version: 66.08
glider: 168
mission: 2
dive: 153
start: 10 3 110 5 29 34
data:
$ID,168
$MISSION,2
$DIVE,153
$N_DIVES,165
$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,-3360.7817
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,031010,052334,2429.649,12705.038,5,2.8,24,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-79.3
$GPS2,031010,052908,2429.577,12705.113,12,1.1,12,-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,324.8,807,-22.1,-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,-0.72,-185.1,0.0,0.0,0,95,0.00,0.00,-77.62,0.000,2,0.000,0.000,104,1560,2989,0,0,0,0,0,0
$GC,97,-0.72,-185.1,3.3,-5.7,12,133,10.12,2.15,-14.57,0.000,4,0.191,0.054,3009,2946,3827,0,0,0,0,0,0
$GC,254,-0.68,-185.1,54.9,-29.2,39,262,0.10,2.17,0.00,0.000,6,0.147,0.048,3038,1551,3828,0,0,0,0,0,0
$GC,586,-0.65,-185.1,147.4,-22.7,100,594,0.00,2.15,0.00,0.000,4,0.000,0.050,3039,163,3830,0,0,0,0,0,0
$GC,628,-0.62,-185.1,157.9,-25.9,104,637,0.05,2.10,0.00,0.000,6,0.135,0.038,3051,1542,3831,0,0,0,0,0,0
$GC,954,-0.62,-185.1,223.1,-19.2,135,955,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,1545,3832,0,0,0,0,0,0
$GC,1271,-0.62,-185.1,283.2,-18.5,165,1275,0.00,2.12,0.00,0.000,4,0.000,0.044,3042,2964,3831,0,0,0,0,0,0
$GC,1315,-0.66,-185.1,291.0,-14.8,168,1323,0.00,2.17,0.00,0.000,6,0.000,0.044,3042,1556,3831,0,0,0,0,0,0
$GC,1641,-0.66,-185.1,346.2,-16.9,199,1645,0.00,2.12,0.00,0.000,4,0.000,0.055,3042,162,3830,0,0,0,0,0,0
$GC,1692,-0.67,-185.1,354.8,-16.9,203,1696,0.00,2.08,0.00,0.000,6,0.000,0.039,3036,1547,3830,0,0,0,0,0,0
$GC,2018,-0.69,-185.1,404.9,-14.2,233,2022,0.00,2.15,0.00,0.000,4,0.000,0.048,3026,2959,3828,0,0,0,0,0,0
$GC,2093,-0.74,-185.1,413.6,-10.1,239,2097,0.00,2.15,0.00,0.000,6,0.000,0.046,3026,1544,3828,0,0,0,0,0,0
$GC,2419,-0.75,-185.1,460.3,-14.8,269,2423,0.00,2.12,0.00,0.000,4,0.000,0.054,3026,163,3826,0,0,0,0,0,0
$GC,2441,-0.77,-185.1,464.2,-16.1,270,2449,0.00,2.10,0.00,0.000,6,0.000,0.040,3017,1541,3826,0,0,0,0,0,0
$STATE,2669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2669,begin apogee
$GC,2673,0.00,0.0,500.4,16.1,292,2825,0.62,0.00,140.18,0.867,4,0.096,0.000,3248,1711,3067,0,0,0,0,0,0
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2827,0.72,185.1,507.1,0.0,305,2982,0.62,2.22,145.43,0.857,4,0.033,0.047,3528,3099,2312,0,0,0,0,0,0
$GC,3149,0.65,185.1,454.4,23.8,333,3154,0.28,2.20,0.00,0.000,6,0.150,0.042,3457,1690,2305,0,0,0,0,0,0
$GC,3475,0.63,185.1,397.1,16.1,363,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1690,2301,0,0,0,0,0,0
$GC,3795,0.65,220.1,350.1,13.2,393,3831,0.00,2.20,26.48,0.762,4,0.000,0.040,3457,3096,2170,0,0,0,0,0,0
$GC,3868,0.64,220.1,339.1,15.6,399,3877,0.00,2.20,0.00,0.000,6,0.000,0.043,3465,1697,2167,0,0,0,0,0,0
$GC,4194,0.63,220.1,290.6,15.9,430,4198,0.00,2.17,0.00,0.000,4,0.000,0.054,3476,284,2163,0,0,0,0,0,0
$GC,4256,0.61,220.1,281.1,15.4,435,4261,0.10,2.10,0.00,0.000,6,0.145,0.033,3444,1693,2160,0,0,0,0,0,0
$GC,4585,0.64,244.6,234.6,13.8,466,4612,0.00,2.22,19.12,0.681,4,0.000,0.041,3444,3112,2070,0,0,0,0,0,0
$GC,4625,0.67,257.3,229.1,14.5,469,4642,0.00,2.20,11.62,0.637,6,0.000,0.044,3452,1691,2018,0,0,0,0,0,0
$GC,4961,0.72,291.7,181.0,13.3,500,4998,0.10,2.22,27.42,0.653,4,0.097,0.052,3546,297,1877,0,0,0,0,0,0
$GC,5079,0.69,291.7,154.4,22.0,510,5089,0.20,2.10,0.00,0.000,6,0.108,0.031,3473,1685,1872,0,0,0,0,0,0
$GC,5412,0.70,291.7,103.4,15.9,569,5419,0.00,2.15,0.00,0.000,4,0.000,0.040,3473,3105,1870,0,0,0,0,0,0
$GC,5518,0.80,334.2,87.5,12.8,588,5559,0.05,2.17,32.58,0.591,6,0.062,0.043,3563,1705,1705,0,0,0,0,0,0
$GC,5880,0.80,334.2,25.3,16.3,654,5888,0.17,0.00,0.00,0.000,6,0.138,0.000,3505,1705,1699,0,0,0,0,0,0
$STATE,6101,end climb,SURFACE_DEPTH_REACHED
$STATE,6102,begin surface coast
$FINISH,0.6,1.007618
$STATE,6129,end surface coast,CONTROL_FINISHED_OK
$STATE,6130,begin surface
$SM_CCo,6145,140.60,0.497,1,0,620,600.00
$SM_GC,1.33,0.00,0.00,140.60,0.000,0.000,0.497,104,1537,620,-9.84,-0.40,600.00
$IRIDIUM_FIX,2418.11,12704.97,031010,050548
$TT8_MAMPS,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.80
$XPDR_PINGS,2
$24V_AH,24.5,20.389
$10V_AH,10.5,14.504
$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,20.625,52.225,402.825,140.600,0.000,61.400,28.453,93.197,0.500,0.000,15.517,1693.883,2442.321,581.155,1816.236,106.308,0.000,1276.144,0.000,1623.176,0.000,0.541,0.000
$DEVICE_MAMPS,191.250,65.025,866.745,497.250,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.757,0.000,887.905,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43609,700
$CAP_FILE_SIZE,81673,0
$CFSIZE,260165632,245555200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.319,145.4,1
$GPS,031010,071507,2429.401,12705.155,6,1.3,6,-3.7