version: 66.08
glider: 169
mission: 2
dive: 188
start: 10 5 110 23 51 58
data:
$ID,169
$MISSION,2
$DIVE,188
$N_DIVES,200
$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,-8
$MAX_BUOY,210
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$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,640
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-6919.2134
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3945
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0020000001
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3795
$ROLL_DEG,32
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-10
$R_STBD_OVSHOOT,-10
$ROLL_AD_RATE,330
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3091
$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,20
$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,-76.551537
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.1
$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,0.0043354151
$SEABIRD_T_H,0.00062527717
$SEABIRD_T_I,2.379055e-05
$SEABIRD_T_J,2.5466652e-06
$SEABIRD_C_G,-9.9450293
$SEABIRD_C_H,1.1242783
$SEABIRD_C_I,-0.0011038103
$SEABIRD_C_J,0.00017515429
$GPS1,051010,234328,2416.391,12612.394,10,2.6,29,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.9
$GPS2,051010,235132,2416.368,12612.477,13,1.2,13,-3.7
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$TGT_RADIUS,1000.000
$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,201.9,30324,-21.0,-15.152
$D_GRID,1635
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-94.95,0.000,2,0.000,0.000,136,1990,3078,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.5,-5.5,12,150,9.57,1.75,-14.98,0.000,4,0.238,0.070,2488,883,3928,0,0,0,0,0,0
$GC,373,-0.71,-204.4,95.5,-21.3,54,382,0.00,1.80,0.00,0.000,6,0.000,0.052,2488,2034,3929,0,0,0,0,0,0
$GC,733,-0.70,-204.4,185.2,-26.4,115,739,0.00,1.75,0.00,0.000,4,0.000,0.059,2488,3174,3931,0,0,0,0,0,0
$GC,785,-0.70,-204.4,199.3,-24.0,124,794,0.00,1.80,0.00,0.000,6,0.000,0.047,2488,2008,3932,0,0,0,0,0,0
$GC,1135,-0.70,-204.4,273.9,-20.7,185,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2007,3932,0,0,0,0,0,0
$GC,1469,-0.70,-204.4,336.6,-16.6,227,1473,0.00,1.83,0.00,0.000,4,0.000,0.063,2488,3168,3930,0,0,0,0,0,0
$GC,1494,-0.70,-204.4,340.7,-16.9,229,1498,0.00,1.77,0.00,0.000,6,0.000,0.047,2488,2003,3930,0,0,0,0,0,0
$GC,1825,-0.70,-204.4,394.0,-16.4,260,1828,0.00,1.83,0.00,0.000,4,0.000,0.060,2488,3168,3929,0,0,0,0,0,0
$GC,1871,-0.71,-204.4,400.7,-13.6,264,1874,0.00,1.75,0.00,0.000,6,0.000,0.046,2488,2003,3929,0,0,0,0,0,0
$GC,2204,-0.71,-204.4,450.4,-14.9,295,2208,0.00,1.67,0.00,0.000,4,0.000,0.052,2488,873,3927,0,0,0,0,0,0
$GC,2243,-0.72,-204.4,456.5,-13.1,298,2251,0.00,1.80,0.00,0.000,6,0.000,0.050,2489,2040,3927,0,0,0,0,0,0
$GC,2570,-0.73,-204.4,498.9,-12.8,329,2574,0.00,1.77,0.00,0.000,4,0.000,0.060,2488,3169,3925,0,0,0,0,0,0
$STATE,2581,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2581,begin apogee
$GC,2587,-0.18,0.0,500.9,13.3,330,2750,0.55,0.08,156.98,0.856,6,0.143,0.123,2663,2142,3090,0,0,0,0,0,0
$STATE,2751,end apogee,CONTROL_FINISHED_OK
$STATE,2751,begin climb
$GC,2753,0.72,204.4,510.7,0.0,343,2931,0.82,1.83,168.27,0.851,4,0.078,0.038,2966,967,2254,0,0,0,0,0,0
$GC,3016,0.72,210.8,494.2,14.8,365,3026,0.00,1.77,5.57,0.601,6,0.000,0.036,2963,2153,2231,0,0,0,0,0,0
$GC,3354,0.74,234.0,446.4,14.0,397,3376,0.00,0.00,20.25,0.777,6,0.000,0.000,2963,2153,2136,0,0,0,0,0,0
$GC,3692,0.74,240.0,393.9,14.9,429,3705,0.00,1.80,5.00,0.565,4,0.000,0.041,2972,960,2112,0,0,0,0,0,0
$GC,3751,0.77,265.0,385.3,13.9,434,3779,0.00,1.77,22.48,0.760,6,0.000,0.036,2967,2155,2008,0,0,0,0,0,0
$GC,4106,0.77,265.0,330.6,15.3,467,4110,0.00,1.67,0.00,0.000,4,0.000,0.042,2967,3275,1998,0,0,0,0,0,0
$GC,4221,0.76,265.0,312.7,16.4,477,4225,0.00,1.77,0.00,0.000,6,0.000,0.032,2975,2074,1996,0,0,0,0,0,0
$GC,4561,0.81,310.5,261.8,12.9,530,4603,0.00,0.00,36.10,0.707,6,0.000,0.000,2975,2073,1824,0,0,0,0,0,0
$GC,4945,0.83,328.1,205.4,14.3,596,4967,0.00,1.85,14.73,0.631,4,0.000,0.040,2975,3267,1751,0,0,0,0,0,0
$GC,4993,0.83,328.8,198.1,15.1,603,5000,0.00,1.77,0.00,0.000,6,0.000,0.031,2984,2074,1750,0,0,0,0,0,0
$GC,5343,0.83,328.8,142.2,16.2,664,5351,0.00,1.65,0.00,0.000,4,0.000,0.041,2993,966,1746,0,0,0,0,0,0
$GC,5449,0.90,382.1,128.0,12.5,681,5498,0.00,1.77,42.97,0.611,6,0.000,0.034,2993,2155,1531,0,0,0,0,0,0
$GC,5848,0.97,435.7,68.2,12.5,747,5899,0.15,1.83,42.50,0.563,4,0.073,0.040,3082,961,1311,0,0,0,0,0,0
$GC,5920,0.97,435.7,56.0,18.1,756,5929,0.10,1.80,0.00,0.000,6,0.152,0.034,3048,2153,1310,0,0,0,0,0,0
$STATE,6277,end climb,SURFACE_DEPTH_REACHED
$STATE,6278,begin surface coast
$FINISH,0.1,0.998029
$STATE,6303,end surface coast,CONTROL_FINISHED_OK
$STATE,6303,begin surface
$SM_CCo,6318,132.85,0.474,1,0,481,640.23
$SM_GC,0.99,0.00,0.00,132.85,0.000,0.000,0.474,140,1994,481,-8.08,-0.88,640.23
$IRIDIUM_FIX,2411.01,12612.94,051010,232352
$TT8_MAMPS,0.026215
$HUMID,44.25
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,26.543
$10V_AH,10.4,22.140
$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,19.275,42.800,514.850,132.850,0.000,58.097,35.080,199.523,0.000,0.000,14.643,1925.252,1598.790,617.218,2661.727,140.820,0.000,1432.510,0.000,2352.960,0.000,0.545,0.000
$DEVICE_MAMPS,237.915,123.165,856.035,474.300,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.627,0.000,1718.629,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,50322,820
$CAP_FILE_SIZE,86978,0
$CFSIZE,260165632,244584448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,103.4,1
$GPS,061010,014037,2415.286,12612.511,36,1.5,36,-3.7