version: 66.08
glider: 176
mission: 2
dive: 238
start: 10 10 110 13 55 53
data:
$ID,176
$MISSION,2
$DIVE,238
$N_DIVES,251
$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,-5079.3306
$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
$GPS1,101010,134904,2429.913,12706.398,9,2.6,28,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-73.1
$GPS2,101010,135526,2429.866,12706.511,11,1.4,11,-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,288.7,2558,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-219.0,0.0,0.0,0,74,0.00,0.00,-57.50,0.000,2,0.000,0.000,199,2440,2682,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.5,-6.2,7,119,8.48,2.20,-22.90,0.000,4,0.239,0.047,2358,955,3922,0,0,0,0,0,0
$GC,239,-0.72,-219.0,46.5,-23.3,32,248,0.00,2.25,0.00,0.000,6,0.000,0.048,2358,2415,3923,0,0,0,0,0,0
$GC,603,-0.70,-219.0,143.4,-25.7,93,612,0.00,2.05,0.00,0.000,4,0.000,0.057,2353,3763,3924,0,0,0,0,0,0
$GC,694,-0.70,-219.0,163.0,-18.2,108,704,0.03,2.03,0.00,0.000,6,0.177,0.028,2364,2349,3926,0,0,0,0,0,0
$GC,1056,-0.70,-219.0,236.5,-20.4,169,1063,0.00,2.15,0.00,0.000,4,0.000,0.055,2364,3766,3926,0,0,0,0,0,0
$GC,1134,-0.70,-219.0,251.3,-15.7,182,1142,0.00,2.03,0.00,0.000,6,0.000,0.029,2364,2357,3926,0,0,0,0,0,0
$GC,1486,-0.70,-219.0,315.6,-17.0,235,1489,0.00,2.15,0.00,0.000,4,0.000,0.054,2364,3771,3926,0,0,0,0,0,0
$GC,1517,-0.70,-219.0,320.5,-16.1,237,1520,0.00,2.00,0.00,0.000,6,0.000,0.028,2364,2343,3925,0,0,0,0,0,0
$GC,1849,-0.71,-219.0,368.9,-14.6,268,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2338,3925,0,0,0,0,0,0
$GC,2168,-0.71,-219.0,414.6,-15.0,298,2172,0.00,2.15,0.00,0.000,4,0.000,0.055,2363,3766,3924,0,0,0,0,0,0
$GC,2243,-0.73,-219.0,424.5,-11.1,304,2247,0.00,2.03,0.00,0.000,6,0.000,0.028,2363,2352,3924,0,0,0,0,0,0
$GC,2575,-0.73,-219.0,470.4,-13.5,335,2580,0.05,2.17,0.00,0.000,4,0.185,0.056,2321,3777,3922,0,0,0,0,0,0
$GC,2615,-0.74,-219.0,476.8,-16.2,338,2620,0.12,2.03,0.00,0.000,6,0.144,0.028,2360,2343,3921,0,0,0,0,0,0
$STATE,2789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2789,begin apogee
$GC,2794,-0.11,0.0,501.2,13.5,354,2964,0.55,0.12,163.93,0.853,6,0.109,0.054,2558,2141,3027,0,0,0,0,0,0
$STATE,2965,end apogee,CONTROL_FINISHED_OK
$STATE,2965,begin climb
$GC,2967,0.72,219.0,511.3,0.0,368,3147,0.70,2.33,168.88,0.841,4,0.046,0.041,2860,659,2132,0,0,0,0,0,0
$GC,3319,0.70,219.0,472.5,19.8,398,3324,0.17,2.17,0.00,0.000,6,0.168,0.035,2811,2123,2126,0,0,0,0,0,0
$GC,3644,0.69,219.0,417.5,16.1,428,3648,0.00,2.20,0.00,0.000,4,0.000,0.044,2818,658,2122,0,0,0,0,0,0
$GC,3676,0.68,219.0,412.3,15.2,430,3686,0.05,2.20,0.00,0.000,6,0.161,0.035,2800,2122,2122,0,0,0,0,0,0
$GC,4004,0.74,275.9,370.2,12.5,461,4054,0.10,2.22,43.47,0.772,4,0.103,0.048,2863,3533,1900,0,0,0,0,0,0
$GC,4070,0.72,275.9,357.9,20.2,467,4078,0.17,2.22,0.00,0.000,6,0.164,0.030,2804,2058,1899,0,0,0,0,0,0
$GC,4395,0.71,275.9,304.7,16.9,498,4400,0.08,2.08,0.00,0.000,4,0.126,0.044,2870,657,1893,0,0,0,0,0,0
$GC,4536,0.69,275.9,277.0,20.3,519,4544,0.22,2.17,0.00,0.000,6,0.155,0.037,2802,2122,1891,0,0,0,0,0,0
$GC,4893,0.70,284.6,223.7,14.7,580,4904,0.08,0.00,6.68,0.571,6,0.128,0.000,2857,2123,1866,0,0,0,0,0,0
$GC,5256,0.69,284.6,160.3,16.2,641,5263,0.17,2.17,0.00,0.000,4,0.155,0.044,2810,662,1863,0,0,0,0,0,0
$GC,5272,0.68,284.6,157.5,16.4,643,5279,0.00,2.15,0.00,0.000,6,0.000,0.035,2810,2122,1863,0,0,0,0,0,0
$GC,5636,0.77,359.9,115.2,11.7,704,5702,0.10,2.15,59.35,0.600,4,0.105,0.045,2881,3529,1557,0,0,0,0,0,0
$GC,5769,0.76,359.9,92.0,18.7,723,5778,0.17,2.20,0.00,0.000,6,0.138,0.034,2828,2070,1553,0,0,0,0,0,0
$GC,6136,0.93,486.0,50.8,9.3,784,6242,0.20,2.17,95.82,0.540,4,0.064,0.044,2942,670,1043,0,0,0,0,0,0
$GC,6320,0.93,486.0,17.6,19.0,810,6330,0.17,2.22,0.00,0.000,6,0.129,0.037,2882,2128,1039,0,0,0,0,0,0
$STATE,6413,end climb,SURFACE_DEPTH_REACHED
$STATE,6413,begin surface coast
$FINISH,0.7,1.022090
$STATE,6433,end surface coast,CONTROL_FINISHED_OK
$STATE,6433,begin surface
$SM_CCo,6508,0.00,0.000,0,0,1035,488.64
$SM_GC,1.57,6.72,0.00,0.00,0.035,0.000,0.000,211,2450,1035,-7.37,1.39,488.64
$IRIDIUM_FIX,2420.48,12704.51,101010,131324
$TT8_MAMPS,0.026215
$HUMID,51.92
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.5,31.393
$10V_AH,10.6,27.171
$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,18.350,56.825,538.125,0.000,0.000,49.033,59.918,111.913,0.000,0.000,14.515,1953.643,1703.339,483.467,2609.998,140.891,0.000,1313.426,0.000,2391.290,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,56.610,852.975,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.370,0.000,1757.626,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334088
$DATA_FILE_SIZE,50235,828
$CAP_FILE_SIZE,87209,0
$CFSIZE,260165632,241831936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.267,110.3,1
$GPS,101010,154456,2429.995,12706.612,9,1.5,9,-3.7