version: 66.08
glider: 168
mission: 2
dive: 70
start: 9 26 110 22 50 34
data:
$ID,168
$MISSION,2
$DIVE,70
$N_DIVES,80
$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,200
$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,-8
$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,600
$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,-3254.8347
$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,0.015
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,260910,224601,2423.776,12704.867,38,1.0,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-79.0
$GPS2,260910,225008,2423.713,12704.864,12,1.0,12,-3.7
$SPEED_LIMITS,0.262,0.330
$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,7.5,11645,-22.1,-15.152
$D_GRID,4924
$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,14,-0.72,-185.1,0.0,0.0,0,100,0.00,0.00,-83.25,0.000,2,0.000,0.000,104,1529,3131,0,0,0,0,0,0
$GC,102,-0.72,-185.1,3.4,-5.3,13,131,10.12,2.17,-11.25,0.000,4,0.191,0.054,3010,2953,3825,0,0,0,0,0,0
$GC,170,-0.57,-185.1,35.6,-39.0,24,180,0.15,2.20,0.00,0.000,6,0.120,0.049,3064,1566,3826,0,0,0,0,0,0
$GC,512,-0.54,-185.1,128.8,-21.7,85,518,0.05,0.00,0.00,0.000,6,0.243,0.000,3078,1565,3828,0,0,0,0,0,0
$GC,842,-0.58,-185.1,185.8,-15.0,126,846,0.00,2.15,0.00,0.000,4,0.000,0.052,3078,151,3829,0,0,0,0,0,0
$GC,959,-0.67,-185.1,203.0,-13.9,136,964,0.10,2.08,0.00,0.000,6,0.093,0.040,2973,1543,3829,0,0,0,0,0,0
$GC,1284,-0.56,-185.1,285.0,-24.5,166,1289,0.28,2.12,0.00,0.000,4,0.138,0.051,3067,154,3829,0,0,0,0,0,0
$GC,1302,-0.48,-185.1,289.1,-25.0,167,1307,0.12,2.08,0.00,0.000,6,0.145,0.038,3099,1551,3829,0,0,0,0,0,0
$GC,1629,-0.63,-185.1,318.7,-8.4,197,1634,0.15,2.15,0.00,0.000,4,0.070,0.050,2979,2963,3829,0,0,0,0,0,0
$GC,1689,-0.63,-185.1,328.1,-17.5,202,1694,0.22,2.15,0.00,0.000,6,0.119,0.047,3054,1545,3829,0,0,0,0,0,0
$GC,2014,-0.70,-185.1,371.7,-12.4,232,2019,0.10,2.12,0.00,0.000,4,0.096,0.056,2957,166,3828,0,0,0,0,0,0
$GC,2036,-0.70,-185.1,375.4,-16.1,234,2041,0.25,2.08,0.00,0.000,6,0.138,0.040,3026,1560,3828,0,0,0,0,0,0
$GC,2368,-0.73,-185.1,429.1,-14.7,265,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,1562,3826,0,0,0,0,0,0
$GC,2687,-0.77,-185.1,474.4,-13.3,295,2689,0.08,0.00,0.00,0.000,6,0.125,0.000,2942,1562,3825,0,0,0,0,0,0
$STATE,2811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2811,begin apogee
$GC,2815,-0.18,0.0,500.6,22.6,307,2965,0.73,0.00,139.98,0.855,4,0.122,0.000,3192,1712,3068,0,0,0,0,0,0
$STATE,2966,end apogee,CONTROL_FINISHED_OK
$STATE,2966,begin climb
$GC,2968,0.72,185.1,507.1,0.0,320,3123,0.80,2.22,145.90,0.832,4,0.054,0.049,3496,3100,2312,0,0,0,0,0,0
$GC,3357,0.61,185.1,449.9,19.5,354,3362,0.20,2.17,0.00,0.000,6,0.154,0.044,3449,1693,2306,0,0,0,0,0,0
$GC,3682,0.60,209.1,403.5,13.8,384,3708,0.00,2.15,18.45,0.754,4,0.000,0.040,3449,3100,2214,0,0,0,0,0,0
$GC,3957,0.58,209.1,360.7,15.5,408,3968,0.05,2.20,0.00,0.000,6,0.152,0.046,3439,1702,2210,0,0,0,0,0,0
$GC,4284,0.59,220.3,314.2,14.5,439,4299,0.00,2.17,9.45,0.666,4,0.000,0.043,3438,3094,2169,0,0,0,0,0,0
$GC,4419,0.61,231.0,294.4,14.6,451,4434,0.00,2.12,9.98,0.659,6,0.000,0.047,3448,1704,2126,0,0,0,0,0,0
$GC,4761,0.66,272.0,246.9,12.9,483,4801,0.00,0.00,32.95,0.695,6,0.000,0.000,3448,1703,1957,0,0,0,0,0,0
$GC,5120,0.76,326.3,201.4,12.2,517,5169,0.15,2.33,42.75,0.663,4,0.074,0.055,3560,285,1737,0,0,0,0,0,0
$GC,5247,0.69,326.3,174.1,23.7,528,5252,0.28,2.15,0.00,0.000,6,0.132,0.033,3473,1701,1731,0,0,0,0,0,0
$GC,5581,0.79,377.1,121.4,12.4,575,5629,0.10,2.28,39.22,0.600,4,0.097,0.057,3569,290,1527,0,0,0,0,0,0
$GC,5649,0.69,377.1,107.0,25.5,585,5657,0.30,2.12,0.00,0.000,6,0.130,0.031,3475,1713,1525,0,0,0,0,0,0
$GC,5988,0.97,487.7,64.4,9.1,646,6076,0.25,2.35,82.07,0.548,4,0.052,0.056,3628,294,1078,0,0,0,0,0,0
$GC,6115,0.88,487.7,33.9,29.8,666,6124,0.28,2.15,0.00,0.000,6,0.122,0.030,3534,1697,1074,0,0,0,0,0,0
$STATE,6283,end climb,SURFACE_DEPTH_REACHED
$STATE,6283,begin surface coast
$FINISH,0.7,1.021850
$STATE,6303,end surface coast,CONTROL_FINISHED_OK
$STATE,6303,begin surface
$SM_CCo,6318,62.15,0.433,1,0,621,600.00
$SM_GC,1.46,0.00,0.00,62.15,0.000,0.000,0.433,104,1540,621,-9.84,-0.31,600.00
$IRIDIUM_FIX,2415.74,12704.97,260910,202053
$TT8_MAMPS,0.026964
$HUMID,45.70
$INTERNAL_PRESSURE,9.51208
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,24.5,10.440
$10V_AH,10.5,8.313
$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,23.075,48.150,520.750,62.150,0.000,30.136,34.795,97.485,0.000,0.000,15.478,1667.848,2488.560,574.941,1834.103,81.851,0.000,1300.720,0.000,1655.397,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,69.615,854.505,432.990,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,469.167,0.000,887.986,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334124
$DATA_FILE_SIZE,43668,699
$CAP_FILE_SIZE,83673,0
$CFSIZE,260165632,249315328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.214,178.6,1
$GPS,270910,003744,2423.838,12704.897,10,1.6,10,-3.7