version: 66.08
glider: 176
mission: 2
dive: 233
start: 10 10 110 4 41 44
data:
$ID,176
$MISSION,2
$DIVE,233
$N_DIVES,239
$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,-5072.6729
$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
$GPS1,101010,043616,2428.539,12706.527,10,4.3,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.3
$GPS2,101010,044116,2428.507,12706.579,11,3.3,30,-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,303.8,3837,-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,-219.0,0.0,0.0,0,74,0.00,0.00,-56.97,0.000,2,0.000,0.000,202,2328,2622,0,0,0,0,0,0
$GC,77,-0.72,-219.0,3.3,-5.7,7,119,8.38,2.25,-24.50,0.000,4,0.236,0.065,2359,3775,3922,0,0,0,0,0,0
$GC,250,-0.72,-219.0,52.1,-23.8,34,259,0.00,2.08,0.00,0.000,6,0.000,0.029,2359,2355,3924,0,0,0,0,0,0
$GC,614,-0.70,-219.0,149.5,-22.5,95,623,0.00,2.17,0.00,0.000,4,0.000,0.054,2359,3765,3925,0,0,0,0,0,0
$GC,718,-0.71,-219.0,168.6,-14.8,112,727,0.00,2.05,0.00,0.000,6,0.000,0.028,2359,2342,3925,0,0,0,0,0,0
$GC,1078,-0.70,-219.0,241.5,-19.9,173,1085,0.00,2.17,0.00,0.000,4,0.000,0.054,2360,3775,3925,0,0,0,0,0,0
$GC,1109,-0.70,-219.0,248.0,-18.8,178,1117,0.00,2.05,0.00,0.000,6,0.000,0.028,2359,2347,3925,0,0,0,0,0,0
$GC,1469,-0.70,-219.0,314.0,-18.2,233,1473,0.00,2.15,0.00,0.000,4,0.000,0.054,2359,3777,3925,0,0,0,0,0,0
$GC,1509,-0.70,-219.0,321.2,-16.4,236,1513,0.00,2.05,0.00,0.000,6,0.000,0.028,2359,2350,3925,0,0,0,0,0,0
$GC,1840,-0.70,-219.0,377.1,-16.8,267,1842,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2346,3925,0,0,0,0,0,0
$GC,2161,-0.70,-219.0,429.8,-16.5,297,2165,0.00,2.17,0.00,0.000,4,0.000,0.055,2359,3773,3924,0,0,0,0,0,0
$GC,2225,-0.71,-219.0,438.8,-11.4,302,2229,0.00,2.03,0.00,0.000,6,0.000,0.028,2359,2332,3924,0,0,0,0,0,0
$GC,2558,-0.72,-219.0,486.5,-13.7,333,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2326,3922,0,0,0,0,0,0
$STATE,2660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2660,begin apogee
$GC,2664,-0.11,0.0,501.5,14.5,343,2837,0.55,0.17,164.85,0.850,6,0.109,0.072,2557,2154,3027,0,0,0,0,0,0
$STATE,2838,end apogee,CONTROL_FINISHED_OK
$STATE,2838,begin climb
$GC,2839,0.72,219.0,513.1,0.0,357,3017,0.68,2.25,170.05,0.838,4,0.033,0.047,2868,3538,2133,0,0,0,0,0,0
$GC,3124,0.69,219.0,484.1,24.8,380,3134,0.22,2.22,0.00,0.000,6,0.163,0.031,2810,2068,2127,0,0,0,0,0,0
$GC,3451,0.68,219.0,428.4,16.5,411,3455,0.00,2.05,0.00,0.000,4,0.000,0.041,2818,664,2123,0,0,0,0,0,0
$GC,3536,0.67,219.0,414.4,15.9,418,3541,0.08,2.17,0.00,0.000,6,0.198,0.036,2801,2129,2120,0,0,0,0,0,0
$GC,3861,0.66,219.0,364.8,15.3,448,3865,0.00,2.08,0.00,0.000,4,0.000,0.047,2800,3530,2119,0,0,0,0,0,0
$GC,3920,0.65,219.0,355.3,17.0,453,3925,0.05,2.15,0.00,0.000,6,0.259,0.034,2796,2065,2119,0,0,0,0,0,0
$GC,4247,0.73,283.5,310.3,12.2,483,4302,0.10,2.10,48.85,0.738,4,0.103,0.039,2873,662,1870,0,0,0,0,0,0
$GC,4327,0.71,283.5,296.7,19.3,490,4336,0.17,2.22,0.00,0.000,6,0.142,0.036,2815,2117,1865,0,0,0,0,0,0
$GC,4685,0.70,283.5,236.5,17.4,551,4692,0.00,2.17,0.00,0.000,4,0.000,0.044,2817,663,1860,0,0,0,0,0,0
$GC,4805,0.74,312.7,218.3,13.8,571,4835,0.00,2.17,22.98,0.661,6,0.000,0.037,2818,2130,1752,0,0,0,0,0,0
$GC,5186,0.73,312.7,162.9,15.5,635,5192,0.00,2.20,0.00,0.000,4,0.000,0.044,2817,664,1744,0,0,0,0,0,0
$GC,5228,0.77,343.3,156.3,13.7,642,5259,0.05,2.17,24.90,0.618,6,0.075,0.036,2874,2117,1627,0,0,0,0,0,0
$GC,5609,0.76,343.3,81.5,18.2,706,5618,0.15,2.20,0.00,0.000,4,0.161,0.042,2832,664,1620,0,0,0,0,0,0
$GC,5692,0.90,452.3,70.3,10.1,719,5783,0.12,2.17,84.25,0.565,6,0.044,0.037,2921,2118,1181,0,0,0,0,0,0
$STATE,6091,end climb,SURFACE_DEPTH_REACHED
$STATE,6091,begin surface coast
$FINISH,0.5,1.019148
$STATE,6111,end surface coast,CONTROL_FINISHED_OK
$STATE,6111,begin surface
$SM_CCo,6185,0.00,0.000,0,0,1171,455.28
$SM_GC,1.63,6.88,0.00,0.00,0.041,0.000,0.000,206,2452,1171,-7.40,1.50,455.28
$IRIDIUM_FIX,2418.11,12704.97,101010,020251
$TT8_MAMPS,0.025466
$HUMID,54.05
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,23.40
$XPDR_PINGS,0
$24V_AH,24.5,30.762
$10V_AH,10.6,26.606
$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,17.425,52.500,515.875,0.000,0.000,30.562,43.693,106.080,0.000,0.000,33.770,1855.553,1590.363,460.906,2445.869,135.819,0.000,1249.999,0.000,2245.640,0.000,0.543,0.000
$DEVICE_MAMPS,258.570,71.910,849.915,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.919,0.000,1635.960,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46942,786
$CAP_FILE_SIZE,81591,0
$CFSIZE,260165632,242081792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.206,123.8,1
$GPS,101010,062555,2428.644,12706.402,40,1.0,40,-3.7