version: 66.08
glider: 169
mission: 2
dive: 218
start: 10 8 110 7 49 46
data:
$ID,169
$MISSION,2
$DIVE,218
$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,-6956.9795
$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
$GPS1,081010,074431,2412.462,12612.400,38,1.8,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-67.9
$GPS2,081010,074920,2412.511,12612.395,14,1.1,14,-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,351.0,13886,-21.0,-15.152
$D_GRID,1658
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,114,0.00,0.00,-97.07,0.000,2,0.000,0.000,139,1979,3117,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.7,-6.1,12,151,9.45,1.95,-14.10,0.000,4,0.233,0.082,2486,3165,3929,0,0,0,0,0,0
$GC,248,-0.71,-204.4,60.4,-32.5,32,256,0.00,1.83,0.00,0.000,6,0.000,0.047,2486,2004,3930,0,0,0,0,0,0
$GC,612,-0.69,-204.4,170.2,-26.1,93,618,0.00,1.83,0.00,0.000,4,0.000,0.061,2486,3174,3932,0,0,0,0,0,0
$GC,651,-0.69,-204.4,180.8,-26.9,99,657,0.00,1.77,0.00,0.000,6,0.000,0.046,2486,2002,3932,0,0,0,0,0,0
$GC,1006,-0.68,-204.4,254.4,-17.8,160,1014,0.00,1.85,0.00,0.000,4,0.000,0.059,2486,3168,3932,0,0,0,0,0,0
$GC,1076,-0.69,-204.4,266.0,-15.4,171,1082,0.00,1.75,0.00,0.000,6,0.000,0.043,2486,2000,3932,0,0,0,0,0,0
$GC,1418,-0.69,-204.4,328.1,-17.5,217,1421,0.00,1.83,0.00,0.000,4,0.000,0.059,2486,3168,3932,0,0,0,0,0,0
$GC,1491,-0.69,-204.4,340.9,-15.9,223,1498,0.00,1.77,0.00,0.000,6,0.000,0.043,2486,2003,3932,0,0,0,0,0,0
$GC,1816,-0.70,-204.4,393.8,-16.6,254,1820,0.00,1.70,0.00,0.000,4,0.000,0.050,2486,868,3930,0,0,0,0,0,0
$GC,1856,-0.70,-204.4,400.1,-14.8,257,1863,0.00,1.77,0.00,0.000,6,0.000,0.049,2486,2047,3930,0,0,0,0,0,0
$GC,2181,-0.71,-204.4,448.6,-15.1,288,2185,0.00,1.70,0.00,0.000,4,0.000,0.059,2486,3168,3929,0,0,0,0,0,0
$GC,2241,-0.72,-204.4,456.7,-12.7,293,2245,0.00,1.75,0.00,0.000,6,0.000,0.043,2486,2000,3929,0,0,0,0,0,0
$STATE,2562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2562,begin apogee
$GC,2566,-0.18,0.0,500.3,14.1,323,2729,0.55,0.08,157.38,0.859,6,0.137,0.107,2663,2090,3091,0,0,0,0,0,0
$STATE,2729,end apogee,CONTROL_FINISHED_OK
$STATE,2730,begin climb
$GC,2731,0.72,204.4,509.8,0.0,336,2909,0.80,1.88,168.05,0.855,4,0.067,0.038,2957,3272,2254,0,0,0,0,0,0
$GC,3004,0.71,204.4,492.8,16.1,359,3008,0.00,1.77,0.00,0.000,6,0.000,0.031,2966,2088,2246,0,0,0,0,0,0
$GC,3336,0.74,237.2,443.8,13.5,390,3364,0.00,0.00,26.17,0.792,6,0.000,0.000,2966,2089,2124,0,0,0,0,0,0
$GC,3679,0.74,237.2,391.2,15.9,422,3683,0.00,1.70,0.00,0.000,4,0.000,0.042,2974,961,2114,0,0,0,0,0,0
$GC,3761,0.73,237.2,378.5,15.5,429,3765,0.00,1.75,0.00,0.000,6,0.000,0.036,2974,2157,2113,0,0,0,0,0,0
$GC,4092,0.72,237.2,325.4,15.6,460,4095,0.00,1.75,0.00,0.000,4,0.000,0.041,2983,964,2109,0,0,0,0,0,0
$GC,4211,0.73,243.0,307.1,14.9,470,4220,0.00,1.77,3.95,0.469,6,0.000,0.037,2983,2148,2100,0,0,0,0,0,0
$GC,4561,0.73,255.0,256.4,14.6,526,4584,0.00,1.75,11.50,0.660,4,0.000,0.041,2983,3280,2049,0,0,0,0,0,0
$GC,4598,0.73,255.0,250.9,15.3,531,4605,0.00,1.75,0.00,0.000,6,0.000,0.033,2992,2083,2047,0,0,0,0,0,0
$GC,4955,0.74,271.0,202.2,14.4,592,4978,0.00,1.85,14.02,0.640,4,0.000,0.042,2991,3272,1985,0,0,0,0,0,0
$GC,5092,0.73,271.0,180.8,15.7,614,5101,0.08,1.77,0.00,0.000,6,0.161,0.031,2974,2086,1980,0,0,0,0,0,0
$GC,5449,0.81,335.2,133.5,12.0,675,5507,0.00,1.85,51.45,0.623,4,0.000,0.037,2974,3279,1724,0,0,0,0,0,0
$GC,5522,0.88,389.8,124.8,12.4,684,5572,0.00,1.83,43.88,0.604,6,0.000,0.031,2983,2084,1499,0,0,0,0,0,0
$GC,5922,0.94,428.5,70.5,13.2,750,5958,0.12,1.70,30.25,0.562,4,0.080,0.037,3068,957,1342,0,0,0,0,0,0
$GC,6037,1.00,475.9,53.4,12.8,767,6086,0.00,1.80,37.72,0.546,6,0.000,0.032,3067,2154,1148,0,0,0,0,0,0
$STATE,6341,end climb,SURFACE_DEPTH_REACHED
$STATE,6341,begin surface coast
$FINISH,0.1,1.020824
$STATE,6360,end surface coast,CONTROL_FINISHED_OK
$STATE,6360,begin surface
$SM_CCo,6376,109.88,0.055,0,0,481,640.23
$SM_GC,0.91,0.00,0.00,109.88,0.000,0.000,0.055,147,1991,481,-8.07,-0.93,640.23
$IRIDIUM_FIX,2401.56,12613.45,081010,050530
$TT8_MAMPS,0.026964
$HUMID,45.43
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.3,30.546
$10V_AH,10.3,25.507
$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,19.175,46.950,544.375,109.875,0.000,24.199,19.636,141.622,0.000,0.000,15.585,1918.690,1591.311,608.059,2523.978,136.243,0.000,1447.217,0.000,2339.381,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,107.100,859.095,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.944,0.000,1709.038,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,50351,820
$CAP_FILE_SIZE,85357,0
$CFSIZE,260165632,243134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078, 66.1,1
$GPS,081010,093831,2413.625,12612.565,13,1.7,13,-3.6