version: 66.08
glider: 168
mission: 2
dive: 136
start: 10 1 110 22 57 30
data:
$ID,168
$MISSION,2
$DIVE,136
$N_DIVES,150
$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,200
$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,0
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$MASS,51866
$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,600
$N_FILEKB,8
$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,-3339.4524
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,3252
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3068
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-59.994087
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,011010,225325,2429.953,12704.918,38,0.9,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-76.6
$GPS2,011010,225702,2429.929,12704.950,9,1.9,9,-3.7
$SPEED_LIMITS,0.262,0.330
$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,355.1,156,-27.8,-15.152
$D_GRID,4367
$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,-0.76,-117.2,0.0,0.0,0,101,0.00,0.00,-83.68,0.000,2,0.000,0.000,104,1534,3166,0,0,0,0,0,0
$GC,103,-0.84,-185.1,3.5,-6.1,13,132,10.05,2.15,-10.68,0.000,4,0.194,0.052,2969,2957,3826,0,0,0,0,0,0
$GC,261,-0.83,-185.1,67.2,-32.6,40,271,0.03,2.20,0.00,0.000,6,0.156,0.050,2981,1567,3828,0,0,0,0,0,0
$GC,600,-0.80,-185.1,176.2,-28.9,93,604,0.00,2.15,0.00,0.000,4,0.000,0.053,2981,158,3829,0,0,0,0,0,0
$GC,654,-0.78,-185.1,193.4,-28.9,97,662,0.08,2.10,0.00,0.000,6,0.145,0.037,2998,1538,3830,0,0,0,0,0,0
$GC,979,-0.78,-185.1,270.7,-22.4,128,983,0.00,2.12,0.00,0.000,4,0.000,0.044,2988,2961,3830,0,0,0,0,0,0
$GC,1016,-0.81,-185.1,278.9,-19.7,131,1024,0.00,2.20,0.00,0.000,6,0.000,0.047,2988,1552,3830,0,0,0,0,0,0
$GC,1342,-0.81,-185.1,351.4,-23.5,162,1346,0.00,2.12,0.00,0.000,4,0.000,0.056,2988,161,3830,0,0,0,0,0,0
$GC,1368,-0.81,-185.1,358.2,-24.2,164,1378,0.03,2.12,0.00,0.000,6,0.191,0.039,2989,1556,3830,0,0,0,0,0,0
$GC,1695,-0.82,-185.1,428.5,-20.9,195,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1558,3830,0,0,0,0,0,0
$GC,2013,-0.85,-185.1,489.2,-17.5,225,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,1559,3828,0,0,0,0,0,0
$STATE,2084,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2084,begin apogee
$GC,2088,0.00,0.0,501.5,15.9,232,2241,0.73,0.00,140.40,0.859,4,0.100,0.000,3253,1712,3068,0,0,0,0,0,0
$STATE,2241,end apogee,CONTROL_FINISHED_OK
$STATE,2241,begin climb
$GC,2243,0.84,185.1,506.8,0.0,245,2397,0.73,2.22,145.52,0.851,4,0.031,0.047,3575,3100,2312,0,0,0,0,0,0
$GC,2487,0.79,185.1,468.8,25.7,266,2492,0.28,2.20,0.00,0.000,6,0.159,0.041,3507,1694,2307,0,0,0,0,0,0
$GC,2812,0.77,185.1,403.9,19.2,296,2816,0.00,2.12,0.00,0.000,4,0.000,0.038,3507,3111,2301,0,0,0,0,0,0
$GC,2862,0.76,185.1,393.7,20.5,300,2866,0.10,2.17,0.00,0.000,6,0.183,0.044,3490,1701,2301,0,0,0,0,0,0
$GC,3192,0.76,185.1,335.8,16.4,331,3196,0.00,2.10,0.00,0.000,4,0.000,0.039,3490,3107,2297,0,0,0,0,0,0
$GC,3209,0.76,185.1,332.6,17.1,332,3213,0.00,2.10,0.00,0.000,6,0.000,0.043,3500,1718,2297,0,0,0,0,0,0
$GC,3533,0.76,185.1,279.9,15.8,362,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1718,2295,0,0,0,0,0,0
$GC,3852,0.76,185.1,230.6,15.3,392,3856,0.00,2.10,0.00,0.000,4,0.000,0.041,3499,3112,2293,0,0,0,0,0,0
$GC,3982,0.76,185.1,208.2,17.5,403,3986,0.00,2.12,0.00,0.000,6,0.000,0.043,3510,1706,2293,0,0,0,0,0,0
$GC,4311,0.76,185.1,153.6,15.5,434,4315,0.00,2.10,0.00,0.000,4,0.000,0.040,3510,3106,2292,0,0,0,0,0,0
$GC,4358,0.77,195.4,147.2,14.3,439,4373,0.10,2.10,6.10,0.518,6,0.185,0.042,3494,1712,2270,0,0,0,0,0,0
$GC,4708,0.85,240.8,108.5,11.2,501,4755,0.10,2.20,36.42,0.607,4,0.096,0.039,3583,3113,2085,0,0,0,0,0,0
$GC,4777,0.83,240.8,96.4,19.0,512,4787,0.22,2.20,0.00,0.000,6,0.127,0.044,3517,1717,2083,0,0,0,0,0,0
$GC,5122,0.96,312.8,60.4,8.9,573,5183,0.12,2.33,54.80,0.565,4,0.076,0.051,3623,286,1793,0,0,0,0,0,0
$GC,5196,0.95,312.8,49.3,16.5,584,5205,0.20,2.17,0.00,0.000,6,0.130,0.031,3555,1702,1790,0,0,0,0,0,0
$STATE,5512,end climb,SURFACE_DEPTH_REACHED
$STATE,5512,begin surface coast
$FINISH,0.7,1.003979
$STATE,5537,end surface coast,CONTROL_FINISHED_OK
$STATE,5537,begin surface
$SM_CCo,5553,153.07,0.490,1,0,620,600.00
$SM_GC,1.31,0.00,0.00,153.07,0.000,0.000,0.490,104,1532,620,-9.84,-0.54,600.00
$IRIDIUM_FIX,2420.48,12706.40,011010,212136
$TT8_MAMPS,0.026964
$HUMID,44.40
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,24.5,18.340
$10V_AH,10.5,13.243
$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,21.125,47.875,383.250,153.075,0.000,26.027,15.233,92.218,0.250,0.000,12.195,1542.038,2132.946,566.910,1611.573,91.580,0.000,1202.046,0.000,1472.358,0.000,0.540,0.000
$DEVICE_MAMPS,193.545,66.555,859.095,490.365,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,433.230,0.000,819.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,40301,645
$CAP_FILE_SIZE,73561,0
$CFSIZE,260165632,246337536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196,152.0,1
$GPS,021010,003343,2430.217,12705.042,11,1.6,28,-3.7