version: 66.08
glider: 176
mission: 4
dive: 2
start: 6 29 111 19 17 4
data:
$ID,176
$MISSION,4
$DIVE,2
$N_DIVES,458
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,950
$D_NO_BLEED,200
$D_BOOST,50
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6704.3921
$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,2850
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$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,2900
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-70.422676
$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,90
$ALTIM_PING_DELTA,5
$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,-1
$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,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,290611,191244,4743.728,-12224.061,15,1.6,15,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.0
$GPS2,290611,191608,4743.725,-12224.058,16,1.5,16,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.247,0.081
$KALMAN_X,77.0,77.0,77.0,-141.8,112.6
$KALMAN_Y,-23.5,-23.5,-23.5,58.5,-34.4
$MHEAD_RNG_PITCHd_Wd,271.7,980,-17.5,-10.000
$D_GRID,173
$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,-0.62,-146.0,0.0,0.0,0,92,0.00,0.00,-73.82,0.000,2,0.000,0.000,224,2223,2758,0,0,0,0,0,0
$GC,95,-0.62,-146.0,3.5,-7.0,9,129,9.73,2.22,-13.50,0.000,4,0.252,0.057,2655,759,3498,0,0,0,0,0,0
$GC,215,-0.62,-146.0,20.4,-8.1,27,225,0.00,2.28,0.00,0.000,6,0.000,0.054,2654,2213,3498,0,0,0,0,0,0
$GC,276,-0.62,-146.0,25.3,-8.0,36,284,0.00,2.22,0.00,0.000,4,0.000,0.067,2653,3616,3498,0,0,0,0,0,0
$STATE,472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,472,begin apogee
$GC,479,-0.12,0.0,45.2,8.9,70,543,0.40,0.10,54.42,0.248,6,0.080,0.085,2813,2216,2897,0,0,0,0,0,0
$STATE,544,end apogee,CONTROL_FINISHED_OK
$STATE,544,begin climb
$GC,546,0.62,146.0,50.3,0.0,79,613,0.60,2.25,59.10,0.842,4,0.046,0.042,3082,747,2301,0,0,0,0,0,0
$GC,886,0.62,146.0,14.5,11.9,133,897,0.12,2.28,0.00,0.000,6,0.171,0.050,3043,2212,2293,0,0,0,0,0,0
$GC,946,0.79,287.2,10.6,3.5,142,1007,0.20,2.20,52.90,0.155,4,0.073,0.043,3145,752,1724,0,0,0,0,0,0
$STATE,1057,end climb,SURFACE_DEPTH_REACHED
$STATE,1057,begin surface coast
$FINISH,1.5,1.020019
$STATE,1065,end surface coast,CONTROL_FINISHED_OK
$STATE,1065,begin surface
$SM_CCo,1083,78.43,0.134,0,0,857,500.17
$SM_GC,1.06,0.00,0.00,78.43,0.000,0.000,0.134,198,2216,857,-8.29,0.45,500.17
$IRIDIUM_FIX,4726.11,-12227.78,290611,191901
$TT8_MAMPS,0.026964
$HUMID,45.90
$INTERNAL_PRESSURE,9.10466
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.7,1.088
$10V_AH,10.5,0.343
$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,18.600,18.000,166.425,78.425,0.000,0.000,0.000,0.000,0.000,0.000,17.335,372.924,20.976,277.150,482.936,78.859,30.175,510.116,0.000,526.339,0.000,1.001,0.000
$DEVICE_MAMPS,252.450,84.915,841.500,133.875,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,104.345,0.000,436.502,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322948
$DATA_FILE_SIZE,6951,158
$CAP_FILE_SIZE,45195,0
$CFSIZE,260165632,222535680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.401,185.4,1
$GPS,290611,193708,4743.665,-12224.067,12,1.4,12,18.2