version: 66.08
glider: 176
mission: 2
dive: 199
start: 10 7 110 14 25 17
data:
$ID,176
$MISSION,2
$DIVE,199
$N_DIVES,215
$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,375
$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,-5019.8682
$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
$GPS1,071010,142025,2406.320,12646.446,39,1.7,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.0
$GPS2,071010,142450,2406.317,12646.440,12,2.0,12,-3.6
$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,17.1,53871,-20.3,-15.152
$D_GRID,5000
$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,-219.0,0.0,0.0,0,79,0.00,0.00,-62.58,0.000,2,0.000,0.000,200,2418,2751,0,0,0,0,0,0
$GC,82,-0.72,-219.0,3.8,-7.1,8,117,8.45,2.12,-20.38,0.000,4,0.241,0.067,2348,3779,3923,0,0,0,0,0,0
$GC,171,-0.70,-219.0,39.3,-37.8,21,180,0.05,2.08,0.00,0.000,6,0.164,0.032,2366,2370,3924,0,0,0,0,0,0
$GC,537,-0.69,-219.0,147.9,-24.9,82,546,0.00,2.05,0.00,0.000,4,0.000,0.035,2367,959,3926,0,0,0,0,0,0
$GC,596,-0.69,-219.0,160.2,-17.1,91,602,0.00,2.20,0.00,0.000,6,0.000,0.046,2366,2423,3926,0,0,0,0,0,0
$GC,951,-0.69,-219.0,236.3,-20.1,152,960,0.00,2.03,0.00,0.000,4,0.000,0.056,2365,3759,3927,0,0,0,0,0,0
$GC,998,-0.69,-219.0,244.5,-16.8,159,1004,0.00,1.98,0.00,0.000,6,0.000,0.029,2365,2355,3927,0,0,0,0,0,0
$GC,1350,-0.69,-219.0,308.9,-19.2,216,1354,0.00,2.00,0.00,0.000,4,0.000,0.036,2365,956,3927,0,0,0,0,0,0
$GC,1423,-0.70,-219.0,320.7,-13.7,222,1433,0.00,2.20,0.00,0.000,6,0.000,0.044,2364,2415,3927,0,0,0,0,0,0
$GC,1749,-0.70,-219.0,378.2,-16.7,253,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2415,3927,0,0,0,0,0,0
$GC,2070,-0.70,-219.0,428.5,-15.6,283,2076,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2415,3925,0,0,0,0,0,0
$GC,2398,-0.71,-219.0,474.7,-12.6,314,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2415,3924,0,0,0,0,0,0
$STATE,2605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2605,begin apogee
$GC,2610,-0.11,0.0,500.9,12.6,334,2781,0.55,0.15,164.95,0.838,6,0.111,0.080,2560,2144,3027,0,0,0,0,0,0
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2782,begin climb
$GC,2784,0.72,219.0,508.0,0.0,348,2969,0.68,2.38,169.88,0.827,4,0.037,0.041,2872,657,2132,0,0,0,0,0,0
$GC,3088,0.70,219.0,477.9,20.2,373,3096,0.22,2.20,0.00,0.000,6,0.169,0.035,2809,2138,2126,0,0,0,0,0,0
$GC,3413,0.71,238.2,427.5,14.3,404,3434,0.05,0.00,15.23,0.738,6,0.170,0.000,2853,2139,2054,0,0,0,0,0,0
$GC,3752,0.70,238.2,365.6,18.7,436,3754,0.17,0.00,0.00,0.000,6,0.168,0.000,2802,2139,2050,0,0,0,0,0,0
$GC,4072,0.72,263.4,320.7,14.0,466,4099,0.10,2.28,19.95,0.708,4,0.104,0.042,2883,659,1952,0,0,0,0,0,0
$GC,4137,0.71,263.4,308.8,21.0,471,4141,0.25,2.17,0.00,0.000,6,0.157,0.037,2809,2128,1949,0,0,0,0,0,0
$GC,4490,0.73,287.6,255.2,14.0,527,4520,0.08,2.20,20.10,0.667,4,0.129,0.041,2877,663,1852,0,0,0,0,0,0
$GC,4627,0.72,287.6,230.3,19.3,549,4634,0.22,2.17,0.00,0.000,6,0.151,0.038,2808,2133,1848,0,0,0,0,0,0
$GC,4983,0.79,346.0,181.8,12.4,610,5036,0.12,2.20,45.97,0.635,4,0.086,0.051,2890,3526,1615,0,0,0,0,0,0
$GC,5144,0.78,346.0,148.9,23.1,635,5153,0.20,2.17,0.00,0.000,6,0.147,0.033,2835,2069,1610,0,0,0,0,0,0
$GC,5508,0.86,415.5,95.9,11.9,696,5568,0.12,2.17,53.67,0.568,4,0.087,0.042,2926,661,1332,0,0,0,0,0,0
$GC,5652,0.86,415.5,69.6,16.0,717,5661,0.17,2.22,0.00,0.000,6,0.130,0.038,2865,2122,1327,0,0,0,0,0,0
$GC,6018,0.94,469.8,28.2,12.6,778,6068,0.10,2.17,42.00,0.509,4,0.103,0.046,2938,3531,1109,0,0,0,0,0,0
$GC,6084,0.93,469.8,15.8,21.3,786,6094,0.17,2.20,0.00,0.000,6,0.138,0.035,2880,2077,1108,0,0,0,0,0,0
$STATE,6165,end climb,SURFACE_DEPTH_REACHED
$STATE,6165,begin surface coast
$FINISH,0.6,1.021942
$STATE,6184,end surface coast,CONTROL_FINISHED_OK
$STATE,6185,begin surface
$SM_CCo,6259,0.00,0.000,0,0,1104,471.47
$SM_GC,1.50,6.72,0.00,0.00,0.037,0.000,0.000,212,2436,1104,-7.38,1.02,471.47
$IRIDIUM_FIX,2354.48,12646.06,071010,121239
$TT8_MAMPS,0.026215
$HUMID,52.16
$INTERNAL_PRESSURE,8.81168
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.6,26.550
$10V_AH,10.6,22.851
$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,18.450,44.375,531.750,0.000,0.000,28.441,37.286,104.428,0.000,0.000,15.468,1871.060,1593.573,485.324,2453.016,124.581,0.000,1274.143,0.000,2285.607,0.000,0.542,0.000
$DEVICE_MAMPS,240.975,79.560,838.440,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.170,0.000,1687.221,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46961,802
$CAP_FILE_SIZE,80699,0
$CFSIZE,260165632,243654656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,125.3,1
$GPS,071010,161013,2407.034,12646.845,7,1.9,12,-3.6