version: 66.08
glider: 168
mission: 2
dive: 485
start: 11 12 110 14 21 1
data:
$ID,168
$MISSION,2
$DIVE,485
$N_DIVES,498
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1090
$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,120
$T_MISSION,180
$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,0
$MAX_BUOY,190
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.02625
$MASS,51866
$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,400
$N_FILEKB,8
$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,-3891.8801
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3945
$C_PITCH,3252
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0070000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,160
$ROLL_MAX,3729
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,415
$VBD_MAX,3960
$C_VBD,3068
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-59.994087
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042824708
$SEABIRD_T_H,0.00062080647
$SEABIRD_T_I,2.3031862e-05
$SEABIRD_T_J,2.5001771e-06
$SEABIRD_C_G,-9.8237314
$SEABIRD_C_H,1.1028168
$SEABIRD_C_I,-0.0011486846
$SEABIRD_C_J,0.00017813468
$GPS1,121110,141530,2121.443,12600.853,39,1.4,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.47
$_SM_ANGLEo,-76.8
$GPS2,121110,142032,2121.400,12600.863,10,1.5,10,-2.9
$SPEED_LIMITS,0.241,0.322
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,58.4,690,-27.7,-13.889
$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,16,-0.74,-102.9,0.0,0.0,0,25,0.00,0.00,-7.05,0.000,2,0.000,0.000,104,1534,636,0,0,0,0,0,0
$GC,27,-0.84,-185.1,4.5,-0.0,1,168,9.50,2.17,-120.80,0.000,4,0.164,0.056,2970,2945,3820,0,0,0,0,0,0
$GC,230,-0.85,-185.1,22.6,-24.4,35,237,0.00,2.15,0.00,0.000,6,0.000,0.044,2971,1555,3820,0,0,0,0,0,0
$GC,573,-0.82,-185.1,134.1,-28.6,96,581,0.08,2.17,0.00,0.000,4,0.196,0.052,2990,165,3820,0,0,0,0,0,0
$GC,677,-0.84,-185.1,159.9,-20.6,114,685,0.00,2.05,0.00,0.000,6,0.000,0.037,2982,1525,3820,0,0,0,0,0,0
$GC,1022,-0.85,-185.1,233.2,-19.9,175,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,1528,3822,0,0,0,0,0,0
$GC,1370,-0.87,-185.1,302.6,-18.8,236,1374,0.00,2.10,0.00,0.000,4,0.000,0.051,2982,164,3822,0,0,0,0,0,0
$GC,1392,-0.89,-185.1,307.1,-19.3,237,1399,0.00,2.08,0.00,0.000,6,0.000,0.037,2973,1538,3822,0,0,0,0,0,0
$GC,1718,-0.92,-185.1,370.0,-19.2,268,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1541,3822,0,0,0,0,0,0
$GC,2038,-0.95,-185.1,426.8,-16.7,298,2043,0.08,2.20,0.00,0.000,4,0.121,0.045,2844,2965,3820,0,0,0,0,0,0
$GC,2082,-0.92,-185.1,436.9,-23.1,301,2089,0.35,2.20,0.00,0.000,6,0.112,0.044,2963,1540,3820,0,0,0,0,0,0
$GC,2408,-0.95,-185.1,491.8,-16.5,332,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,1540,3818,0,0,0,0,0,0
$STATE,2458,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2459,begin apogee
$GC,2464,0.00,0.0,500.9,17.1,337,2614,0.77,0.00,144.95,0.842,4,0.096,0.000,3248,1715,3067,0,0,0,0,0,0
$STATE,2615,end apogee,CONTROL_FINISHED_OK
$STATE,2615,begin climb
$GC,2617,0.84,185.1,507.8,0.0,350,2774,0.73,2.25,148.90,0.824,4,0.029,0.046,3575,3105,2312,0,0,0,0,0,0
$GC,2867,0.80,185.1,476.1,21.5,372,2872,0.28,2.20,0.00,0.000,6,0.154,0.044,3505,1698,2307,0,0,0,0,0,0
$GC,3193,0.80,185.1,419.8,16.5,402,3197,0.00,2.17,0.00,0.000,4,0.000,0.053,3515,290,2301,0,0,0,0,0,0
$GC,3211,0.80,185.1,416.8,16.7,403,3215,0.00,2.08,0.00,0.000,6,0.000,0.030,3516,1701,2300,0,0,0,0,0,0
$GC,3536,0.80,185.1,362.9,16.1,433,3537,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1703,2297,0,0,0,0,0,0
$GC,3856,0.80,185.1,311.5,15.3,463,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1703,2294,0,0,0,0,0,0
$GC,4185,0.80,185.1,261.1,14.7,516,4192,0.00,2.20,0.00,0.000,4,0.000,0.053,3526,286,2292,0,0,0,0,0,0
$GC,4210,0.80,185.1,257.3,15.1,520,4218,0.08,2.12,0.00,0.000,6,0.187,0.031,3507,1713,2291,0,0,0,0,0,0
$GC,4556,0.82,190.3,208.5,13.4,581,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,1714,2291,0,0,0,0,0,0
$GC,4900,0.89,226.1,166.1,10.7,642,4938,0.10,2.30,31.08,0.639,4,0.094,0.048,3615,293,2145,0,0,0,0,0,0
$GC,4974,0.84,226.1,154.5,19.1,654,4982,0.30,2.12,0.00,0.000,6,0.138,0.029,3523,1708,2141,0,0,0,0,0,0
$GC,5320,0.92,262.9,112.4,10.6,715,5357,0.08,0.00,29.90,0.594,6,0.122,0.000,3612,1710,1994,0,0,0,0,0,0
$GC,5693,0.91,262.9,58.3,17.1,781,5701,0.22,2.20,0.00,0.000,4,0.136,0.047,3551,292,1988,0,0,0,0,0,0
$GC,5742,0.95,266.7,51.4,13.5,789,5750,0.00,2.10,0.00,0.000,6,0.000,0.030,3551,1707,1986,0,0,0,0,0,0
$GC,6088,1.00,283.6,8.3,12.4,850,6114,0.08,2.17,15.15,0.480,4,0.124,0.039,3643,3098,1907,0,0,0,0,0,0
$GC,6161,1.38,439.2,3.6,-0.2,862,6234,0.15,2.10,65.12,0.490,6,0.084,0.037,3707,1706,1275,0,0,0,0,0,0
$FREEZE,3.71,26.461,-1.901,0,1,0
$STATE,6380,end climb,NO_VERTICAL_VELOCITY
$STATE,6380,begin surface
$SM_CCo,6383,97.82,0.481,0,0,415,650.78
$SM_GC,4.39,8.75,0.00,0.00,0.021,0.000,0.000,104,1551,410,-9.70,0.06,652.01
$IRIDIUM_FIX,2113.32,12605.90,121110,121259
$TT8_MAMPS,0.026964
$HUMID,48.38
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,25.20
$XPDR_PINGS,12
$24V_AH,24.1,68.124
$10V_AH,10.3,47.564
$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,21.525,43.625,435.100,97.825,0.000,30.161,43.495,114.602,3.000,0.000,13.246,2077.240,2604.679,612.696,1553.157,177.486,0.000,1363.960,0.000,1359.357,0.000,0.541,0.000
$DEVICE_MAMPS,195.840,67.320,841.500,481.185,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,50336,900
$CAP_FILE_SIZE,87386,0
$CFSIZE,260165632,223789056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,133.3,1
$GPS,121110,161401,2121.822,12601.773,12,1.9,29,-2.9