version: 66.08
glider: 176
mission: 2
dive: 180
start: 10 6 110 3 53 40
data:
$ID,176
$MISSION,2
$DIVE,180
$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,-4994.2124
$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
$GPS1,061010,034902,2351.239,12630.876,12,1.6,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-69.4
$GPS2,061010,035313,2351.271,12630.887,8,1.5,13,-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,26.0,91922,-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,-219.0,0.0,0.0,0,74,0.00,0.00,-57.53,0.000,2,0.000,0.000,202,2345,2767,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.7,-6.5,7,111,8.45,2.22,-20.23,0.000,4,0.241,0.065,2349,3771,3923,0,0,0,0,0,0
$GC,126,-0.67,-219.0,22.0,-39.0,13,136,0.08,2.05,0.00,0.000,6,0.172,0.028,2372,2344,3925,0,0,0,0,0,0
$GC,492,-0.66,-219.0,138.4,-25.1,74,501,0.00,2.20,0.00,0.000,4,0.000,0.056,2373,3769,3926,0,0,0,0,0,0
$GC,642,-0.67,-219.0,166.2,-14.8,99,649,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2347,3926,0,0,0,0,0,0
$GC,989,-0.66,-219.0,236.5,-19.6,160,997,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3764,3927,0,0,0,0,0,0
$GC,1015,-0.66,-219.0,241.9,-20.4,164,1024,0.00,2.03,0.00,0.000,6,0.000,0.028,2373,2347,3927,0,0,0,0,0,0
$GC,1365,-0.66,-219.0,305.5,-16.3,223,1369,0.00,2.12,0.00,0.000,4,0.000,0.054,2372,3766,3927,0,0,0,0,0,0
$GC,1428,-0.67,-219.0,314.5,-11.3,228,1431,0.00,2.00,0.00,0.000,6,0.000,0.028,2373,2349,3927,0,0,0,0,0,0
$GC,1760,-0.67,-219.0,363.2,-15.0,259,1764,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3777,3926,0,0,0,0,0,0
$GC,1788,-0.67,-219.0,367.8,-14.7,261,1795,0.00,2.00,0.00,0.000,6,0.000,0.028,2372,2346,3926,0,0,0,0,0,0
$GC,2113,-0.68,-219.0,416.9,-16.4,292,2116,0.00,1.98,0.00,0.000,4,0.000,0.034,2373,945,3925,0,0,0,0,0,0
$GC,2152,-0.69,-219.0,423.0,-14.4,295,2158,0.00,2.20,0.00,0.000,6,0.000,0.044,2373,2424,3925,0,0,0,0,0,0
$GC,2477,-0.70,-219.0,467.3,-12.7,326,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2425,3924,0,0,0,0,0,0
$STATE,2763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2763,begin apogee
$GC,2768,-0.11,0.0,501.0,11.7,353,2940,0.52,0.17,164.95,0.849,6,0.105,0.072,2564,2156,3027,0,0,0,0,0,0
$STATE,2941,end apogee,CONTROL_FINISHED_OK
$STATE,2941,begin climb
$GC,2943,0.72,219.0,510.6,0.0,367,3120,0.68,2.15,170.32,0.837,4,0.037,0.046,2866,3526,2132,0,0,0,0,0,0
$GC,3202,0.69,219.0,487.7,25.0,388,3207,0.25,2.20,0.00,0.000,6,0.178,0.031,2809,2059,2128,0,0,0,0,0,0
$GC,3527,0.68,219.0,430.1,16.7,418,3531,0.00,2.22,0.00,0.000,4,0.000,0.048,2808,3527,2123,0,0,0,0,0,0
$GC,3591,0.67,219.0,418.6,18.2,423,3596,0.08,2.12,0.00,0.000,6,0.219,0.031,2801,2065,2123,0,0,0,0,0,0
$GC,3918,0.73,276.8,373.3,12.5,453,3968,0.10,2.17,44.55,0.763,4,0.103,0.044,2879,662,1896,0,0,0,0,0,0
$GC,4084,0.72,276.8,343.5,18.3,467,4089,0.22,2.17,0.00,0.000,6,0.161,0.037,2813,2124,1890,0,0,0,0,0,0
$GC,4412,0.71,276.8,289.6,17.0,502,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2124,1888,0,0,0,0,0,0
$GC,4763,0.72,284.3,232.7,14.8,563,4778,0.00,2.15,5.55,0.532,4,0.000,0.049,2813,3531,1868,0,0,0,0,0,0
$GC,4795,0.71,284.3,227.1,16.7,568,4804,0.00,2.17,0.00,0.000,6,0.000,0.033,2818,2064,1867,0,0,0,0,0,0
$GC,5146,0.75,318.0,178.1,13.6,629,5182,0.08,2.08,28.35,0.633,4,0.132,0.041,2887,657,1728,0,0,0,0,0,0
$GC,5225,0.74,318.0,164.3,18.9,641,5233,0.22,2.20,0.00,0.000,6,0.149,0.037,2819,2132,1724,0,0,0,0,0,0
$GC,5587,0.83,391.8,114.7,11.7,702,5654,0.12,2.25,57.85,0.591,4,0.087,0.041,2912,660,1426,0,0,0,0,0,0
$GC,5686,0.82,391.8,96.3,22.0,715,5695,0.17,2.22,0.00,0.000,6,0.139,0.037,2852,2119,1424,0,0,0,0,0,0
$GC,6052,0.98,511.5,49.1,9.6,776,6150,0.17,2.17,90.55,0.535,4,0.069,0.045,2952,3530,939,0,0,0,0,0,0
$GC,6178,0.97,511.5,23.8,25.4,792,6187,0.17,2.22,0.00,0.000,6,0.141,0.034,2896,2074,936,0,0,0,0,0,0
$STATE,6289,end climb,SURFACE_DEPTH_REACHED
$STATE,6289,begin surface coast
$FINISH,0.9,1.021904
$STATE,6309,end surface coast,CONTROL_FINISHED_OK
$STATE,6309,begin surface
$SM_CCo,6383,0.00,0.000,0,0,932,513.90
$SM_GC,1.51,6.82,0.00,0.00,0.040,0.000,0.000,213,2447,932,-7.38,1.33,513.90
$IRIDIUM_FIX,2340.34,12633.34,061010,010146
$TT8_MAMPS,0.026215
$HUMID,51.22
$INTERNAL_PRESSURE,8.79215
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.6,24.198
$10V_AH,10.7,20.773
$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,18.150,56.900,562.125,0.000,0.000,30.874,20.630,105.990,0.000,0.000,15.694,1903.436,1616.162,497.386,2485.883,134.211,0.000,1323.708,0.000,2338.224,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,71.910,849.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.569,0.000,1684.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50261,813
$CAP_FILE_SIZE,85612,0
$CFSIZE,260165632,244518912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 73.3,1
$GPS,061010,054058,2352.270,12631.758,10,2.6,29,-3.6