version: 66.08
glider: 176
mission: 2
dive: 178
start: 10 6 110 0 16 23
data:
$ID,176
$MISSION,2
$DIVE,178
$N_DIVES,190
$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,-4991.5122
$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
$GPS1,061010,001120,2349.685,12628.636,7,1.6,7,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.5
$GPS2,061010,001556,2349.742,12628.633,14,1.6,14,-3.5
$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,51.9,96515,-20.3,-15.152
$D_GRID,5000
$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,-219.0,0.0,0.0,0,66,0.00,0.00,-49.33,0.000,2,0.000,0.000,202,2446,2562,0,0,0,0,0,0
$GC,69,-0.72,-219.0,3.1,-4.7,6,111,8.55,2.03,-26.48,0.000,4,0.245,0.066,2349,3775,3922,0,0,0,0,0,0
$GC,138,-0.69,-219.0,23.5,-37.8,15,147,0.05,2.08,0.00,0.000,6,0.174,0.028,2366,2339,3923,0,0,0,0,0,0
$GC,503,-0.68,-219.0,151.4,-30.2,76,513,0.00,2.20,0.00,0.000,4,0.000,0.055,2366,3764,3924,0,0,0,0,0,0
$GC,636,-0.68,-219.0,179.3,-16.1,98,644,0.00,2.03,0.00,0.000,6,0.000,0.029,2366,2358,3925,0,0,0,0,0,0
$GC,994,-0.67,-219.0,254.6,-21.2,159,1000,0.00,1.98,0.00,0.000,4,0.000,0.033,2366,955,3926,0,0,0,0,0,0
$GC,1036,-0.68,-219.0,262.9,-16.6,166,1045,0.00,2.22,0.00,0.000,6,0.000,0.045,2365,2427,3926,0,0,0,0,0,0
$GC,1385,-0.68,-219.0,327.6,-18.3,214,1389,0.00,2.00,0.00,0.000,4,0.000,0.056,2363,3777,3926,0,0,0,0,0,0
$GC,1435,-0.68,-219.0,336.8,-16.7,218,1444,0.00,2.05,0.00,0.000,6,0.000,0.029,2363,2346,3926,0,0,0,0,0,0
$GC,1763,-0.68,-219.0,397.7,-19.0,249,1766,0.00,2.17,0.00,0.000,4,0.000,0.056,2363,3777,3925,0,0,0,0,0,0
$GC,1813,-0.69,-219.0,406.6,-14.7,253,1820,0.00,2.05,0.00,0.000,6,0.000,0.029,2363,2353,3925,0,0,0,0,0,0
$GC,2138,-0.70,-219.0,453.5,-14.5,284,2142,0.00,1.98,0.00,0.000,4,0.000,0.036,2363,956,3924,0,0,0,0,0,0
$GC,2188,-0.71,-219.0,460.0,-11.3,288,2199,0.00,2.20,0.00,0.000,6,0.000,0.044,2363,2416,3924,0,0,0,0,0,0
$STATE,2502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2502,begin apogee
$GC,2506,-0.11,0.0,501.1,13.8,318,2676,0.55,0.15,164.70,0.845,6,0.112,0.081,2558,2135,3027,0,0,0,0,0,0
$STATE,2676,end apogee,CONTROL_FINISHED_OK
$STATE,2677,begin climb
$GC,2678,0.72,219.0,511.8,0.0,332,2856,0.70,2.33,170.43,0.836,4,0.040,0.041,2873,663,2132,0,0,0,0,0,0
$GC,3112,0.70,219.0,467.0,16.9,368,3122,0.20,2.20,0.00,0.000,6,0.155,0.037,2810,2122,2124,0,0,0,0,0,0
$GC,3439,0.69,219.0,416.8,16.5,399,3443,0.00,2.17,0.00,0.000,4,0.000,0.042,2818,663,2121,0,0,0,0,0,0
$GC,3562,0.68,221.7,397.9,15.0,409,3566,0.05,2.17,0.00,0.000,6,0.226,0.037,2806,2133,2120,0,0,0,0,0,0
$GC,3888,0.73,263.5,348.2,13.2,439,3928,0.08,2.15,33.62,0.744,4,0.128,0.047,2863,3522,1951,0,0,0,0,0,0
$GC,3974,0.71,263.5,332.0,19.4,446,3983,0.17,2.17,0.00,0.000,6,0.155,0.032,2817,2068,1947,0,0,0,0,0,0
$GC,4308,0.70,264.7,278.5,15.1,488,4318,0.00,2.25,0.00,0.000,4,0.000,0.047,2816,3532,1944,0,0,0,0,0,0
$GC,4382,0.69,264.7,266.3,16.9,500,4391,0.00,2.17,0.00,0.000,6,0.000,0.032,2818,2067,1943,0,0,0,0,0,0
$GC,4742,0.75,312.4,215.0,12.9,561,4785,0.05,2.15,38.55,0.661,4,0.181,0.042,2877,666,1752,0,0,0,0,0,0
$GC,4869,0.74,312.4,192.1,18.6,581,4877,0.20,2.17,0.00,0.000,6,0.149,0.036,2817,2120,1746,0,0,0,0,0,0
$GC,5228,0.80,359.6,138.8,13.0,642,5270,0.10,0.00,37.10,0.604,6,0.102,0.000,2888,2120,1559,0,0,0,0,0,0
$GC,5620,0.83,393.4,72.1,13.6,707,5654,0.12,2.20,26.58,0.547,4,0.169,0.044,2858,664,1421,0,0,0,0,0,0
$GC,5675,0.98,506.0,66.1,9.9,714,5773,0.12,2.20,86.75,0.545,6,0.043,0.038,2946,2118,962,0,0,0,0,0,0
$STATE,5982,end climb,SURFACE_DEPTH_REACHED
$STATE,5982,begin surface coast
$FINISH,0.6,1.022043
$STATE,5996,end surface coast,CONTROL_FINISHED_OK
$STATE,5997,begin surface
$SM_CCo,6070,0.00,0.000,0,0,954,508.26
$SM_GC,1.47,6.95,0.00,0.00,0.040,0.000,0.000,203,2424,954,-7.40,0.71,508.26
$IRIDIUM_FIX,2340.34,12630.05,051010,222224
$TT8_MAMPS,0.026215
$HUMID,51.92
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.6,23.949
$10V_AH,10.6,20.549
$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,17.900,52.425,557.725,0.000,0.000,25.012,49.812,105.033,0.000,0.000,17.408,1787.142,1579.412,490.717,2376.761,115.273,0.000,1292.925,0.000,2192.451,0.000,0.542,0.000
$DEVICE_MAMPS,244.800,81.090,844.560,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.384,0.000,1562.359,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46996,764
$CAP_FILE_SIZE,80630,0
$CFSIZE,260165632,244625408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132, 60.8,1
$GPS,061010,015827,2350.484,12629.844,9,3.8,28,-3.6