version: 66.08
glider: 176
mission: 2
dive: 145
start: 10 3 110 11 36 4
data:
$ID,176
$MISSION,2
$DIVE,145
$N_DIVES,155
$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,-4940.1523
$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
$GPS1,031010,113136,2326.725,12609.370,28,0.9,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-73.7
$GPS2,031010,113537,2326.708,12609.322,9,1.0,14,-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,75.7,150146,-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,-219.0,0.0,0.0,0,85,0.00,0.00,-67.57,0.000,2,0.000,0.000,206,2439,2554,0,0,0,0,0,0
$GC,87,-0.72,-219.0,3.4,-5.2,8,129,8.52,2.15,-25.00,0.000,4,0.245,0.044,2355,950,3923,0,0,0,0,0,0
$GC,179,-0.71,-219.0,33.5,-31.2,21,188,0.00,2.28,0.00,0.000,6,0.000,0.053,2356,2412,3923,0,0,0,0,0,0
$GC,543,-0.70,-219.0,141.5,-23.7,82,553,0.05,2.08,0.00,0.000,4,0.257,0.057,2365,3765,3925,0,0,0,0,0,0
$GC,590,-0.70,-219.0,152.3,-22.7,89,597,0.00,2.00,0.00,0.000,6,0.000,0.029,2365,2348,3926,0,0,0,0,0,0
$GC,947,-0.69,-219.0,232.1,-19.4,150,956,0.00,2.17,0.00,0.000,4,0.000,0.055,2365,3764,3926,0,0,0,0,0,0
$GC,981,-0.69,-219.0,238.5,-18.9,155,988,0.00,2.03,0.00,0.000,6,0.000,0.028,2365,2339,3926,0,0,0,0,0,0
$GC,1339,-0.69,-219.0,306.0,-19.1,214,1343,0.00,2.15,0.00,0.000,4,0.000,0.055,2365,3769,3926,0,0,0,0,0,0
$GC,1368,-0.69,-219.0,311.4,-18.6,216,1372,0.00,2.03,0.00,0.000,6,0.000,0.029,2365,2346,3926,0,0,0,0,0,0
$GC,1701,-0.69,-219.0,365.7,-15.6,247,1704,0.00,1.98,0.00,0.000,4,0.000,0.035,2365,948,3926,0,0,0,0,0,0
$GC,1726,-0.70,-219.0,369.7,-15.8,249,1730,0.00,2.17,0.00,0.000,6,0.000,0.045,2363,2420,3926,0,0,0,0,0,0
$GC,2053,-0.70,-219.0,420.4,-15.3,279,2056,0.00,2.03,0.00,0.000,4,0.000,0.056,2362,3774,3925,0,0,0,0,0,0
$GC,2147,-0.72,-219.0,432.6,-10.6,287,2151,0.00,2.03,0.00,0.000,6,0.000,0.029,2363,2347,3923,0,0,0,0,0,0
$GC,2477,-0.72,-219.0,474.6,-12.6,318,2479,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2342,3922,0,0,0,0,0,0
$STATE,2688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2688,begin apogee
$GC,2692,-0.11,0.0,501.1,13.0,338,2867,0.55,0.12,165.73,0.845,6,0.112,0.057,2559,2136,3027,0,0,0,0,0,0
$STATE,2868,end apogee,CONTROL_FINISHED_OK
$STATE,2868,begin climb
$GC,2869,0.72,219.0,511.0,0.0,352,3055,0.68,2.35,171.88,0.830,4,0.037,0.042,2873,662,2132,0,0,0,0,0,0
$GC,3276,0.70,219.0,459.6,20.5,386,3287,0.20,2.20,0.00,0.000,6,0.154,0.036,2810,2119,2125,0,0,0,0,0,0
$GC,3603,0.72,246.0,408.3,13.9,417,3630,0.08,2.25,21.05,0.750,4,0.126,0.041,2871,663,2023,0,0,0,0,0,0
$GC,3679,0.71,246.0,395.0,19.4,423,3684,0.20,2.17,0.00,0.000,6,0.164,0.037,2812,2129,2020,0,0,0,0,0,0
$GC,4005,0.70,246.0,341.9,16.5,453,4009,0.00,2.10,0.00,0.000,4,0.000,0.050,2813,3540,2017,0,0,0,0,0,0
$GC,4027,0.69,246.0,337.4,18.4,454,4037,0.05,2.20,0.00,0.000,6,0.177,0.033,2802,2059,2017,0,0,0,0,0,0
$GC,4362,0.68,246.0,285.9,15.6,493,4368,0.00,2.05,0.00,0.000,4,0.000,0.045,2810,663,2014,0,0,0,0,0,0
$GC,4447,0.73,291.5,274.3,13.0,507,4490,0.08,2.15,36.28,0.702,6,0.130,0.037,2862,2134,1837,0,0,0,0,0,0
$GC,4839,0.72,291.5,202.3,16.7,573,4847,0.17,2.20,0.00,0.000,4,0.163,0.043,2820,657,1829,0,0,0,0,0,0
$GC,4906,0.80,356.3,192.9,12.1,584,4964,0.05,2.20,51.12,0.646,6,0.070,0.037,2880,2122,1573,0,0,0,0,0,0
$GC,5317,0.79,356.3,111.9,17.9,652,5326,0.15,2.20,0.00,0.000,4,0.168,0.042,2845,662,1564,0,0,0,0,0,0
$GC,5342,0.79,356.3,108.0,17.0,655,5350,0.00,2.20,0.00,0.000,6,0.000,0.037,2845,2122,1563,0,0,0,0,0,0
$GC,5706,0.94,476.4,55.7,9.6,716,5805,0.15,2.30,91.45,0.542,4,0.079,0.042,2940,662,1082,0,0,0,0,0,0
$GC,5925,0.95,480.0,20.4,15.0,748,5934,0.15,2.22,0.00,0.000,6,0.129,0.037,2888,2126,1077,0,0,0,0,0,0
$STATE,6053,end climb,SURFACE_DEPTH_REACHED
$STATE,6053,begin surface coast
$FINISH,0.5,1.021378
$STATE,6079,end surface coast,CONTROL_FINISHED_OK
$STATE,6079,begin surface
$SM_CCo,6093,71.47,0.068,0,0,539,610.06
$SM_GC,1.28,0.00,0.00,71.47,0.000,0.000,0.068,204,2448,539,-7.46,1.36,610.06
$IRIDIUM_FIX,2316.83,12609.93,031010,090934
$TT8_MAMPS,0.026964
$HUMID,51.33
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,23.80
$XPDR_PINGS,0
$24V_AH,24.5,19.947
$10V_AH,10.7,16.873
$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,17.800,56.825,537.500,71.475,0.000,28.128,14.237,102.050,0.000,0.000,17.216,1810.714,1529.549,569.300,2386.588,115.679,0.000,1364.614,0.000,2237.152,0.000,0.543,0.000
$DEVICE_MAMPS,257.040,57.375,844.560,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,517.266,0.000,1623.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334072
$DATA_FILE_SIZE,47185,773
$CAP_FILE_SIZE,82662,0
$CFSIZE,260165632,246177792
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,291.5,1
$GPS,031010,131925,2327.029,12609.790,9,1.3,9,-3.4