version: 66.08
glider: 168
mission: 2
dive: 175
start: 10 4 110 21 23 27
data:
$ID,168
$MISSION,2
$DIVE,175
$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,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,400
$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,-3388.387
$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,39
$R_STBD_OVSHOOT,44
$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
$GPS1,041010,211854,2429.744,12704.932,30,1.3,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-77.1
$GPS2,041010,212250,2429.668,12704.961,14,1.2,14,-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,346.3,618,-22.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-182.7,0.0,0.0,0,71,0.00,0.00,-54.45,0.000,2,0.000,0.000,104,1535,3013,0,0,0,0,0,0
$GC,73,-0.72,-185.1,3.2,-4.5,8,103,10.12,2.25,-14.18,0.000,4,0.190,0.057,3005,2952,3825,0,0,0,0,0,0
$GC,123,-0.57,-185.1,22.0,-42.1,15,131,0.22,2.17,0.00,0.000,6,0.139,0.044,3074,1552,3827,0,0,0,0,0,0
$GC,453,-0.55,-185.1,111.7,-20.8,76,461,0.00,2.17,0.00,0.000,4,0.000,0.052,3074,158,3828,0,0,0,0,0,0
$GC,506,-0.56,-185.1,121.2,-15.6,85,513,0.00,2.08,0.00,0.000,6,0.000,0.038,3064,1547,3830,0,0,0,0,0,0
$GC,839,-0.56,-185.1,186.6,-19.2,130,840,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,1550,3831,0,0,0,0,0,0
$GC,1160,-0.58,-185.1,240.2,-16.0,160,1164,0.00,2.15,0.00,0.000,4,0.000,0.052,3065,165,3831,0,0,0,0,0,0
$GC,1180,-0.59,-185.1,244.5,-17.0,161,1188,0.00,2.10,0.00,0.000,6,0.000,0.038,3056,1553,3831,0,0,0,0,0,0
$GC,1507,-0.60,-185.1,298.1,-16.2,192,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,1554,3831,0,0,0,0,0,0
$GC,1826,-0.62,-185.1,348.0,-16.1,222,1829,0.00,2.12,0.00,0.000,4,0.000,0.052,3056,160,3830,0,0,0,0,0,0
$GC,1854,-0.65,-185.1,352.7,-16.7,224,1858,0.00,2.10,0.00,0.000,6,0.000,0.040,3050,1550,3830,0,0,0,0,0,0
$GC,2180,-0.68,-185.1,398.7,-12.8,254,2184,0.08,2.15,0.00,0.000,4,0.123,0.048,2942,2961,3829,0,0,0,0,0,0
$GC,2252,-0.67,-185.1,412.1,-20.4,260,2257,0.30,2.15,0.00,0.000,6,0.116,0.047,3042,1552,3829,0,0,0,0,0,0
$GC,2577,-0.70,-185.1,458.9,-13.6,290,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1551,3827,0,0,0,0,0,0
$GC,2897,-0.73,-185.1,495.2,-10.7,320,2902,0.10,2.15,0.00,0.000,4,0.096,0.048,2923,2957,3825,0,0,0,0,0,0
$GC,2916,-0.74,-185.1,497.6,-11.9,321,2921,0.28,2.15,0.00,0.000,6,0.119,0.048,3013,1550,3826,0,0,0,0,0,0
$STATE,2931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2931,begin apogee
$GC,2935,0.00,0.0,500.9,16.4,322,3082,0.65,0.00,140.95,0.878,4,0.096,0.000,3254,1713,3068,0,0,0,0,0,0
$STATE,3082,end apogee,CONTROL_FINISHED_OK
$STATE,3082,begin climb
$GC,3084,0.72,185.1,504.8,0.0,334,3239,0.60,2.22,145.50,0.861,4,0.033,0.047,3522,3096,2312,0,0,0,0,0,0
$GC,3485,0.66,185.1,436.7,19.8,369,3493,0.20,2.20,0.00,0.000,6,0.145,0.044,3467,1698,2304,0,0,0,0,0,0
$GC,3811,0.66,207.3,387.8,13.9,400,3835,0.00,2.17,16.92,0.765,4,0.000,0.038,3467,3109,2221,0,0,0,0,0,0
$GC,3871,0.68,226.4,379.3,14.1,405,3896,0.00,2.17,16.95,0.755,6,0.000,0.044,3477,1698,2143,0,0,0,0,0,0
$GC,4213,0.65,226.4,323.3,16.2,437,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1698,2136,0,0,0,0,0,0
$GC,4532,0.63,226.4,269.5,17.1,467,4533,0.10,0.00,0.00,0.000,6,0.179,0.000,3449,1698,2134,0,0,0,0,0,0
$GC,4849,0.63,226.4,220.8,15.8,497,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,3448,1698,2132,0,0,0,0,0,0
$GC,5169,0.65,231.5,172.3,14.9,527,5173,0.00,2.15,0.00,0.000,4,0.000,0.054,3459,293,2132,0,0,0,0,0,0
$GC,5225,0.73,277.2,164.4,12.6,531,5269,0.10,2.08,38.70,0.659,6,0.094,0.032,3570,1692,1937,0,0,0,0,0,0
$GC,5586,0.68,277.2,92.5,16.2,591,5594,0.30,2.12,0.00,0.000,4,0.137,0.039,3467,3102,1930,0,0,0,0,0,0
$GC,5708,0.83,360.8,78.0,10.5,613,5782,0.15,2.12,63.80,0.599,6,0.068,0.044,3578,1708,1595,0,0,0,0,0,0
$GC,6107,0.81,360.8,4.9,19.6,684,6115,0.22,2.22,0.00,0.000,4,0.135,0.047,3515,293,1587,0,0,0,0,0,0
$STATE,6120,end climb,SURFACE_DEPTH_REACHED
$STATE,6120,begin surface coast
$FINISH,0.9,1.021896
$STATE,6132,end surface coast,CONTROL_FINISHED_OK
$STATE,6133,begin surface
$SM_CCo,6150,21.73,0.060,0,0,1437,400.08
$SM_GC,1.58,0.00,0.00,21.73,0.000,0.000,0.060,104,1546,1437,-9.84,-0.08,400.08
$IRIDIUM_FIX,2422.84,12704.51,041010,191904
$TT8_MAMPS,0.026215
$HUMID,49.60
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.40
$XPDR_PINGS,1
$24V_AH,24.4,23.034
$10V_AH,10.5,16.143
$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,21.725,47.350,422.825,21.725,0.000,26.851,17.661,96.353,0.250,0.000,16.728,1678.440,2479.074,440.359,1732.783,102.550,0.000,1104.067,0.000,1577.805,0.000,0.540,0.000
$DEVICE_MAMPS,189.720,58.140,878.220,60.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,463.562,0.000,872.555,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43637,688
$CAP_FILE_SIZE,79317,0
$CFSIZE,260165632,244559872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.287,148.5,1
$GPS,041010,230730,2429.721,12705.104,18,1.1,35,-3.7