version: 66.08
glider: 169
mission: 2
dive: 219
start: 10 8 110 9 43 58
data:
$ID,169
$MISSION,2
$DIVE,219
$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,-6958.2358
$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
$GPS1,081010,093831,2413.625,12612.565,13,1.7,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.2
$GPS2,081010,094332,2413.677,12612.582,12,1.7,12,-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,346.5,11751,-21.0,-15.152
$D_GRID,1645
$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,-204.4,0.0,0.0,0,115,0.00,0.00,-96.70,0.000,2,0.000,0.000,135,1991,3102,0,0,0,0,0,0
$GC,117,-0.72,-204.4,3.5,-6.0,12,152,9.43,1.77,-14.45,0.000,4,0.231,0.076,2486,882,3929,0,0,0,0,0,0
$GC,330,-0.71,-204.4,80.5,-23.5,46,338,0.00,1.80,0.00,0.000,6,0.000,0.051,2486,2033,3930,0,0,0,0,0,0
$GC,690,-0.70,-204.4,173.8,-25.4,107,697,0.00,1.75,0.00,0.000,4,0.000,0.059,2486,3171,3932,0,0,0,0,0,0
$GC,817,-0.70,-204.4,199.5,-17.7,129,825,0.00,1.77,0.00,0.000,6,0.000,0.046,2486,2004,3933,0,0,0,0,0,0
$GC,1164,-0.70,-204.4,273.7,-20.3,190,1172,0.00,1.85,0.00,0.000,4,0.000,0.060,2486,3167,3933,0,0,0,0,0,0
$GC,1231,-0.70,-204.4,286.4,-17.2,201,1239,0.00,1.77,0.00,0.000,6,0.000,0.043,2486,1998,3933,0,0,0,0,0,0
$GC,1567,-0.70,-204.4,352.5,-17.8,238,1571,0.00,1.80,0.00,0.000,4,0.000,0.057,2486,3168,3932,0,0,0,0,0,0
$GC,1604,-0.71,-204.4,358.6,-17.7,241,1608,0.00,1.77,0.00,0.000,6,0.000,0.043,2486,2005,3932,0,0,0,0,0,0
$GC,1934,-0.71,-204.4,412.6,-16.8,272,1938,0.00,1.83,0.00,0.000,4,0.000,0.060,2486,3167,3931,0,0,0,0,0,0
$GC,1961,-0.72,-204.4,416.9,-15.4,274,1970,0.00,1.80,0.00,0.000,6,0.000,0.042,2486,2000,3931,0,0,0,0,0,0
$GC,2289,-0.72,-204.4,466.1,-14.0,305,2293,0.00,1.85,0.00,0.000,4,0.000,0.057,2486,3168,3929,0,0,0,0,0,0
$GC,2313,-0.73,-204.4,469.4,-13.9,307,2317,0.00,1.80,0.00,0.000,6,0.000,0.043,2486,2000,3929,0,0,0,0,0,0
$STATE,2549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2549,begin apogee
$GC,2553,-0.18,0.0,501.4,14.0,329,2716,0.57,0.08,157.25,0.861,6,0.140,0.109,2669,2090,3091,0,0,0,0,0,0
$STATE,2717,end apogee,CONTROL_FINISHED_OK
$STATE,2717,begin climb
$GC,2718,0.72,204.4,511.6,0.0,342,2894,0.82,1.67,168.15,0.858,4,0.069,0.037,2972,964,2255,0,0,0,0,0,0
$GC,3002,0.75,239.5,496.7,13.4,366,3036,0.00,1.83,29.20,0.810,6,0.000,0.034,2972,2159,2113,0,0,0,0,0,0
$GC,3353,0.75,239.5,439.9,16.4,399,3357,0.00,1.80,0.00,0.000,4,0.000,0.041,2980,953,2102,0,0,0,0,0,0
$GC,3414,0.74,239.5,429.1,17.3,404,3423,0.00,1.80,0.00,0.000,6,0.000,0.034,2980,2152,2101,0,0,0,0,0,0
$GC,3742,0.73,239.5,370.7,18.6,435,3746,0.00,1.65,0.00,0.000,4,0.000,0.041,2980,3279,2098,0,0,0,0,0,0
$GC,3836,0.72,239.5,352.5,19.5,443,3839,0.00,1.77,0.00,0.000,6,0.000,0.033,2989,2081,2096,0,0,0,0,0,0
$GC,4163,0.71,239.5,296.1,15.3,475,4170,0.00,1.80,0.00,0.000,4,0.000,0.042,2989,3272,2094,0,0,0,0,0,0
$GC,4194,0.70,239.5,291.0,15.7,480,4204,0.10,1.77,0.00,0.000,6,0.160,0.034,2965,2091,2093,0,0,0,0,0,0
$GC,4554,0.78,306.5,244.8,11.8,541,4611,0.00,1.77,52.00,0.705,4,0.000,0.041,2973,957,1840,0,0,0,0,0,0
$GC,4638,0.85,364.2,234.6,12.3,553,4695,0.00,1.80,46.75,0.682,6,0.000,0.034,2973,2152,1605,0,0,0,0,0,0
$GC,5047,0.85,364.2,164.8,16.4,621,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2152,1596,0,0,0,0,0,0
$GC,5408,0.89,388.8,110.1,13.9,682,5434,0.12,1.77,19.05,0.584,4,0.082,0.038,3057,963,1504,0,0,0,0,0,0
$GC,5450,0.89,388.8,102.8,18.6,687,5460,0.10,1.80,0.00,0.000,6,0.157,0.035,3023,2160,1502,0,0,0,0,0,0
$GC,5817,1.01,483.4,52.5,10.4,748,5899,0.00,1.88,73.30,0.561,4,0.000,0.040,3026,970,1119,0,0,0,0,0,0
$GC,5978,1.14,578.9,35.3,10.4,771,6060,0.15,1.77,73.85,0.535,6,0.034,0.032,3129,2150,729,0,0,0,0,0,0
$STATE,6125,end climb,SURFACE_DEPTH_REACHED
$STATE,6125,begin surface coast
$FINISH,0.1,1.021576
$STATE,6138,end surface coast,CONTROL_FINISHED_OK
$STATE,6138,begin surface
$SM_CCo,6154,46.35,0.396,1,0,480,640.23
$SM_GC,0.76,0.00,0.00,46.35,0.000,0.000,0.396,143,1975,480,-8.08,-1.39,640.23
$IRIDIUM_FIX,2359.20,12621.96,081010,070751
$TT8_MAMPS,0.026215
$HUMID,46.29
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.3,30.693
$10V_AH,10.3,25.617
$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,19.675,47.000,619.550,46.350,0.000,27.770,23.097,153.227,0.000,0.000,12.881,1821.871,1479.281,601.461,2463.863,142.183,0.000,1439.232,0.000,2273.584,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,108.630,860.625,396.270,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.788,0.000,1667.417,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,46895,794
$CAP_FILE_SIZE,83526,0
$CFSIZE,260165632,243085312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.136,105.2,1
$GPS,081010,112831,2414.548,12612.923,41,1.0,41,-3.6