version: 66.08
glider: 176
mission: 2
dive: 129
start: 10 2 110 5 57 17
data:
$ID,176
$MISSION,2
$DIVE,129
$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,-4918.8408
$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
$GPS1,021010,055252,2315.479,12601.183,12,2.4,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-73.0
$GPS2,021010,055650,2315.479,12601.169,13,2.0,13,-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,71.7,174984,-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,15,-0.72,-219.0,0.0,0.0,0,89,0.00,0.00,-72.00,0.000,2,0.000,0.000,203,2441,2717,0,0,0,0,0,0
$GC,91,-0.72,-219.0,3.7,-6.9,9,126,8.50,2.08,-20.65,0.000,4,0.244,0.067,2349,3771,3924,0,0,0,0,0,0
$GC,180,-0.70,-219.0,39.6,-41.5,22,190,0.05,2.08,0.00,0.000,6,0.165,0.032,2367,2364,3925,0,0,0,0,0,0
$GC,545,-0.69,-219.0,144.5,-26.8,83,554,0.00,2.05,0.00,0.000,4,0.000,0.034,2367,946,3926,0,0,0,0,0,0
$GC,597,-0.69,-219.0,157.9,-21.7,91,604,0.00,2.22,0.00,0.000,6,0.000,0.045,2367,2428,3927,0,0,0,0,0,0
$GC,953,-0.68,-219.0,233.1,-19.1,152,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2429,3928,0,0,0,0,0,0
$GC,1310,-0.68,-219.0,299.2,-18.0,213,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2429,3927,0,0,0,0,0,0
$GC,1635,-0.68,-219.0,355.0,-16.9,244,1638,0.00,2.00,0.00,0.000,4,0.000,0.057,2363,3777,3927,0,0,0,0,0,0
$GC,1672,-0.69,-219.0,360.6,-16.2,247,1675,0.00,2.03,0.00,0.000,6,0.000,0.030,2363,2353,3927,0,0,0,0,0,0
$GC,2002,-0.69,-219.0,409.4,-14.6,278,2006,0.00,1.98,0.00,0.000,4,0.000,0.037,2363,957,3926,0,0,0,0,0,0
$GC,2063,-0.70,-219.0,417.1,-12.1,283,2067,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2431,3926,0,0,0,0,0,0
$GC,2390,-0.71,-219.0,464.4,-14.3,313,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2432,3925,0,0,0,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2668,-0.11,0.0,500.9,12.4,339,2839,0.55,0.12,165.18,0.847,6,0.109,0.090,2560,2140,3027,0,0,0,0,0,0
$STATE,2840,end apogee,CONTROL_FINISHED_OK
$STATE,2840,begin climb
$GC,2841,0.72,219.0,511.0,0.0,353,3026,0.70,2.28,171.18,0.833,4,0.046,0.048,2849,3533,2132,0,0,0,0,0,0
$GC,3252,0.70,219.0,451.5,23.5,388,3257,0.20,2.17,0.00,0.000,6,0.184,0.032,2806,2061,2126,0,0,0,0,0,0
$GC,3577,0.69,219.0,395.3,16.2,418,3581,0.00,2.05,0.00,0.000,4,0.000,0.044,2816,663,2122,0,0,0,0,0,0
$GC,3735,0.68,225.4,372.0,14.9,432,3749,0.00,2.17,4.05,0.493,6,0.000,0.037,2816,2126,2109,0,0,0,0,0,0
$GC,4067,0.68,234.5,323.9,14.7,463,4081,0.00,2.25,9.12,0.658,4,0.000,0.044,2817,664,2070,0,0,0,0,0,0
$GC,4097,0.68,238.6,319.0,15.0,465,4108,0.03,2.20,5.00,0.537,6,0.188,0.037,2807,2131,2054,0,0,0,0,0,0
$GC,4440,0.68,244.8,271.4,14.9,514,4456,0.00,2.15,6.10,0.571,4,0.000,0.051,2807,3526,2028,0,0,0,0,0,0
$GC,4498,0.67,244.8,262.2,16.8,523,4506,0.08,2.15,0.00,0.000,6,0.218,0.033,2800,2058,2027,0,0,0,0,0,0
$GC,4847,0.75,308.7,215.1,12.2,584,4905,0.12,2.17,51.12,0.669,4,0.089,0.044,2886,659,1767,0,0,0,0,0,0
$GC,4970,0.73,308.7,191.6,20.8,603,4978,0.22,2.20,0.00,0.000,6,0.158,0.037,2820,2120,1761,0,0,0,0,0,0
$GC,5322,0.75,318.7,137.0,14.7,664,5339,0.00,0.00,7.82,0.531,6,0.000,0.000,2820,2121,1727,0,0,0,0,0,0
$GC,5687,0.85,404.6,84.9,11.2,726,5761,0.15,2.30,67.18,0.569,4,0.077,0.045,2912,659,1376,0,0,0,0,0,0
$GC,5863,0.88,428.3,54.2,14.1,752,5888,0.12,2.22,18.92,0.522,6,0.134,0.037,2868,2129,1280,0,0,0,0,0,0
$GC,6238,0.98,508.1,8.7,11.4,815,6282,0.12,0.00,40.60,0.500,2,0.086,0.000,2946,2129,1050,0,0,0,0,0,0
$STATE,6282,end climb,SURFACE_DEPTH_REACHED
$STATE,6282,begin surface coast
$FINISH,0.4,1.008579
$STATE,6301,end surface coast,CONTROL_FINISHED_OK
$STATE,6301,begin surface
$SM_CCo,6315,67.22,0.068,0,0,540,610.06
$SM_GC,1.33,0.00,0.00,67.22,0.000,0.000,0.068,203,2429,540,-7.46,0.85,610.06
$IRIDIUM_FIX,2307.44,12555.44,021010,040404
$TT8_MAMPS,0.026964
$HUMID,50.55
$INTERNAL_PRESSURE,8.75308
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.5,17.980
$10V_AH,10.8,15.089
$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,17.800,44.025,546.275,67.225,0.000,29.700,15.505,102.707,0.000,0.000,15.836,1923.064,1522.444,552.558,2519.339,110.399,0.000,1377.235,0.000,2369.994,0.000,0.543,0.000
$DEVICE_MAMPS,244.035,89.505,846.855,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.025,0.000,1735.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50528,823
$CAP_FILE_SIZE,83443,0
$CFSIZE,260165632,246931456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234,301.6,1
$GPS,021010,074437,2316.344,12601.417,30,1.3,30,-3.4