version: 66.08
glider: 176
mission: 2
dive: 435
start: 11 12 110 13 13 32
data:
$ID,176
$MISSION,2
$DIVE,435
$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,-5484.6416
$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
$GPS1,121110,130732,2126.658,12603.988,10,1.5,11,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-72.7
$GPS2,121110,131308,2126.664,12603.990,14,1.5,14,-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,194.1,10541,-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,15,-0.68,-194.6,0.0,0.0,0,74,0.00,0.00,-56.80,0.000,2,0.000,0.000,196,2346,2618,0,0,0,0,0,0
$GC,77,-0.68,-194.6,3.3,-4.4,7,119,8.62,2.05,-24.92,0.000,4,0.231,0.044,2370,927,3824,0,0,0,0,0,0
$GC,183,-0.69,-194.6,23.0,-17.6,22,191,0.00,2.28,0.00,0.000,6,0.000,0.041,2370,2417,3824,0,0,0,0,0,0
$GC,544,-0.68,-194.6,102.1,-23.1,83,553,0.00,2.05,0.00,0.000,4,0.000,0.053,2369,3760,3824,0,0,0,0,0,0
$GC,585,-0.69,-194.6,109.3,-15.8,89,595,0.00,2.03,0.00,0.000,6,0.000,0.025,2370,2334,3824,0,0,0,0,0,0
$GC,948,-0.69,-194.6,164.8,-15.2,150,956,0.00,1.98,0.00,0.000,4,0.000,0.031,2369,956,3825,0,0,0,0,0,0
$GC,1039,-0.70,-194.6,176.1,-11.3,165,1047,0.00,2.17,0.00,0.000,6,0.000,0.037,2369,2429,3826,0,0,0,0,0,0
$GC,1387,-0.71,-194.6,221.6,-12.1,226,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2430,3826,0,0,0,0,0,0
$GC,1737,-0.72,-194.6,260.9,-10.8,287,1745,0.05,2.15,0.00,0.000,4,0.174,0.031,2331,941,3826,0,0,0,0,0,0
$GC,1800,-0.72,-194.6,269.0,-13.0,297,1808,0.12,2.20,0.00,0.000,6,0.156,0.039,2369,2427,3826,0,0,0,0,0,0
$GC,2151,-0.73,-194.6,311.9,-13.4,358,2160,0.08,2.05,0.00,0.000,4,0.129,0.052,2319,3767,3825,0,0,0,0,0,0
$GC,2175,-0.74,-194.6,315.3,-13.8,361,2183,0.12,1.98,0.00,0.000,6,0.142,0.025,2360,2328,3826,0,0,0,0,0,0
$GC,2528,-0.75,-194.6,360.4,-12.1,422,2537,0.08,2.00,0.00,0.000,4,0.132,0.033,2306,953,3825,0,0,0,0,0,0
$GC,2619,-0.75,-194.6,373.8,-14.8,437,2628,0.15,2.17,0.00,0.000,6,0.151,0.041,2352,2428,3824,0,0,0,0,0,0
$GC,2970,-0.76,-194.6,411.5,-9.3,498,2978,0.00,2.17,0.00,0.000,4,0.000,0.031,2353,938,3822,0,0,0,0,0,0
$GC,3008,-0.78,-194.6,415.4,-9.6,504,3017,0.03,2.22,0.00,0.000,6,0.113,0.039,2317,2418,3822,0,0,0,0,0,0
$GC,3361,-0.78,-194.6,460.7,-12.5,565,3370,0.10,2.12,0.00,0.000,4,0.177,0.031,2347,942,3821,0,0,0,0,0,0
$GC,3402,-0.79,-194.6,465.8,-11.4,571,3409,0.08,2.22,0.00,0.000,6,0.128,0.039,2292,2436,3821,0,0,0,0,0,0
$STATE,3630,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3631,begin apogee
$GC,3636,-0.11,0.0,500.5,15.8,611,3863,0.77,0.20,220.65,0.750,6,0.119,0.065,2557,2155,3026,0,0,0,0,0,0
$STATE,3865,end apogee,CONTROL_FINISHED_OK
$STATE,3865,begin climb
$GC,3867,0.68,194.6,516.0,0.0,631,4102,0.68,2.17,224.05,0.739,4,0.044,0.045,2844,3521,2232,0,0,0,0,0,0
$GC,4216,0.66,194.6,489.8,18.2,668,4225,0.17,2.17,0.00,0.000,6,0.151,0.028,2799,2060,2226,0,0,0,0,0,0
$GC,4566,0.71,240.2,444.9,11.7,729,4626,0.08,2.35,52.62,0.719,4,0.126,0.045,2856,3532,2046,0,0,0,0,0,0
$GC,4646,0.69,240.2,432.9,16.0,740,4655,0.17,2.20,0.00,0.000,6,0.148,0.028,2810,2065,2044,0,0,0,0,0,0
$GC,4996,0.69,246.7,385.7,13.6,801,5011,0.00,0.00,7.15,0.578,6,0.000,0.000,2810,2062,2020,0,0,0,0,0,0
$GC,5356,0.74,288.7,341.5,11.9,863,5414,0.08,2.12,50.75,0.689,4,0.128,0.039,2881,656,1848,0,0,0,0,0,0
$GC,5434,0.73,288.7,329.4,16.5,874,5443,0.20,2.25,0.00,0.000,6,0.144,0.034,2816,2130,1846,0,0,0,0,0,0
$GC,5787,0.74,305.8,282.7,13.1,935,5817,0.08,2.17,20.62,0.638,4,0.127,0.047,2876,3535,1778,0,0,0,0,0,0
$GC,5870,0.73,305.8,268.0,19.0,948,5880,0.20,2.20,0.00,0.000,6,0.141,0.030,2820,2063,1777,0,0,0,0,0,0
$GC,6221,0.77,339.7,222.0,12.3,1009,6271,0.08,2.25,40.90,0.624,4,0.127,0.044,2877,3528,1642,0,0,0,0,0,0
$GC,6305,0.76,339.7,208.2,19.2,1021,6312,0.20,2.17,0.00,0.000,6,0.157,0.028,2828,2053,1640,0,0,0,0,0,0
$GC,6652,0.83,393.9,166.6,11.3,1082,6724,0.10,2.35,64.45,0.594,4,0.102,0.044,2899,3529,1420,0,0,0,0,0,0
$GC,6781,0.82,393.9,145.5,19.1,1101,6790,0.17,2.20,0.00,0.000,6,0.133,0.029,2848,2057,1418,0,0,0,0,0,0
$GC,7149,0.86,420.7,98.0,12.6,1162,7192,0.08,2.12,31.45,0.541,4,0.129,0.042,2914,659,1311,0,0,0,0,0,0
$GC,7237,0.87,429.7,84.0,13.5,1174,7256,0.12,2.20,11.93,0.494,6,0.119,0.034,2867,2126,1275,0,0,0,0,0,0
$GC,7613,0.95,487.0,43.4,11.1,1236,7687,0.10,2.20,67.65,0.510,4,0.101,0.044,2942,3532,1040,0,0,0,0,0,0
$GC,7733,0.95,487.0,22.2,19.3,1252,7742,0.17,2.20,0.00,0.000,6,0.127,0.030,2892,2060,1038,0,0,0,0,0,0
$STATE,7866,end climb,SURFACE_DEPTH_REACHED
$STATE,7867,begin surface coast
$FINISH,1.0,1.022527
$STATE,7893,end surface coast,CONTROL_FINISHED_OK
$STATE,7893,begin surface
$SM_CCo,7969,0.00,0.000,0,0,1035,488.64
$SM_GC,1.83,6.80,0.00,0.00,0.038,0.000,0.000,203,2449,1035,-7.40,1.39,488.64
$IRIDIUM_FIX,2120.26,12604.03,121110,101008
$TT8_MAMPS,0.026215
$HUMID,53.03
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,69.542
$10V_AH,10.3,66.078
$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,19.675,70.475,792.225,0.000,0.000,30.915,19.763,148.669,0.000,0.000,17.625,2910.403,771.598,733.805,3608.808,267.946,0.000,1885.395,0.000,3435.707,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,65.025,750.465,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,856.047,0.000,2471.338,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,73760,1278
$CAP_FILE_SIZE,119905,0
$CFSIZE,260165632,224350208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069,352.8,1
$GPS,121110,152731,2125.741,12603.870,42,1.0,43,-2.9