version: 66.08
glider: 176
mission: 2
dive: 253
start: 10 11 110 17 24 42
data:
$ID,176
$MISSION,2
$DIVE,253
$N_DIVES,275
$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,-5099.4712
$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
$GPS1,111010,172006,2429.797,12705.630,31,1.0,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-75.0
$GPS2,111010,172414,2429.773,12705.651,8,1.8,8,-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,285.6,1175,-20.3,-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,-0.72,-219.0,0.0,0.0,0,72,0.00,0.00,-54.75,0.000,2,0.000,0.000,201,2453,2581,0,0,0,0,0,0
$GC,74,-0.72,-219.0,3.4,-5.9,7,116,8.43,2.20,-25.35,0.000,4,0.236,0.047,2356,954,3922,0,0,0,0,0,0
$GC,252,-0.72,-219.0,52.7,-22.1,35,261,0.00,2.25,0.00,0.000,6,0.000,0.047,2356,2414,3923,0,0,0,0,0,0
$GC,617,-0.71,-219.0,145.9,-22.5,96,625,0.00,2.05,0.00,0.000,4,0.000,0.054,2353,3763,3925,0,0,0,0,0,0
$GC,674,-0.71,-219.0,158.5,-17.6,105,681,0.00,2.03,0.00,0.000,6,0.000,0.030,2353,2353,3926,0,0,0,0,0,0
$GC,1019,-0.71,-219.0,227.3,-20.1,166,1028,0.05,2.05,0.00,0.000,4,0.258,0.036,2365,952,3925,0,0,0,0,0,0
$GC,1066,-0.72,-219.0,234.9,-15.0,173,1073,0.00,2.20,0.00,0.000,6,0.000,0.044,2364,2423,3926,0,0,0,0,0,0
$GC,1410,-0.72,-219.0,290.2,-15.3,234,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2424,3926,0,0,0,0,0,0
$GC,1743,-0.72,-219.0,343.7,-15.5,270,1747,0.00,2.10,0.00,0.000,4,0.000,0.035,2364,955,3925,0,0,0,0,0,0
$GC,1797,-0.73,-219.0,352.5,-13.4,274,1807,0.03,2.22,0.00,0.000,6,0.123,0.044,2326,2428,3925,0,0,0,0,0,0
$GC,2124,-0.73,-219.0,414.3,-18.5,305,2129,0.12,2.12,0.00,0.000,4,0.167,0.034,2363,958,3924,0,0,0,0,0,0
$GC,2164,-0.74,-219.0,420.8,-13.4,308,2168,0.05,2.20,0.00,0.000,6,0.177,0.044,2319,2428,3924,0,0,0,0,0,0
$GC,2489,-0.74,-219.0,478.3,-17.6,338,2494,0.15,2.05,0.00,0.000,4,0.157,0.055,2362,3775,3923,0,0,0,0,0,0
$GC,2508,-0.74,-219.0,481.1,-16.4,339,2512,0.05,2.00,0.00,0.000,6,0.171,0.028,2315,2348,3922,0,0,0,0,0,0
$STATE,2629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2629,begin apogee
$GC,2634,-0.11,0.0,501.5,17.4,350,2805,0.70,0.15,164.38,0.856,6,0.122,0.079,2556,2143,3027,0,0,0,0,0,0
$STATE,2806,end apogee,CONTROL_FINISHED_OK
$STATE,2806,begin climb
$GC,2808,0.72,219.0,511.3,0.0,364,2993,0.68,2.38,169.30,0.843,4,0.036,0.041,2861,658,2131,0,0,0,0,0,0
$GC,3080,0.70,219.0,486.9,20.7,386,3090,0.15,2.25,0.00,0.000,6,0.151,0.036,2814,2124,2126,0,0,0,0,0,0
$GC,3406,0.69,219.0,428.4,17.7,417,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2124,2123,0,0,0,0,0,0
$GC,3726,0.68,219.0,374.2,17.1,447,3730,0.00,2.10,0.00,0.000,4,0.000,0.050,2813,3527,2120,0,0,0,0,0,0
$GC,3776,0.66,219.0,364.0,17.9,451,3783,0.05,2.15,0.00,0.000,6,0.177,0.031,2802,2068,2120,0,0,0,0,0,0
$GC,4101,0.74,287.7,320.4,12.0,482,4165,0.10,2.15,52.12,0.753,4,0.104,0.041,2880,662,1852,0,0,0,0,0,0
$GC,4306,0.73,287.7,280.5,20.1,507,4314,0.22,2.20,0.00,0.000,6,0.155,0.037,2813,2121,1845,0,0,0,0,0,0
$GC,4664,0.72,287.7,220.7,15.7,568,4673,0.03,2.15,0.00,0.000,4,0.256,0.049,2856,3532,1842,0,0,0,0,0,0
$GC,4715,0.71,287.7,210.2,21.9,576,4725,0.15,2.17,0.00,0.000,6,0.148,0.031,2814,2064,1842,0,0,0,0,0,0
$GC,5077,0.73,310.9,154.9,14.1,637,5099,0.05,0.00,17.77,0.619,6,0.176,0.000,2859,2059,1758,0,0,0,0,0,0
$GC,5453,0.73,310.9,90.8,15.8,700,5463,0.15,2.28,0.00,0.000,4,0.160,0.048,2814,3532,1754,0,0,0,0,0,0
$GC,5491,0.74,317.8,85.4,14.8,705,5509,0.00,2.17,6.57,0.490,6,0.000,0.032,2817,2063,1729,0,0,0,0,0,0
$GC,5860,0.91,451.5,48.4,8.9,767,5973,0.20,2.15,103.25,0.549,4,0.066,0.041,2940,667,1184,0,0,0,0,0,0
$GC,6017,0.91,451.5,21.4,15.2,788,6027,0.17,2.22,0.00,0.000,6,0.127,0.037,2880,2118,1181,0,0,0,0,0,0
$STATE,6151,end climb,SURFACE_DEPTH_REACHED
$STATE,6151,begin surface coast
$FINISH,0.5,1.010879
$STATE,6178,end surface coast,CONTROL_FINISHED_OK
$STATE,6178,begin surface
$SM_CCo,6252,0.00,0.000,0,0,1176,454.05
$SM_GC,1.48,6.72,0.00,0.00,0.035,0.000,0.000,207,2450,1176,-7.38,1.41,454.05
$IRIDIUM_FIX,2422.84,12704.51,111010,151538
$TT8_MAMPS,0.026215
$HUMID,52.40
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,23.90
$XPDR_PINGS,0
$24V_AH,24.5,33.185
$10V_AH,10.5,28.834
$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,18.250,52.825,513.400,0.000,0.000,23.377,20.904,107.112,0.000,0.000,11.103,1919.357,1473.160,480.584,2486.241,143.568,0.000,1297.207,0.000,2341.999,0.000,0.543,0.000
$DEVICE_MAMPS,257.805,78.795,856.035,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.265,0.000,1738.384,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50353,814
$CAP_FILE_SIZE,84690,0
$CFSIZE,260165632,241135616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.232, 94.5,1
$GPS,111010,190952,2429.861,12705.490,12,2.1,31,-3.7