version: 66.08
glider: 169
mission: 2
dive: 304
start: 10 15 110 5 36 1
data:
$ID,169
$MISSION,2
$DIVE,304
$N_DIVES,317
$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,-7064.9634
$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
$GPS1,151010,052954,2345.947,12609.694,26,1.0,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.0
$GPS2,151010,053536,2345.911,12609.700,14,1.0,30,-3.5
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12612.000
$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,149.8,11621,-21.0,-15.152
$D_GRID,5000
$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,-204.4,0.0,0.0,0,107,0.00,0.00,-88.97,0.000,2,0.000,0.000,150,1994,2918,0,0,0,0,0,0
$GC,110,-0.72,-204.4,3.4,-5.2,11,144,9.62,1.80,-18.35,0.000,4,0.235,0.070,2488,878,3928,0,0,0,0,0,0
$GC,303,-0.71,-204.4,69.1,-28.1,42,312,0.00,1.83,0.00,0.000,6,0.000,0.054,2488,2033,3929,0,0,0,0,0,0
$GC,668,-0.70,-204.4,160.1,-20.6,103,675,0.00,1.75,0.00,0.000,4,0.000,0.057,2488,3167,3931,0,0,0,0,0,0
$GC,723,-0.70,-204.4,171.1,-17.9,112,732,0.00,1.80,0.00,0.000,6,0.000,0.044,2488,2003,3932,0,0,0,0,0,0
$GC,1085,-0.70,-204.4,243.8,-19.0,173,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2002,3932,0,0,0,0,0,0
$GC,1437,-0.70,-204.4,306.0,-16.6,231,1441,0.00,1.70,0.00,0.000,4,0.000,0.050,2488,875,3931,0,0,0,0,0,0
$GC,1472,-0.71,-204.4,311.7,-15.4,234,1476,0.00,1.77,0.00,0.000,6,0.000,0.048,2488,2050,3931,0,0,0,0,0,0
$GC,1806,-0.71,-204.4,364.2,-15.0,265,1809,0.00,1.73,0.00,0.000,4,0.000,0.057,2488,3168,3930,0,0,0,0,0,0
$GC,1890,-0.72,-204.4,376.0,-12.2,272,1900,0.00,1.80,0.00,0.000,6,0.000,0.042,2488,2001,3929,0,0,0,0,0,0
$GC,2217,-0.73,-204.4,415.8,-11.1,303,2221,0.00,1.85,0.00,0.000,4,0.000,0.056,2488,3165,3928,0,0,0,0,0,0
$GC,2265,-0.74,-204.4,420.6,-9.4,307,2269,0.00,1.77,0.00,0.000,6,0.000,0.041,2488,2004,3928,0,0,0,0,0,0
$GC,2596,-0.75,-204.4,461.0,-12.3,338,2600,0.00,1.83,0.00,0.000,4,0.000,0.057,2489,3173,3926,0,0,0,0,0,0
$GC,2659,-0.76,-204.4,468.5,-10.8,343,2665,0.00,1.77,0.00,0.000,6,0.000,0.043,2488,1997,3926,0,0,0,0,0,0
$STATE,2918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2918,begin apogee
$GC,2924,-0.18,0.0,500.3,12.2,368,3088,0.55,0.08,159.15,0.863,6,0.145,0.106,2661,2091,3091,0,0,0,0,0,0
$STATE,3089,end apogee,CONTROL_FINISHED_OK
$STATE,3089,begin climb
$GC,3091,0.72,204.4,510.2,0.0,381,3268,0.85,1.67,170.18,0.856,4,0.062,0.036,2978,964,2255,0,0,0,0,0,0
$GC,3443,0.76,248.1,488.5,13.0,412,3484,0.00,1.75,36.42,0.818,6,0.000,0.033,2975,2153,2078,0,0,0,0,0,0
$GC,3811,0.76,248.1,428.4,17.8,446,3815,0.00,1.70,0.00,0.000,4,0.000,0.041,2975,3271,2066,0,0,0,0,0,0
$GC,3871,0.75,248.1,416.7,19.1,451,3878,0.00,1.77,0.00,0.000,6,0.000,0.030,2985,2078,2064,0,0,0,0,0,0
$GC,4198,0.74,248.1,358.1,17.1,482,4199,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2077,2060,0,0,0,0,0,0
$GC,4517,0.76,268.4,308.9,14.1,512,4536,0.00,0.00,15.25,0.708,6,0.000,0.000,2984,2077,1995,0,0,0,0,0,0
$GC,4871,0.78,286.7,260.9,14.2,569,4893,0.00,1.73,16.10,0.682,4,0.000,0.040,2993,956,1920,0,0,0,0,0,0
$GC,4974,0.79,296.3,245.6,14.7,586,4989,0.00,1.80,9.05,0.615,6,0.000,0.034,2993,2151,1881,0,0,0,0,0,0
$GC,5330,0.79,296.3,189.9,16.3,648,5339,0.00,1.80,0.00,0.000,4,0.000,0.039,3001,958,1877,0,0,0,0,0,0
$GC,5431,0.79,296.3,173.5,15.7,665,5438,0.00,1.77,0.00,0.000,6,0.000,0.034,3001,2163,1876,0,0,0,0,0,0
$GC,5790,0.82,326.0,117.3,13.7,726,5824,0.00,1.67,25.12,0.599,4,0.000,0.038,3001,3280,1759,0,0,0,0,0,0
$GC,5874,0.83,332.7,105.7,14.8,738,5891,0.00,1.80,6.80,0.488,6,0.000,0.029,3011,2080,1732,0,0,0,0,0,0
$GC,6242,0.94,412.6,61.7,11.2,800,6315,0.00,1.73,63.50,0.567,4,0.000,0.038,3017,965,1406,0,0,0,0,0,0
$GC,6472,1.09,521.7,39.1,9.7,835,6562,0.12,1.77,85.12,0.538,6,0.042,0.031,3104,2151,963,0,0,0,0,0,0
$STATE,6669,end climb,SURFACE_DEPTH_REACHED
$STATE,6669,begin surface coast
$FINISH,0.1,1.014310
$STATE,6689,end surface coast,CONTROL_FINISHED_OK
$STATE,6689,begin surface
$SM_CCo,6705,85.82,0.453,1,0,480,640.23
$SM_GC,0.92,0.00,0.00,85.82,0.000,0.000,0.453,147,1998,480,-8.07,-0.76,640.23
$IRIDIUM_FIX,2340.34,12609.78,151010,030353
$TT8_MAMPS,0.026215
$HUMID,45.98
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.2,42.662
$10V_AH,10.4,35.467
$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,19.450,42.900,586.700,85.825,0.000,24.238,37.731,154.431,0.000,0.000,31.496,2022.416,1634.161,611.152,2697.771,172.380,0.000,1484.682,0.000,2484.900,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,105.570,862.920,452.880,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,579.155,0.000,1824.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333972
$DATA_FILE_SIZE,53634,867
$CAP_FILE_SIZE,87856,0
$CFSIZE,260165632,238690304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,264.3,1
$GPS,151010,072955,2344.999,12609.769,11,1.9,11,-3.5