version: 66.08
glider: 169
mission: 2
dive: 194
start: 10 6 110 11 11 50
data:
$ID,169
$MISSION,2
$DIVE,194
$N_DIVES,210
$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,-6926.748
$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
$GPS1,061010,110552,2410.633,12612.353,11,3.6,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.2
$GPS2,061010,111124,2410.602,12612.317,34,0.8,44,-3.6
$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,196.1,19642,-21.0,-15.152
$D_GRID,1685
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-95.88,0.000,2,0.000,0.000,138,1993,3113,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.9,-6.7,12,150,9.35,1.75,-14.00,0.000,4,0.230,0.070,2489,880,3929,0,0,0,0,0,0
$GC,320,-0.72,-204.4,77.7,-23.4,45,328,0.00,1.83,0.00,0.000,6,0.000,0.055,2489,2036,3931,0,0,0,0,0,0
$GC,682,-0.71,-204.4,171.4,-26.4,106,691,0.00,1.77,0.00,0.000,4,0.000,0.060,2489,3168,3933,0,0,0,0,0,0
$GC,740,-0.71,-204.4,184.1,-20.0,115,747,0.00,1.77,0.00,0.000,6,0.000,0.045,2488,2002,3933,0,0,0,0,0,0
$GC,1096,-0.70,-204.4,258.1,-19.7,176,1104,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2001,3933,0,0,0,0,0,0
$GC,1442,-0.70,-204.4,322.6,-19.1,226,1445,0.00,1.83,0.00,0.000,4,0.000,0.059,2489,3170,3933,0,0,0,0,0,0
$GC,1488,-0.71,-204.4,330.7,-17.0,230,1492,0.00,1.75,0.00,0.000,6,0.000,0.046,2489,2002,3933,0,0,0,0,0,0
$GC,1821,-0.71,-204.4,387.5,-15.9,261,1824,0.00,1.67,0.00,0.000,4,0.000,0.051,2489,867,3931,0,0,0,0,0,0
$GC,1878,-0.72,-204.4,396.0,-12.9,266,1882,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2047,3931,0,0,0,0,0,0
$GC,2211,-0.73,-204.4,442.1,-13.7,297,2215,0.00,1.75,0.00,0.000,4,0.000,0.060,2489,3167,3929,0,0,0,0,0,0
$GC,2295,-0.74,-204.4,452.7,-10.6,304,2304,0.00,1.77,0.00,0.000,6,0.000,0.044,2489,2002,3929,0,0,0,0,0,0
$GC,2623,-0.74,-204.4,495.4,-12.2,335,2627,0.00,1.73,0.00,0.000,4,0.000,0.053,2489,872,3927,0,0,0,0,0,0
$GC,2650,-0.75,-204.4,499.2,-12.9,337,2656,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2049,3926,0,0,0,0,0,0
$STATE,2669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2669,begin apogee
$GC,2674,-0.18,0.0,501.0,11.7,339,2837,0.55,0.08,157.90,0.864,6,0.143,0.110,2663,2090,3090,0,0,0,0,0,0
$STATE,2837,end apogee,CONTROL_FINISHED_OK
$STATE,2838,begin climb
$GC,2839,0.72,204.4,509.5,0.0,352,3018,0.82,1.92,169.48,0.852,4,0.073,0.041,2960,3275,2256,0,0,0,0,0,0
$GC,3085,0.71,204.4,492.5,16.7,373,3088,0.00,1.83,0.00,0.000,6,0.000,0.033,2968,2080,2249,0,0,0,0,0,0
$GC,3415,0.70,204.4,437.9,15.5,404,3418,0.00,1.62,0.00,0.000,4,0.000,0.042,2977,964,2243,0,0,0,0,0,0
$GC,3439,0.69,207.5,434.4,15.0,406,3442,0.00,1.77,0.00,0.000,6,0.000,0.036,2975,2160,2242,0,0,0,0,0,0
$GC,3771,0.68,207.5,381.2,17.3,437,3775,0.00,1.65,0.00,0.000,4,0.000,0.041,2975,3283,2239,0,0,0,0,0,0
$GC,3809,0.67,207.5,373.7,18.0,440,3820,0.10,1.80,0.00,0.000,6,0.170,0.034,2953,2080,2239,0,0,0,0,0,0
$GC,4137,0.70,233.2,325.8,13.9,471,4163,0.00,1.73,21.98,0.740,4,0.000,0.044,2961,964,2140,0,0,0,0,0,0
$GC,4201,0.70,233.2,315.4,16.3,476,4212,0.00,1.80,0.00,0.000,6,0.000,0.035,2961,2150,2136,0,0,0,0,0,0
$GC,4548,0.78,308.2,265.2,11.4,528,4614,0.00,0.00,60.22,0.718,6,0.000,0.000,2961,2150,1833,0,0,0,0,0,0
$GC,4964,0.83,348.3,203.1,13.2,597,5008,0.10,1.88,31.67,0.662,4,0.099,0.044,3029,965,1669,0,0,0,0,0,0
$GC,5023,0.83,348.3,192.4,20.8,605,5030,0.12,1.77,0.00,0.000,6,0.181,0.036,2997,2158,1668,0,0,0,0,0,0
$GC,5384,0.82,348.3,130.5,17.3,666,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2159,1662,0,0,0,0,0,0
$GC,5749,0.83,353.5,74.8,14.9,727,5758,0.00,1.85,3.88,0.376,4,0.000,0.043,3006,961,1650,0,0,0,0,0,0
$GC,5844,0.95,440.7,62.7,10.8,742,5917,0.00,1.77,68.95,0.569,6,0.000,0.035,3006,2147,1293,0,0,0,0,0,0
$GC,6268,1.04,503.9,18.3,12.0,811,6327,0.15,1.85,48.55,0.522,4,0.072,0.043,3100,968,1034,0,0,0,0,0,0
$STATE,6353,end climb,SURFACE_DEPTH_REACHED
$STATE,6353,begin surface coast
$FINISH,0.1,1.020720
$STATE,6367,end surface coast,CONTROL_FINISHED_OK
$STATE,6367,begin surface
$SM_CCo,6384,96.60,0.459,1,0,481,640.23
$SM_GC,0.95,0.00,0.00,96.60,0.000,0.000,0.459,150,2038,481,-8.06,0.37,640.23
$IRIDIUM_FIX,2401.56,12612.06,061010,090902
$TT8_MAMPS,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,24.3,27.363
$10V_AH,10.4,22.823
$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,19.450,46.375,562.625,96.600,0.000,30.663,39.531,136.791,0.000,0.000,45.189,1921.727,1546.268,622.086,2595.984,134.888,0.000,1463.139,0.000,2369.995,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,110.160,863.685,459.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.388,0.000,1750.609,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,50305,824
$CAP_FILE_SIZE,86257,0
$CFSIZE,260165632,244285440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,174.4,1
$GPS,061010,130052,2409.351,12611.956,9,2.8,28,-3.6