,0,0,0,0,0
$STATE,6189,end climb,SURFACE_DEPTH_REACHED
$STATE,6189,begin surface coast
$FINISH,0.8,1.021916
$STATE,6209,end surface coast,CONTROL_FINISHED_OK
$STATE,6209,begin surface
$SM_CCo,6283,0.00,0.000,0,0,1107,470.98
$SM_GC,1.36,6.78,0.00,0.00,0.037,0.000,0.000,202,2443,1107,-7.38,1.22,470.98
$IRIDIUM_FIX,2337.99,12628.65,051010,202024
$TT8_MAMPS,0.026215
$HUMID,51.53
$INTERNAL_PRESSURE,8.81168
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.5,23.823
$10V_AH,10.6,20.444
$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,18.000,60.850,530.375,0.000,0.000,35.069,37.045,107.212,0.000,0.000,18.000,1890.757,1546.118,491.504,2517.968,118.619,0.000,1319.673,0.000,2330.414,0.000,0.542,0.000
$DEVICE_MAMPS,257.040,59.670,848.385,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.421,0.000,1687.213,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46989,801
$CAP_FILE_SIZE,86295,0
$CFSIZE,260165632,244662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170, 20.3,1
$GPS,061010,001120,2349.685,12628.636,7,1.6,7,-3.5