version: 66.08
glider: 176
mission: 2
dive: 155
start: 10 4 110 5 55 29
data:
$ID,176
$MISSION,2
$DIVE,155
$N_DIVES,170
$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,-4953.4644
$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
$GPS1,041010,055036,2332.931,12615.772,31,0.9,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.8
$GPS2,041010,055502,2332.895,12615.663,11,1.2,11,-3.5
$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,44.8,134528,-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,-219.0,0.0,0.0,0,90,0.00,0.00,-72.38,0.000,2,0.000,0.000,203,2444,2732,0,0,0,0,0,0
$GC,92,-0.72,-219.0,3.9,-7.8,9,127,8.48,2.22,-20.30,0.000,4,0.243,0.045,2356,939,3923,0,0,0,0,0,0
$GC,147,-0.69,-219.0,24.1,-37.3,16,156,0.05,2.28,0.00,0.000,6,0.184,0.048,2372,2412,3924,0,0,0,0,0,0
$GC,512,-0.67,-219.0,133.1,-24.7,77,521,0.00,2.05,0.00,0.000,4,0.000,0.056,2372,3759,3926,0,0,0,0,0,0
$GC,613,-0.68,-219.0,153.4,-16.3,94,622,0.00,2.03,0.00,0.000,6,0.000,0.029,2372,2353,3927,0,0,0,0,0,0
$GC,962,-0.67,-219.0,224.0,-20.2,155,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2348,3927,0,0,0,0,0,0
$GC,1308,-0.67,-219.0,293.0,-19.4,216,1316,0.00,2.17,0.00,0.000,4,0.000,0.056,2372,3769,3927,0,0,0,0,0,0
$GC,1383,-0.68,-219.0,305.5,-13.3,226,1392,0.00,2.03,0.00,0.000,6,0.000,0.029,2372,2356,3927,0,0,0,0,0,0
$GC,1710,-0.69,-219.0,357.4,-15.8,257,1714,0.00,2.12,0.00,0.000,4,0.000,0.055,2372,3766,3926,0,0,0,0,0,0
$GC,1748,-0.70,-219.0,363.7,-14.1,260,1757,0.00,2.03,0.00,0.000,6,0.000,0.028,2372,2350,3926,0,0,0,0,0,0
$GC,2075,-0.70,-219.0,411.7,-14.7,291,2079,0.00,1.98,0.00,0.000,4,0.000,0.033,2373,954,3925,0,0,0,0,0,0
$GC,2100,-0.71,-219.0,415.1,-13.5,293,2105,0.05,2.17,0.00,0.000,6,0.175,0.043,2329,2421,3926,0,0,0,0,0,0
$GC,2430,-0.71,-219.0,476.4,-17.9,324,2435,0.15,2.03,0.00,0.000,4,0.158,0.057,2375,3770,3923,0,0,0,0,0,0
$GC,2482,-0.72,-219.0,483.6,-10.8,328,2487,0.08,2.00,0.00,0.000,6,0.124,0.029,2310,2345,3923,0,0,0,0,0,0
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2584,begin apogee
$GC,2588,-0.11,0.0,501.7,20.4,337,2759,0.73,0.17,165.18,0.842,6,0.132,0.073,2556,2150,3027,0,0,0,0,0,0
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin climb
$GC,2761,0.72,219.0,512.3,0.0,351,2940,0.70,2.40,170.95,0.831,4,0.044,0.041,2858,658,2133,0,0,0,0,0,0
$GC,3059,0.70,219.0,484.5,18.9,376,3069,0.15,2.25,0.00,0.000,6,0.151,0.036,2810,2131,2126,0,0,0,0,0,0
$GC,3386,0.69,219.0,428.7,16.2,407,3389,0.00,2.10,0.00,0.000,4,0.000,0.049,2809,3540,2122,0,0,0,0,0,0
$GC,3417,0.68,219.0,423.3,18.3,409,3421,0.08,2.17,0.00,0.000,6,0.227,0.031,2802,2056,2123,0,0,0,0,0,0
$GC,3743,0.67,219.0,370.5,15.3,439,3747,0.00,2.05,0.00,0.000,4,0.000,0.042,2812,658,2120,0,0,0,0,0,0
$GC,3860,0.68,233.3,352.9,14.5,449,3876,0.00,2.15,10.55,0.685,6,0.000,0.037,2812,2125,2075,0,0,0,0,0,0
$GC,4196,0.68,244.3,301.3,14.6,480,4211,0.00,2.17,9.75,0.653,4,0.000,0.047,2812,3537,2030,0,0,0,0,0,0
$GC,4230,0.67,247.4,296.2,15.0,484,4241,0.05,2.17,4.35,0.490,6,0.184,0.032,2803,2068,2017,0,0,0,0,0,0
$GC,4592,0.69,271.4,246.7,14.0,545,4622,0.05,2.08,20.10,0.672,4,0.178,0.039,2858,664,1918,0,0,0,0,0,0
$GC,4639,0.68,271.4,238.9,16.5,552,4649,0.15,2.20,0.00,0.000,6,0.137,0.037,2806,2120,1916,0,0,0,0,0,0
$GC,4999,0.68,271.4,187.8,15.9,613,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,2121,1913,0,0,0,0,0,0
$GC,5355,0.76,337.3,140.7,12.1,674,5414,0.10,2.28,51.75,0.613,4,0.103,0.041,2886,659,1650,0,0,0,0,0,0
$GC,5423,0.75,337.3,129.1,19.3,682,5432,0.17,2.22,0.00,0.000,6,0.138,0.037,2828,2120,1648,0,0,0,0,0,0
$GC,5789,0.86,426.6,76.8,11.0,743,5863,0.12,2.22,68.32,0.559,4,0.086,0.046,2907,3533,1285,0,0,0,0,0,0
$GC,5880,0.85,426.6,62.2,19.0,754,5889,0.15,2.22,0.00,0.000,6,0.143,0.033,2861,2069,1283,0,0,0,0,0,0
$GC,6239,1.01,543.5,12.9,9.7,815,6305,0.17,0.00,63.47,0.507,2,0.067,0.000,2959,2064,942,0,0,0,0,0,0
$STATE,6306,end climb,SURFACE_DEPTH_REACHED
$STATE,6306,begin surface coast
$FINISH,0.5,1.016410
$STATE,6325,end surface coast,CONTROL_FINISHED_OK
$STATE,6326,begin surface
$SM_CCo,6340,55.72,0.068,0,0,540,610.06
$SM_GC,1.46,0.00,0.00,55.72,0.000,0.000,0.068,206,2473,540,-7.45,2.06,610.06
$IRIDIUM_FIX,2323.87,12621.17,041010,040442
$TT8_MAMPS,0.026964
$HUMID,50.94
$INTERNAL_PRESSURE,8.74332
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.5,21.159
$10V_AH,10.7,17.989
$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,18.525,56.900,564.425,55.725,0.000,27.206,44.030,103.085,0.000,0.000,13.818,1936.609,1508.091,556.241,2545.192,122.616,0.000,1409.128,0.000,2371.455,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,72.675,841.500,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.539,0.000,1732.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50309,826
$CAP_FILE_SIZE,88495,0
$CFSIZE,260165632,245694464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154,268.6,1
$GPS,041010,074304,2333.408,12615.895,11,2.2,30,-3.5