version: 66.08
glider: 176
mission: 2
dive: 248
start: 10 11 110 8 34 31
data:
$ID,176
$MISSION,2
$DIVE,248
$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,-5092.7275
$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
$GPS1,111010,082854,2430.154,12705.334,38,1.4,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-75.8
$GPS2,111010,083352,2430.176,12705.440,13,7.2,32,-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,273.5,810,-23.8,-15.152
$D_GRID,4367
$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,-0.73,-159.3,0.0,0.0,0,68,0.00,0.00,-50.28,0.000,2,0.000,0.000,195,2445,2546,0,0,0,0,0,0
$GC,70,-0.80,-219.0,3.3,-4.9,6,112,8.30,2.17,-25.95,0.000,4,0.234,0.043,2333,945,3922,0,0,0,0,0,0
$GC,214,-0.80,-219.0,47.1,-25.7,28,223,0.00,2.28,0.00,0.000,6,0.000,0.047,2333,2423,3923,0,0,0,0,0,0
$GC,580,-0.79,-219.0,147.1,-25.9,89,588,0.00,2.15,0.00,0.000,4,0.000,0.033,2333,955,3925,0,0,0,0,0,0
$GC,601,-0.78,-219.0,152.9,-24.2,92,610,0.00,2.22,0.00,0.000,6,0.000,0.044,2333,2423,3925,0,0,0,0,0,0
$GC,952,-0.78,-219.0,234.9,-23.3,153,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2423,3926,0,0,0,0,0,0
$GC,1302,-0.78,-219.0,308.9,-20.9,211,1306,0.00,2.12,0.00,0.000,4,0.000,0.034,2333,953,3926,0,0,0,0,0,0
$GC,1367,-0.80,-219.0,321.6,-16.1,216,1377,0.00,2.22,0.00,0.000,6,0.000,0.044,2333,2423,3926,0,0,0,0,0,0
$GC,1695,-0.80,-219.0,381.0,-17.9,247,1698,0.00,2.00,0.00,0.000,4,0.000,0.054,2334,3771,3925,0,0,0,0,0,0
$GC,1711,-0.81,-219.0,384.3,-17.3,248,1720,0.00,2.03,0.00,0.000,6,0.000,0.028,2333,2354,3926,0,0,0,0,0,0
$GC,2038,-0.82,-219.0,441.6,-17.0,279,2042,0.00,2.00,0.00,0.000,4,0.000,0.036,2333,948,3924,0,0,0,0,0,0
$GC,2072,-0.83,-219.0,447.8,-15.9,282,2077,0.05,2.20,0.00,0.000,6,0.177,0.044,2295,2422,3925,0,0,0,0,0,0
$STATE,2332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2332,begin apogee
$GC,2336,-0.11,0.0,501.7,20.8,306,2512,0.77,0.17,165.05,0.859,6,0.126,0.073,2558,2142,3026,0,0,0,0,0,0
$STATE,2512,end apogee,CONTROL_FINISHED_OK
$STATE,2513,begin climb
$GC,2514,0.80,219.0,512.3,0.0,320,2692,0.75,2.25,169.32,0.847,4,0.032,0.047,2902,3531,2132,0,0,0,0,0,0
$GC,2813,0.77,219.0,475.2,26.8,345,2818,0.30,2.20,0.00,0.000,6,0.189,0.031,2831,2061,2127,0,0,0,0,0,0
$GC,3140,0.77,219.0,414.6,17.9,375,3143,0.00,2.08,0.00,0.000,4,0.000,0.043,2841,662,2122,0,0,0,0,0,0
$GC,3165,0.76,219.0,410.4,16.6,377,3170,0.05,2.20,0.00,0.000,6,0.228,0.037,2830,2131,2121,0,0,0,0,0,0
$GC,3492,0.75,219.0,353.1,17.1,407,3496,0.00,2.20,0.00,0.000,4,0.000,0.044,2835,659,2119,0,0,0,0,0,0
$GC,3522,0.74,219.0,347.8,17.4,409,3526,0.00,2.17,0.00,0.000,6,0.000,0.036,2835,2124,2118,0,0,0,0,0,0
$GC,3847,0.74,219.0,296.8,16.0,440,3856,0.05,0.00,0.00,0.000,6,0.254,0.000,2822,2124,2117,0,0,0,0,0,0
$GC,4196,0.78,253.8,251.1,12.9,501,4232,0.08,2.28,25.38,0.707,4,0.129,0.043,2886,644,1990,0,0,0,0,0,0
$GC,4387,0.77,253.8,218.3,18.2,533,4396,0.20,2.20,0.00,0.000,6,0.166,0.037,2827,2122,1985,0,0,0,0,0,0
$GC,4736,0.81,288.3,170.6,12.9,594,4766,0.10,0.00,27.27,0.646,6,0.101,0.000,2891,2123,1851,0,0,0,0,0,0
$GC,5118,0.80,288.3,97.5,16.4,658,5127,0.17,2.22,0.00,0.000,4,0.166,0.044,2849,663,1844,0,0,0,0,0,0
$GC,5183,0.88,351.5,88.7,11.1,668,5242,0.05,2.20,49.33,0.590,6,0.067,0.037,2906,2126,1592,0,0,0,0,0,0
$GC,5598,0.89,360.1,26.1,14.6,735,5616,0.12,2.15,7.30,0.461,4,0.170,0.050,2870,3520,1557,0,0,0,0,0,0
$GC,5748,0.95,396.5,6.8,12.8,759,5782,0.05,2.17,29.48,0.512,4,0.067,0.033,2934,2052,1410,0,0,0,0,0,0
$STATE,5783,end climb,SURFACE_DEPTH_REACHED
$STATE,5783,begin surface coast
$FINISH,0.7,1.021088
$STATE,5810,end surface coast,CONTROL_FINISHED_OK
$STATE,5810,begin surface
$SM_CCo,5884,0.00,0.000,0,0,1403,398.37
$SM_GC,1.52,6.80,0.00,0.00,0.029,0.000,0.000,200,2444,1403,-7.39,1.24,398.37
$IRIDIUM_FIX,2420.48,12703.08,111010,060658
$TT8_MAMPS,0.026215
$HUMID,53.85
$INTERNAL_PRESSURE,8.80191
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,32.608
$10V_AH,10.6,28.284
$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,17.850,49.000,473.125,0.000,0.000,31.151,36.857,109.291,0.000,0.000,36.255,1825.918,1403.957,435.988,2397.640,132.623,0.000,1192.767,0.000,2204.125,0.000,0.542,0.000
$DEVICE_MAMPS,253.980,73.440,859.095,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,514.378,0.000,1619.918,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334076
$DATA_FILE_SIZE,46928,767
$CAP_FILE_SIZE,78993,0
$CFSIZE,260165632,241377280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.194,101.1,1
$GPS,111010,101328,2429.969,12705.123,7,2.7,26,-3.7