version: 66.08
glider: 176
mission: 2
dive: 123
start: 10 1 110 19 2 29
data:
$ID,176
$MISSION,2
$DIVE,123
$N_DIVES,140
$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,150
$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,225
$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,610
$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,-4910.7441
$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,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,-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
$GPS1,011010,185744,2310.454,12556.467,10,1.5,10,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.5
$GPS2,011010,190202,2310.538,12556.457,12,1.3,12,-3.4
$SPEED_LIMITS,0.262,0.357
$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,73.9,187084,-20.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,89,0.00,0.00,-71.95,0.000,2,0.000,0.000,202,2439,2705,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.7,-7.1,9,126,8.48,2.08,-20.90,0.000,4,0.242,0.065,2349,3775,3923,0,0,0,0,0,0
$GC,157,-0.69,-219.0,30.2,-43.8,18,167,0.08,2.08,0.00,0.000,6,0.163,0.030,2373,2356,3925,0,0,0,0,0,0
$GC,523,-0.68,-219.0,140.5,-24.8,79,531,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3766,3926,0,0,0,0,0,0
$GC,590,-0.68,-219.0,155.0,-17.5,90,599,0.00,2.05,0.00,0.000,6,0.000,0.029,2373,2351,3927,0,0,0,0,0,0
$GC,949,-0.68,-219.0,229.4,-21.0,151,955,0.00,2.15,0.00,0.000,4,0.000,0.054,2373,3770,3927,0,0,0,0,0,0
$GC,987,-0.68,-219.0,237.0,-18.0,157,993,0.00,2.03,0.00,0.000,6,0.000,0.029,2374,2349,3927,0,0,0,0,0,0
$GC,1342,-0.68,-219.0,300.8,-16.3,218,1346,0.00,2.00,0.00,0.000,4,0.000,0.034,2373,960,3927,0,0,0,0,0,0
$GC,1366,-0.68,-219.0,304.4,-15.8,220,1369,0.00,2.17,0.00,0.000,6,0.000,0.044,2373,2433,3927,0,0,0,0,0,0
$GC,1698,-0.68,-219.0,355.3,-15.3,251,1702,0.00,1.98,0.00,0.000,4,0.000,0.054,2373,3776,3927,0,0,0,0,0,0
$GC,1760,-0.70,-219.0,363.8,-10.9,256,1769,0.03,2.05,0.00,0.000,6,0.105,0.029,2324,2342,3926,0,0,0,0,0,0
$GC,2087,-0.69,-219.0,428.8,-20.4,287,2092,0.17,1.98,0.00,0.000,4,0.158,0.034,2377,952,3925,0,0,0,0,0,0
$GC,2119,-0.70,-219.0,434.4,-14.0,289,2127,0.08,2.20,0.00,0.000,6,0.129,0.044,2321,2441,3925,0,0,0,0,0,0
$GC,2444,-0.70,-219.0,489.9,-17.5,320,2446,0.17,0.00,0.00,0.000,6,0.150,0.000,2376,2442,3923,0,0,0,0,0,0
$STATE,2529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2529,begin apogee
$GC,2533,-0.11,0.0,500.7,10.9,328,2704,0.50,0.12,165.20,0.837,6,0.105,0.057,2559,2136,3027,0,0,0,0,0,0
$STATE,2705,end apogee,CONTROL_FINISHED_OK
$STATE,2705,begin climb
$GC,2707,0.72,219.0,510.7,0.0,342,2886,0.70,2.28,170.90,0.825,4,0.046,0.048,2851,3534,2133,0,0,0,0,0,0
$GC,2971,0.70,219.0,485.9,22.7,364,2980,0.15,2.22,0.00,0.000,6,0.168,0.031,2815,2068,2128,0,0,0,0,0,0
$GC,3298,0.69,219.0,427.8,18.0,395,3302,0.00,2.10,0.00,0.000,4,0.000,0.044,2825,652,2123,0,0,0,0,0,0
$GC,3398,0.67,219.0,409.5,16.8,403,3407,0.08,2.20,0.00,0.000,6,0.154,0.037,2799,2123,2120,0,0,0,0,0,0
$GC,3724,0.67,219.0,358.1,15.3,434,3728,0.00,2.17,0.00,0.000,4,0.000,0.043,2805,662,2118,0,0,0,0,0,0
$GC,3821,0.68,237.5,344.4,14.3,442,3840,0.00,2.15,13.80,0.698,6,0.000,0.037,2805,2130,2057,0,0,0,0,0,0
$GC,4160,0.73,284.2,297.4,13.0,474,4205,0.10,2.20,37.70,0.711,4,0.107,0.049,2866,3530,1866,0,0,0,0,0,0
$GC,4294,0.72,284.2,272.5,20.8,495,4301,0.22,2.17,0.00,0.000,6,0.172,0.033,2812,2063,1862,0,0,0,0,0,0
$GC,4651,0.73,294.0,219.0,14.7,556,4666,0.05,2.08,8.00,0.576,4,0.175,0.042,2859,663,1827,0,0,0,0,0,0
$GC,4733,0.72,294.0,204.5,18.3,569,4740,0.15,2.17,0.00,0.000,6,0.157,0.037,2815,2127,1825,0,0,0,0,0,0
$GC,5090,0.74,317.4,151.3,14.1,630,5115,0.08,2.17,19.70,0.597,4,0.129,0.047,2867,3532,1731,0,0,0,0,0,0
$GC,5146,0.73,317.4,141.5,19.9,638,5157,0.17,2.20,0.00,0.000,6,0.149,0.033,2817,2060,1728,0,0,0,0,0,0
$GC,5513,0.85,409.1,91.5,10.9,699,5595,0.15,2.15,70.78,0.566,4,0.081,0.046,2912,677,1357,0,0,0,0,0,0
$GC,5696,0.84,409.1,57.6,16.9,726,5706,0.15,2.20,0.00,0.000,6,0.136,0.038,2860,2120,1351,0,0,0,0,0,0
$GC,6062,0.96,499.0,17.3,11.0,787,6136,0.12,2.22,67.45,0.504,4,0.088,0.047,2941,3539,991,0,0,0,0,0,0
$STATE,6150,end climb,SURFACE_DEPTH_REACHED
$STATE,6150,begin surface coast
$FINISH,0.3,1.009406
$STATE,6159,end surface coast,CONTROL_FINISHED_OK
$STATE,6159,begin surface
$SM_CCo,6174,62.20,0.067,0,0,540,610.06
$SM_GC,1.29,0.00,0.00,62.20,0.000,0.000,0.067,203,2331,540,-7.46,-1.95,610.06
$IRIDIUM_FIX,2302.75,12554.06,011010,171720
$TT8_MAMPS,0.026964
$HUMID,50.31
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,17.228
$10V_AH,10.7,14.423
$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,18.575,60.075,553.525,62.200,0.000,30.432,38.394,100.344,0.000,0.000,14.946,1871.530,1478.278,562.555,2475.614,112.728,0.000,1385.868,0.000,2304.456,0.000,0.542,0.000
$DEVICE_MAMPS,241.740,65.025,836.910,67.320,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.916,0.000,1683.979,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334068
$DATA_FILE_SIZE,46913,799
$CAP_FILE_SIZE,86720,0
$CFSIZE,260165632,247205888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,340.7,1
$GPS,011010,204731,2311.297,12557.355,38,1.2,38,-3.4