version: 66.08
glider: 176
mission: 2
dive: 223
start: 10 9 110 10 25 53
data:
$ID,176
$MISSION,2
$DIVE,223
$N_DIVES,228
$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,-5051.8936
$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
$GPS1,091010,102119,2423.523,12703.051,9,1.8,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-71.5
$GPS2,091010,102526,2423.500,12703.110,10,1.8,10,-3.7
$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,354.1,12453,-20.3,-15.152
$D_GRID,4924
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,67,0.00,0.00,-50.78,0.000,2,0.000,0.000,199,2465,2656,0,0,0,0,0,0
$GC,69,-0.72,-219.0,3.5,-6.0,6,111,8.38,2.00,-22.62,0.000,4,0.236,0.066,2349,3770,3923,0,0,0,0,0,0
$GC,128,-0.68,-219.0,24.0,-40.5,13,137,0.08,2.08,0.00,0.000,6,0.158,0.031,2373,2353,3924,0,0,0,0,0,0
$GC,493,-0.67,-219.0,137.0,-28.4,74,502,0.00,2.17,0.00,0.000,4,0.000,0.054,2373,3768,3924,0,0,0,0,0,0
$GC,523,-0.66,-219.0,144.9,-26.8,78,532,0.00,2.05,0.00,0.000,6,0.000,0.028,2373,2346,3925,0,0,0,0,0,0
$GC,884,-0.65,-219.0,223.4,-21.4,139,890,0.00,2.12,0.00,0.000,4,0.000,0.054,2374,3766,3925,0,0,0,0,0,0
$GC,911,-0.65,-219.0,229.3,-21.4,143,917,0.00,1.98,0.00,0.000,6,0.000,0.027,2373,2349,3926,0,0,0,0,0,0
$GC,1266,-0.65,-219.0,297.4,-18.4,204,1276,0.05,2.03,0.00,0.000,4,0.254,0.032,2385,948,3926,0,0,0,0,0,0
$GC,1282,-0.65,-219.0,300.2,-17.6,206,1286,0.00,2.17,0.00,0.000,6,0.000,0.044,2386,2424,3925,0,0,0,0,0,0
$GC,1607,-0.65,-219.0,347.8,-15.0,236,1611,0.00,2.12,0.00,0.000,4,0.000,0.032,2385,944,3926,0,0,0,0,0,0
$GC,1652,-0.67,-219.0,354.7,-13.3,239,1660,0.05,2.20,0.00,0.000,6,0.171,0.043,2335,2424,3925,0,0,0,0,0,0
$GC,1977,-0.66,-219.0,420.7,-19.4,270,1982,0.17,2.00,0.00,0.000,4,0.152,0.057,2389,3765,3924,0,0,0,0,0,0
$GC,2052,-0.68,-219.0,429.9,-8.5,276,2057,0.10,1.98,0.00,0.000,6,0.103,0.028,2319,2348,3925,0,0,0,0,0,0
$GC,2377,-0.68,-219.0,491.4,-19.1,306,2382,0.20,2.15,0.00,0.000,4,0.150,0.054,2377,3767,3923,0,0,0,0,0,0
$GC,2398,-0.68,-219.0,495.4,-17.0,307,2405,0.00,2.03,0.00,0.000,6,0.000,0.028,2377,2351,3923,0,0,0,0,0,0
$STATE,2447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2447,begin apogee
$GC,2452,-0.11,0.0,500.9,11.7,312,2626,0.50,0.12,165.18,0.845,6,0.105,0.056,2559,2141,3026,0,0,0,0,0,0
$STATE,2626,end apogee,CONTROL_FINISHED_OK
$STATE,2627,begin climb
$GC,2628,0.72,219.0,509.6,0.0,326,2805,0.70,0.00,170.00,0.835,6,0.044,0.000,2854,2140,2133,0,0,0,0,0,0
$GC,3124,0.70,219.0,437.1,20.7,372,3129,0.17,2.17,0.00,0.000,4,0.177,0.041,2816,663,2126,0,0,0,0,0,0
$GC,3213,0.69,219.0,421.8,15.2,379,3221,0.00,2.20,0.00,0.000,6,0.000,0.037,2815,2119,2122,0,0,0,0,0,0
$GC,3541,0.71,244.7,374.4,14.0,410,3567,0.00,2.12,19.73,0.744,4,0.000,0.046,2816,3536,2027,0,0,0,0,0,0
$GC,3594,0.70,244.7,365.1,18.3,414,3605,0.05,2.20,0.00,0.000,6,0.177,0.032,2810,2061,2025,0,0,0,0,0,0
$GC,3921,0.69,248.4,316.9,15.0,445,3925,0.00,2.03,0.00,0.000,4,0.000,0.041,2819,666,2022,0,0,0,0,0,0
$GC,4066,0.69,252.9,295.4,14.9,460,4080,0.00,2.17,6.95,0.610,6,0.000,0.037,2818,2119,1994,0,0,0,0,0,0
$GC,4431,0.72,285.9,238.8,13.6,522,4469,0.00,2.22,27.10,0.681,4,0.000,0.045,2818,670,1859,0,0,0,0,0,0
$GC,4476,0.76,316.1,232.6,13.7,528,4513,0.03,2.20,25.25,0.661,6,0.113,0.036,2857,2124,1735,0,0,0,0,0,0
$GC,4865,0.74,316.1,158.9,19.7,593,4872,0.12,0.00,0.00,0.000,6,0.174,0.000,2821,2126,1729,0,0,0,0,0,0
$GC,5227,0.82,380.6,106.9,12.2,654,5285,0.12,2.20,50.35,0.588,4,0.087,0.041,2912,664,1473,0,0,0,0,0,0
$GC,5325,0.82,380.6,90.0,16.6,667,5334,0.20,2.22,0.00,0.000,6,0.139,0.037,2845,2127,1469,0,0,0,0,0,0
$GC,5685,1.01,527.9,52.2,8.3,728,5806,0.20,2.25,111.65,0.535,4,0.063,0.040,2953,663,871,0,0,0,0,0,0
$GC,5835,1.00,527.9,23.5,23.0,747,5844,0.12,2.25,0.00,0.000,6,0.121,0.039,2909,2120,870,0,0,0,0,0,0
$STATE,5951,end climb,SURFACE_DEPTH_REACHED
$STATE,5951,begin surface coast
$FINISH,0.5,1.021873
$STATE,5971,end surface coast,CONTROL_FINISHED_OK
$STATE,5972,begin surface
$SM_CCo,6046,0.00,0.000,0,0,866,529.85
$SM_GC,1.50,6.85,0.00,0.00,0.039,0.000,0.000,206,2438,866,-7.38,1.07,529.85
$IRIDIUM_FIX,2413.38,12700.23,091010,080821
$TT8_MAMPS,0.026215
$HUMID,51.65
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.6,29.529
$10V_AH,10.6,25.501
$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,18.100,56.275,576.200,0.000,0.000,29.524,14.989,107.051,0.000,0.000,15.525,1795.570,1483.314,525.347,2359.767,132.895,0.000,1323.454,0.000,2212.893,0.000,0.543,0.000
$DEVICE_MAMPS,253.980,65.790,845.325,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,512.795,0.000,1629.570,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47005,769
$CAP_FILE_SIZE,83399,0
$CFSIZE,260165632,242536448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,112.7,1
$GPS,091010,120737,2424.193,12703.797,30,1.1,30,-3.7