version: 66.08
glider: 168
mission: 2
dive: 195
start: 10 6 110 10 5 24
data:
$ID,168
$MISSION,2
$DIVE,195
$N_DIVES,210
$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,-3413.5818
$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,37
$R_STBD_OVSHOOT,43
$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
$GPS1,061010,100050,2428.022,12706.562,11,1.0,11,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-78.9
$GPS2,061010,100456,2427.947,12706.617,12,2.0,12,-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,318.5,4678,-22.1,-15.152
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-185.1,0.0,0.0,0,88,0.00,0.00,-71.50,0.000,2,0.000,0.000,104,1535,3335,0,0,0,0,0,0
$GC,90,-0.72,-185.1,4.2,-6.8,10,116,10.25,2.25,-7.50,0.000,4,0.194,0.057,3002,2958,3826,0,0,0,0,0,0
$GC,233,-0.70,-185.1,59.7,-28.9,35,241,0.08,2.17,0.00,0.000,6,0.122,0.043,3029,1563,3829,0,0,0,0,0,0
$GC,560,-0.65,-185.1,148.9,-23.5,96,568,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,1561,3830,0,0,0,0,0,0
$GC,901,-0.63,-185.1,222.0,-21.0,157,908,0.08,2.15,0.00,0.000,4,0.203,0.051,3050,161,3833,0,0,0,0,0,0
$GC,954,-0.65,-185.1,232.0,-16.4,166,962,0.00,2.10,0.00,0.000,6,0.000,0.039,3042,1538,3833,0,0,0,0,0,0
$GC,1295,-0.65,-185.1,292.3,-16.7,227,1301,0.00,2.15,0.00,0.000,4,0.000,0.044,3031,2966,3833,0,0,0,0,0,0
$GC,1320,-0.66,-185.1,296.5,-16.1,231,1327,0.00,2.17,0.00,0.000,6,0.000,0.044,3031,1546,3833,0,0,0,0,0,0
$GC,1652,-0.66,-185.1,355.2,-17.1,264,1656,0.00,2.10,0.00,0.000,4,0.000,0.053,3031,165,3832,0,0,0,0,0,0
$GC,1672,-0.66,-185.1,359.1,-17.7,265,1680,0.05,2.12,0.00,0.000,6,0.132,0.039,3044,1557,3833,0,0,0,0,0,0
$GC,1998,-0.68,-185.1,404.6,-13.3,296,2002,0.00,2.15,0.00,0.000,4,0.000,0.052,3044,164,3831,0,0,0,0,0,0
$GC,2027,-0.70,-185.1,408.4,-13.1,298,2031,0.00,2.08,0.00,0.000,6,0.000,0.039,3037,1546,3831,0,0,0,0,0,0
$GC,2353,-0.72,-185.1,451.7,-12.9,328,2357,0.00,2.15,0.00,0.000,4,0.000,0.048,3026,2967,3830,0,0,0,0,0,0
$GC,2404,-0.77,-185.1,458.1,-11.7,332,2409,0.08,2.15,0.00,0.000,6,0.117,0.045,2932,1548,3830,0,0,0,0,0,0
$STATE,2591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2591,begin apogee
$GC,2596,0.00,0.0,501.2,25.5,349,2748,0.93,0.00,141.82,0.881,4,0.118,0.000,3250,1716,3067,0,0,0,0,0,0
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2751,0.72,185.1,511.4,0.0,362,2907,0.62,2.20,145.55,0.868,4,0.033,0.047,3530,3097,2313,0,0,0,0,0,0
$GC,3009,0.65,185.1,479.5,22.7,384,3014,0.28,2.20,0.00,0.000,6,0.153,0.043,3459,1697,2307,0,0,0,0,0,0
$GC,3334,0.62,185.1,422.0,17.2,414,3338,0.00,2.17,0.00,0.000,4,0.000,0.052,3470,284,2302,0,0,0,0,0,0
$GC,3352,0.60,185.1,419.2,17.4,415,3357,0.10,2.12,0.00,0.000,6,0.156,0.033,3441,1699,2299,0,0,0,0,0,0
$GC,3680,0.65,239.9,377.0,12.1,445,3729,0.08,2.25,42.42,0.802,4,0.117,0.041,3507,3109,2088,0,0,0,0,0,0
$GC,3755,0.61,239.9,363.8,20.0,451,3760,0.22,2.22,0.00,0.000,6,0.139,0.044,3449,1694,2086,0,0,0,0,0,0
$GC,4081,0.61,239.9,312.9,15.9,481,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1694,2079,0,0,0,0,0,0
$GC,4407,0.64,266.8,262.7,13.7,533,4436,0.00,2.20,20.62,0.718,4,0.000,0.052,3459,293,1978,0,0,0,0,0,0
$GC,4449,0.68,297.8,256.7,13.4,539,4483,0.00,2.12,25.92,0.715,6,0.000,0.033,3460,1702,1853,0,0,0,0,0,0
$GC,4814,0.69,297.8,200.1,15.3,604,4822,0.00,2.15,0.00,0.000,4,0.000,0.041,3460,3097,1847,0,0,0,0,0,0
$GC,4884,0.76,333.5,190.1,13.2,616,4921,0.05,2.17,28.35,0.675,6,0.063,0.043,3551,1705,1707,0,0,0,0,0,0
$GC,5246,0.72,333.5,108.4,26.3,681,5254,0.22,2.22,0.00,0.000,4,0.144,0.050,3492,296,1701,0,0,0,0,0,0
$GC,5312,0.78,353.8,97.1,14.0,692,5336,0.00,2.10,16.20,0.590,6,0.000,0.032,3492,1688,1624,0,0,0,0,0,0
$GC,5655,0.91,424.9,54.0,11.2,755,5717,0.15,2.25,54.55,0.577,4,0.068,0.039,3607,3104,1334,0,0,0,0,0,0
$GC,5774,0.90,424.9,30.5,22.2,773,5782,0.22,2.20,0.00,0.000,6,0.117,0.043,3537,1714,1332,0,0,0,0,0,0
$STATE,5946,end climb,SURFACE_DEPTH_REACHED
$STATE,5947,begin surface coast
$FINISH,0.6,1.022052
$STATE,5964,end surface coast,CONTROL_FINISHED_OK
$STATE,5964,begin surface
$SM_CCo,6039,0.00,0.000,0,0,1325,427.56
$SM_GC,1.58,8.27,0.00,0.00,0.018,0.000,0.000,103,1539,1325,-9.70,-0.25,427.56
$IRIDIUM_FIX,2415.74,12704.97,061010,080853
$TT8_MAMPS,0.026964
$HUMID,47.79
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,1
$24V_AH,24.4,25.320
$10V_AH,10.5,17.658
$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,21.675,56.825,475.450,0.000,0.000,29.640,24.802,99.924,0.250,0.000,15.174,1917.365,1678.010,469.808,2112.175,120.426,0.000,1232.455,0.000,1956.482,0.000,0.539,0.000
$DEVICE_MAMPS,203.490,61.965,880.515,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,544.089,0.000,1351.309,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50291,808
$CAP_FILE_SIZE,85708,0
$CFSIZE,260165632,243638272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.374,142.0,1
$GPS,061010,114706,2427.634,12706.641,13,0.9,29,-3.7