version: 66.08
glider: 176
mission: 2
dive: 436
start: 11 12 110 15 35 26
data:
$ID,176
$MISSION,2
$DIVE,436
$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,-5485.8931
$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
$GPS1,121110,152731,2125.741,12603.870,42,1.0,43,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.8
$GPS2,121110,153501,2125.728,12603.943,9,1.7,9,-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,207.1,8990,-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,-194.6,0.0,0.0,0,67,0.00,0.00,-48.97,0.000,2,0.000,0.000,202,2452,2428,0,0,0,0,0,0
$GC,69,-0.68,-194.6,3.1,-3.5,6,119,8.62,2.22,-31.40,0.000,4,0.233,0.043,2367,945,3823,0,0,0,0,0,0
$GC,194,-0.69,-194.6,24.2,-17.1,24,203,0.00,2.25,0.00,0.000,6,0.000,0.042,2367,2421,3824,0,0,0,0,0,0
$GC,557,-0.68,-194.6,101.6,-17.6,85,566,0.00,2.03,0.00,0.000,4,0.000,0.052,2366,3756,3824,0,0,0,0,0,0
$GC,582,-0.68,-194.6,105.9,-17.7,88,591,0.00,2.00,0.00,0.000,6,0.000,0.025,2367,2346,3824,0,0,0,0,0,0
$GC,949,-0.68,-194.6,163.6,-15.1,149,955,0.00,1.98,0.00,0.000,4,0.000,0.031,2367,949,3824,0,0,0,0,0,0
$GC,1011,-0.70,-194.6,172.1,-12.3,159,1018,0.00,2.20,0.00,0.000,6,0.000,0.039,2366,2434,3825,0,0,0,0,0,0
$GC,1369,-0.70,-194.6,221.4,-12.5,220,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2435,3825,0,0,0,0,0,0
$GC,1729,-0.71,-194.6,265.5,-12.2,281,1736,0.00,2.12,0.00,0.000,4,0.000,0.031,2367,939,3825,0,0,0,0,0,0
$GC,1780,-0.72,-194.6,271.0,-10.3,289,1788,0.05,2.20,0.00,0.000,6,0.173,0.038,2333,2427,3825,0,0,0,0,0,0
$GC,2139,-0.72,-194.6,324.5,-14.2,350,2147,0.12,0.00,0.00,0.000,6,0.162,0.000,2371,2427,3825,0,0,0,0,0,0
$GC,2501,-0.74,-194.6,361.6,-9.0,411,2508,0.10,2.15,0.00,0.000,4,0.101,0.032,2305,949,3824,0,0,0,0,0,0
$GC,2611,-0.74,-194.6,376.5,-13.9,429,2619,0.17,2.17,0.00,0.000,6,0.148,0.041,2359,2424,3823,0,0,0,0,0,0
$GC,2972,-0.75,-194.6,412.2,-9.5,490,2981,0.08,2.17,0.00,0.000,4,0.128,0.032,2303,949,3822,0,0,0,0,0,0
$GC,3055,-0.76,-194.6,422.7,-13.9,503,3062,0.17,2.20,0.00,0.000,6,0.145,0.041,2358,2424,3821,0,0,0,0,0,0
$GC,3416,-0.77,-194.6,458.3,-10.4,564,3426,0.08,2.17,0.00,0.000,4,0.129,0.032,2303,950,3820,0,0,0,0,0,0
$GC,3499,-0.77,-194.6,469.4,-13.5,577,3506,0.15,2.20,0.00,0.000,6,0.150,0.041,2349,2423,3819,0,0,0,0,0,0
$STATE,3763,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3763,begin apogee
$GC,3768,-0.11,0.0,500.1,10.3,622,3994,0.57,0.20,219.88,0.757,6,0.101,0.065,2559,2153,3027,0,0,0,0,0,0
$STATE,3996,end apogee,CONTROL_FINISHED_OK
$STATE,3996,begin climb
$GC,3998,0.68,194.6,515.1,0.0,642,4230,0.65,2.28,223.50,0.743,4,0.034,0.036,2866,658,2234,0,0,0,0,0,0
$GC,4349,0.67,194.6,492.7,16.4,675,4356,0.25,2.20,0.00,0.000,6,0.163,0.034,2794,2127,2226,0,0,0,0,0,0
$GC,4709,0.69,223.9,448.3,12.5,736,4752,0.08,2.17,34.03,0.719,4,0.125,0.047,2850,3522,2112,0,0,0,0,0,0
$GC,4854,0.68,223.9,424.1,17.5,759,4861,0.22,2.15,0.00,0.000,6,0.164,0.028,2796,2052,2110,0,0,0,0,0,0
$GC,5212,0.68,234.0,378.5,13.4,820,5237,0.08,2.30,12.10,0.653,4,0.127,0.047,2856,3528,2071,0,0,0,0,0,0
$GC,5252,0.67,234.0,372.6,16.2,825,5259,0.22,2.15,0.00,0.000,6,0.164,0.028,2802,2054,2071,0,0,0,0,0,0
$GC,5612,0.70,265.2,328.4,12.4,886,5657,0.08,2.12,36.58,0.688,4,0.125,0.043,2870,649,1945,0,0,0,0,0,0
$GC,5689,0.69,265.2,316.4,16.6,897,5697,0.22,2.22,0.00,0.000,6,0.154,0.034,2804,2130,1942,0,0,0,0,0,0
$GC,6049,0.77,333.0,272.5,10.6,958,6142,0.12,2.22,80.85,0.663,4,0.086,0.049,2886,3533,1668,0,0,0,0,0,0
$GC,6169,0.76,333.0,252.3,19.8,975,6176,0.25,2.20,0.00,0.000,6,0.155,0.029,2824,2060,1666,0,0,0,0,0,0
$GC,6527,0.81,378.6,205.5,11.7,1036,6592,0.10,2.33,53.62,0.617,4,0.103,0.046,2889,3525,1481,0,0,0,0,0,0
$GC,6608,0.80,378.6,193.1,17.9,1047,6616,0.20,2.17,0.00,0.000,6,0.152,0.029,2840,2063,1480,0,0,0,0,0,0
$GC,6971,0.85,415.8,145.6,12.1,1108,7022,0.10,2.33,43.60,0.577,4,0.103,0.045,2912,3529,1330,0,0,0,0,0,0
$GC,7078,0.84,415.8,127.8,16.7,1123,7088,0.20,2.20,0.00,0.000,6,0.131,0.029,2853,2057,1329,0,0,0,0,0,0
$GC,7448,0.93,474.5,86.3,11.1,1184,7529,0.12,2.12,69.45,0.540,4,0.086,0.042,2950,669,1091,0,0,0,0,0,0
$GC,7609,0.93,474.5,61.8,16.8,1207,7618,0.20,2.20,0.00,0.000,6,0.122,0.034,2881,2123,1088,0,0,0,0,0,0
$GC,7977,1.00,526.8,14.1,11.4,1268,8036,0.10,2.15,50.03,0.487,4,0.102,0.045,2953,3534,879,0,0,0,0,0,0
$STATE,8043,end climb,SURFACE_DEPTH_REACHED
$STATE,8043,begin surface coast
$FINISH,1.0,1.022575
$STATE,8057,end surface coast,CONTROL_FINISHED_OK
$STATE,8057,begin surface
$SM_CCo,8135,0.00,0.000,0,0,875,527.64
$SM_GC,1.68,7.00,0.00,0.00,0.038,0.000,0.000,207,2344,875,-7.39,-1.58,527.64
$IRIDIUM_FIX,2117.95,12602.66,121110,131333
$TT8_MAMPS,0.026215
$HUMID,52.87
$INTERNAL_PRESSURE,8.77261
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,69.714
$10V_AH,10.3,66.242
$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,20.325,70.050,823.625,0.000,0.000,50.949,54.039,152.313,0.000,0.000,12.108,2901.450,983.281,747.471,3664.318,278.064,0.000,1909.979,0.000,3445.162,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,65.025,757.350,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,855.956,0.000,2464.949,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333948
$DATA_FILE_SIZE,77093,1278
$CAP_FILE_SIZE,119248,0
$CFSIZE,260165632,224284672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 57.4,1
$GPS,121110,175158,2124.948,12604.104,9,2.1,28,-2.9