version: 66.08
glider: 176
mission: 2
dive: 237
start: 10 10 110 12 5 12
data:
$ID,176
$MISSION,2
$DIVE,237
$N_DIVES,247
$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,-5078.0728
$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
$GPS1,101010,120010,2429.865,12706.270,9,2.6,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-72.8
$GPS2,101010,120444,2429.875,12706.372,14,1.7,14,-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,279.6,2323,-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,-219.0,0.0,0.0,0,73,0.00,0.00,-57.03,0.000,2,0.000,0.000,210,2420,2560,0,0,0,0,0,0
$GC,76,-0.72,-219.0,3.2,-4.9,7,118,8.45,2.15,-25.90,0.000,4,0.240,0.044,2355,941,3920,0,0,0,0,0,0
$GC,242,-0.71,-219.0,49.9,-27.1,33,251,0.00,2.28,0.00,0.000,6,0.000,0.049,2355,2413,3922,0,0,0,0,0,0
$GC,605,-0.70,-219.0,154.5,-25.0,94,615,0.08,2.08,0.00,0.000,4,0.216,0.054,2373,3766,3923,0,0,0,0,0,0
$GC,688,-0.70,-219.0,169.5,-16.8,107,695,0.05,2.00,0.00,0.000,6,0.173,0.028,2333,2335,3925,0,0,0,0,0,0
$GC,1043,-0.69,-219.0,258.3,-23.0,168,1053,0.15,2.25,0.00,0.000,4,0.171,0.060,2377,3767,3925,0,0,0,0,0,0
$GC,1138,-0.71,-219.0,272.4,-10.4,183,1145,0.08,2.03,0.00,0.000,6,0.125,0.028,2321,2334,3925,0,0,0,0,0,0
$GC,1484,-0.70,-219.0,347.7,-22.9,226,1486,0.17,0.00,0.00,0.000,6,0.163,0.000,2373,2329,3926,0,0,0,0,0,0
$GC,1802,-0.70,-219.0,396.4,-14.3,256,1806,0.00,2.15,0.00,0.000,4,0.000,0.055,2373,3766,3925,0,0,0,0,0,0
$GC,1867,-0.72,-219.0,404.6,-10.9,261,1872,0.08,2.03,0.00,0.000,6,0.125,0.028,2306,2337,3924,0,0,0,0,0,0
$GC,2194,-0.71,-219.0,471.1,-20.5,291,2199,0.20,2.20,0.00,0.000,4,0.159,0.054,2363,3771,3924,0,0,0,0,0,0
$GC,2224,-0.71,-219.0,476.3,-17.5,293,2228,0.00,2.00,0.00,0.000,6,0.000,0.028,2363,2343,3923,0,0,0,0,0,0
$STATE,2425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2426,begin apogee
$GC,2430,-0.11,0.0,500.9,12.6,312,2602,0.55,0.17,163.95,0.849,6,0.109,0.071,2560,2155,3026,0,0,0,0,0,0
$STATE,2603,end apogee,CONTROL_FINISHED_OK
$STATE,2603,begin climb
$GC,2605,0.72,219.0,509.8,0.0,326,2781,0.70,2.20,169.07,0.838,4,0.043,0.046,2857,3537,2133,0,0,0,0,0,0
$GC,2872,0.70,219.0,486.6,22.3,348,2881,0.17,2.22,0.00,0.000,6,0.165,0.030,2814,2068,2128,0,0,0,0,0,0
$GC,3199,0.68,219.0,430.9,17.4,379,3203,0.00,2.08,0.00,0.000,4,0.000,0.042,2824,660,2123,0,0,0,0,0,0
$GC,3233,0.67,219.0,424.8,16.0,382,3238,0.10,2.17,0.00,0.000,6,0.182,0.034,2798,2126,2121,0,0,0,0,0,0
$GC,3559,0.68,236.8,375.2,14.3,412,3578,0.05,2.20,13.52,0.724,4,0.172,0.041,2858,659,2059,0,0,0,0,0,0
$GC,3639,0.66,236.8,361.0,18.2,418,3648,0.17,2.20,0.00,0.000,6,0.143,0.036,2800,2119,2056,0,0,0,0,0,0
$GC,3966,0.70,270.7,315.0,13.6,449,4003,0.08,2.25,26.98,0.731,4,0.125,0.044,2864,664,1920,0,0,0,0,0,0
$GC,4162,0.68,270.7,277.0,21.2,476,4171,0.17,2.20,0.00,0.000,6,0.138,0.037,2805,2119,1915,0,0,0,0,0,0
$GC,4512,0.72,305.7,230.6,13.5,537,4549,0.08,2.12,27.95,0.674,4,0.128,0.046,2860,3529,1779,0,0,0,0,0,0
$GC,4573,0.71,305.7,219.8,20.0,546,4582,0.17,2.20,0.00,0.000,6,0.149,0.033,2814,2065,1776,0,0,0,0,0,0
$GC,4923,0.71,306.2,164.2,15.1,607,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2062,1772,0,0,0,0,0,0
$GC,5282,0.78,362.2,117.1,12.5,668,5333,0.10,2.15,43.83,0.594,4,0.103,0.043,2887,663,1549,0,0,0,0,0,0
$GC,5360,0.77,362.2,104.4,18.3,678,5369,0.15,2.22,0.00,0.000,6,0.130,0.036,2834,2131,1546,0,0,0,0,0,0
$GC,5727,0.95,502.0,62.7,8.7,739,5841,0.20,2.22,106.53,0.545,4,0.063,0.049,2946,3526,978,0,0,0,0,0,0
$GC,5858,0.94,502.0,38.9,23.0,755,5868,0.20,2.22,0.00,0.000,6,0.140,0.033,2888,2071,976,0,0,0,0,0,0
$STATE,6082,end climb,SURFACE_DEPTH_REACHED
$STATE,6082,begin surface coast
$FINISH,0.6,1.000010
$STATE,6102,end surface coast,CONTROL_FINISHED_OK
$STATE,6102,begin surface
$SM_CCo,6177,0.00,0.000,0,0,971,504.34
$SM_GC,1.45,6.70,0.00,0.00,0.034,0.000,0.000,199,2436,971,-7.38,1.02,504.34
$IRIDIUM_FIX,2418.11,12706.40,101010,101048
$TT8_MAMPS,0.026215
$HUMID,51.81
$INTERNAL_PRESSURE,8.78238
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.5,31.267
$10V_AH,10.6,27.056
$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,18.850,52.925,551.825,0.000,0.000,28.551,37.217,107.450,0.000,0.000,16.985,1877.048,1481.049,489.080,2472.916,134.510,0.000,1301.679,0.000,2301.109,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,71.145,849.150,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.360,0.000,1696.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46984,796
$CAP_FILE_SIZE,84452,0
$CFSIZE,260165632,241889280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.260,108.6,1
$GPS,101010,134904,2429.913,12706.398,9,2.6,28,-3.7