version: 66.08
glider: 169
mission: 2
dive: 210
start: 10 7 110 17 0 16
data:
$ID,169
$MISSION,2
$DIVE,210
$N_DIVES,225
$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,-6946.9238
$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
$GPS1,071010,165436,2403.854,12611.309,33,1.0,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-69.9
$GPS2,071010,165950,2403.880,12611.225,11,1.6,11,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12612.000
$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,11.0,29883,-21.0,-15.152
$D_GRID,1793
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.53,0.000,2,0.000,0.000,150,1997,3030,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.2,-5.0,12,148,9.27,1.90,-16.12,0.000,4,0.228,0.073,2487,3167,3927,0,0,0,0,0,0
$GC,203,-0.70,-204.4,42.9,-39.9,25,213,0.00,1.83,0.00,0.000,6,0.000,0.050,2487,2020,3928,0,0,0,0,0,0
$GC,566,-0.68,-204.4,157.3,-29.6,86,575,0.00,1.75,0.00,0.000,4,0.000,0.051,2487,881,3930,0,0,0,0,0,0
$GC,678,-0.68,-204.4,182.0,-18.3,105,686,0.00,1.77,0.00,0.000,6,0.000,0.051,2486,2040,3931,0,0,0,0,0,0
$GC,1027,-0.68,-204.4,261.1,-23.0,166,1036,0.00,1.77,0.00,0.000,4,0.000,0.061,2486,3167,3931,0,0,0,0,0,0
$GC,1073,-0.68,-204.4,270.2,-19.5,173,1080,0.00,1.75,0.00,0.000,6,0.000,0.045,2486,2002,3931,0,0,0,0,0,0
$GC,1410,-0.68,-204.4,335.9,-19.5,217,1413,0.00,1.67,0.00,0.000,4,0.000,0.052,2486,878,3931,0,0,0,0,0,0
$GC,1514,-0.69,-204.4,353.3,-14.7,226,1518,0.00,1.75,0.00,0.000,6,0.000,0.050,2486,2042,3930,0,0,0,0,0,0
$GC,1846,-0.69,-204.4,407.9,-15.6,257,1850,0.00,1.75,0.00,0.000,4,0.000,0.060,2486,3165,3929,0,0,0,0,0,0
$GC,1930,-0.70,-204.4,420.5,-14.0,264,1938,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2010,3929,0,0,0,0,0,0
$GC,2257,-0.70,-204.4,470.0,-14.9,295,2261,0.00,1.75,0.00,0.000,4,0.000,0.054,2486,877,3927,0,0,0,0,0,0
$GC,2341,-0.71,-204.4,481.2,-12.0,302,2349,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2036,3926,0,0,0,0,0,0
$STATE,2495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2495,begin apogee
$GC,2500,-0.18,0.0,500.6,12.7,317,2661,0.57,0.10,156.68,0.861,6,0.147,0.091,2667,2088,3091,0,0,0,0,0,0
$STATE,2662,end apogee,CONTROL_FINISHED_OK
$STATE,2662,begin climb
$GC,2664,0.72,204.4,507.6,0.0,330,2843,0.80,1.75,167.70,0.852,4,0.073,0.039,2964,974,2254,0,0,0,0,0,0
$GC,2915,0.71,204.4,490.3,15.2,351,2922,0.00,1.80,0.00,0.000,6,0.000,0.034,2962,2146,2248,0,0,0,0,0,0
$GC,3242,0.73,222.7,440.6,14.2,382,3264,0.00,1.77,14.75,0.753,4,0.000,0.039,2971,964,2181,0,0,0,0,0,0
$GC,3309,0.72,222.7,429.9,15.9,388,3313,0.00,1.75,0.00,0.000,6,0.000,0.036,2969,2150,2178,0,0,0,0,0,0
$GC,3642,0.77,268.1,383.2,12.9,419,3691,0.00,1.77,37.30,0.778,4,0.000,0.042,2969,3275,1994,0,0,0,0,0,0
$GC,3762,0.76,268.1,364.6,17.3,429,3765,0.00,1.77,0.00,0.000,6,0.000,0.032,2978,2084,1988,0,0,0,0,0,0
$GC,4094,0.76,268.1,306.4,18.1,460,4095,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2082,1984,0,0,0,0,0,0
$GC,4428,0.75,268.1,249.4,15.6,516,4437,0.00,1.67,0.00,0.000,4,0.000,0.043,2986,967,1982,0,0,0,0,0,0
$GC,4519,0.75,268.1,235.2,15.6,531,4525,0.00,1.73,0.00,0.000,6,0.000,0.037,2986,2151,1981,0,0,0,0,0,0
$GC,4866,0.75,275.4,180.5,14.8,592,4876,0.00,1.75,4.53,0.464,4,0.000,0.042,2986,3284,1968,0,0,0,0,0,0
$GC,4924,0.75,275.4,171.7,16.0,601,4932,0.00,1.77,0.00,0.000,6,0.000,0.033,2996,2087,1966,0,0,0,0,0,0
$GC,5283,0.76,289.7,118.2,14.4,662,5300,0.00,1.73,13.18,0.576,4,0.000,0.043,3004,961,1909,0,0,0,0,0,0
$GC,5408,0.79,313.9,100.2,13.9,682,5433,0.00,1.77,20.85,0.581,6,0.000,0.036,3004,2148,1811,0,0,0,0,0,0
$GC,5783,0.98,459.5,53.1,7.9,745,5906,0.12,1.80,112.35,0.558,4,0.083,0.041,3074,3277,1215,0,0,0,0,0,0
$GC,5946,0.98,459.5,32.2,16.8,766,5955,0.10,1.85,0.00,0.000,6,0.146,0.032,3050,2078,1213,0,0,0,0,0,0
$STATE,6144,end climb,SURFACE_DEPTH_REACHED
$STATE,6144,begin surface coast
$FINISH,0.0,1.008180
$STATE,6164,end surface coast,CONTROL_FINISHED_OK
$STATE,6164,begin surface
$SM_CCo,6180,118.93,0.054,0,0,481,640.23
$SM_GC,0.84,0.00,0.00,118.93,0.000,0.000,0.054,147,1995,481,-8.07,-0.82,640.23
$IRIDIUM_FIX,2354.48,12610.66,071010,151522
$TT8_MAMPS,0.025466
$HUMID,44.56
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.3,29.480
$10V_AH,10.4,24.614
$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,18.950,46.325,527.325,118.925,0.000,29.316,39.383,147.160,0.250,0.000,12.232,1876.141,1460.223,611.232,2530.463,137.764,0.000,1439.653,0.000,2324.109,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,94.860,861.390,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.892,0.000,1699.399,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,47063,802
$CAP_FILE_SIZE,84196,1
$CFSIZE,260165632,243519488
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,336.0,1
$GPS,071010,184610,2405.051,12611.294,9,2.1,28,-3.6