version: 66.08
glider: 169
mission: 2
dive: 241
start: 10 10 110 3 43 39
data:
$ID,169
$MISSION,2
$DIVE,241
$N_DIVES,248
$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,-6985.8613
$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
$GPS1,101010,033750,2404.981,12611.542,9,1.8,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.4
$GPS2,101010,034313,2405.003,12611.511,14,1.9,32,-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,181.0,9303,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.50,0.000,2,0.000,0.000,140,1984,3095,0,0,0,0,0,0
$GC,117,-0.72,-204.4,3.5,-5.3,12,151,9.73,1.77,-14.65,0.000,4,0.240,0.074,2488,867,3929,0,0,0,0,0,0
$GC,265,-0.71,-204.4,58.1,-25.9,35,273,0.00,1.85,0.00,0.000,6,0.000,0.057,2488,2032,3930,0,0,0,0,0,0
$GC,628,-0.70,-204.4,159.0,-23.4,96,636,0.00,1.77,0.00,0.000,4,0.000,0.060,2488,3167,3933,0,0,0,0,0,0
$GC,756,-0.70,-204.4,184.6,-17.3,117,762,0.00,1.77,0.00,0.000,6,0.000,0.043,2488,1999,3933,0,0,0,0,0,0
$GC,1110,-0.70,-204.4,256.1,-17.7,178,1120,0.00,1.85,0.00,0.000,4,0.000,0.059,2488,3167,3933,0,0,0,0,0,0
$GC,1133,-0.70,-204.4,259.7,-17.3,181,1140,0.00,1.75,0.00,0.000,6,0.000,0.041,2488,2002,3933,0,0,0,0,0,0
$GC,1477,-0.70,-204.4,324.8,-19.0,230,1481,0.00,1.73,0.00,0.000,4,0.000,0.050,2488,868,3933,0,0,0,0,0,0
$GC,1527,-0.71,-204.4,333.7,-15.6,234,1537,0.00,1.83,0.00,0.000,6,0.000,0.051,2488,2044,3933,0,0,0,0,0,0
$GC,1854,-0.72,-204.4,386.0,-16.0,265,1858,0.00,1.73,0.00,0.000,4,0.000,0.058,2488,3167,3932,0,0,0,0,0,0
$GC,1893,-0.72,-204.4,391.8,-12.8,268,1902,0.00,1.77,0.00,0.000,6,0.000,0.042,2488,2002,3931,0,0,0,0,0,0
$GC,2221,-0.73,-204.4,435.8,-14.2,299,2225,0.00,1.83,0.00,0.000,4,0.000,0.058,2488,3168,3930,0,0,0,0,0,0
$GC,2260,-0.74,-204.4,441.9,-14.4,302,2269,0.00,1.77,0.00,0.000,6,0.000,0.041,2488,2003,3929,0,0,0,0,0,0
$GC,2586,-0.75,-204.4,487.2,-13.1,333,2590,0.00,1.70,0.00,0.000,4,0.000,0.050,2488,866,3927,0,0,0,0,0,0
$GC,2614,-0.76,-204.4,491.3,-12.3,335,2621,0.00,1.77,0.00,0.000,6,0.000,0.048,2488,2050,3927,0,0,0,0,0,0
$STATE,2696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2696,begin apogee
$GC,2700,-0.18,0.0,500.6,12.0,343,2871,0.57,0.05,158.23,0.863,6,0.150,0.065,2666,2093,3090,0,0,0,0,0,0
$STATE,2871,end apogee,CONTROL_FINISHED_OK
$STATE,2872,begin climb
$GC,2873,0.72,204.4,507.6,0.0,357,3049,0.82,1.77,168.73,0.850,4,0.078,0.040,2968,957,2257,0,0,0,0,0,0
$GC,3091,0.71,204.4,494.2,16.4,375,3095,0.00,1.83,0.00,0.000,6,0.000,0.033,2967,2159,2251,0,0,0,0,0,0
$GC,3423,0.70,204.4,439.9,15.7,406,3427,0.00,1.77,0.00,0.000,4,0.000,0.039,2976,953,2243,0,0,0,0,0,0
$GC,3447,0.69,204.4,436.0,15.7,408,3450,0.00,1.75,0.00,0.000,6,0.000,0.033,2975,2157,2243,0,0,0,0,0,0
$GC,3779,0.68,204.4,383.6,16.3,439,3783,0.00,1.67,0.00,0.000,4,0.000,0.041,2976,3273,2240,0,0,0,0,0,0
$GC,3880,0.67,204.4,366.0,17.2,448,3885,0.12,1.73,0.00,0.000,6,0.187,0.031,2953,2082,2238,0,0,0,0,0,0
$GC,4213,0.74,259.1,320.6,12.4,479,4263,0.00,1.85,42.83,0.754,4,0.000,0.038,2953,3275,2032,0,0,0,0,0,0
$GC,4322,0.76,279.9,305.7,14.1,488,4347,0.00,1.83,17.88,0.702,6,0.000,0.031,2962,2072,1947,0,0,0,0,0,0
$GC,4685,0.78,293.4,253.0,14.5,548,4701,0.00,1.73,11.05,0.650,4,0.000,0.041,2970,963,1893,0,0,0,0,0,0
$GC,4834,0.83,334.5,232.0,13.1,573,4877,0.00,1.75,34.72,0.689,6,0.000,0.034,2970,2153,1725,0,0,0,0,0,0
$GC,5219,0.89,384.5,177.6,12.7,639,5270,0.12,1.85,39.75,0.643,4,0.083,0.039,3047,968,1521,0,0,0,0,0,0
$GC,5302,0.88,384.5,162.3,21.3,651,5309,0.12,1.77,0.00,0.000,6,0.174,0.034,3015,2164,1517,0,0,0,0,0,0
$GC,5665,0.88,384.5,94.1,19.3,712,5673,0.00,1.67,0.00,0.000,4,0.000,0.040,3014,3279,1513,0,0,0,0,0,0
$GC,5712,0.88,384.5,86.2,15.6,719,5720,0.00,1.80,0.00,0.000,6,0.000,0.031,3024,2080,1512,0,0,0,0,0,0
$GC,6070,0.99,465.2,35.3,11.1,780,6143,0.00,1.73,62.53,0.542,4,0.000,0.041,3026,969,1192,0,0,0,0,0,0
$GC,6269,1.14,573.9,14.1,9.7,810,6336,0.15,1.77,61.75,0.515,2,0.037,0.031,3119,2155,868,0,0,0,0,0,0
$STATE,6337,end climb,SURFACE_DEPTH_REACHED
$STATE,6337,begin surface coast
$FINISH,0.1,1.022029
$STATE,6351,end surface coast,CONTROL_FINISHED_OK
$STATE,6351,begin surface
$SM_CCo,6367,69.30,0.055,0,0,480,640.23
$SM_GC,0.81,0.00,0.00,69.30,0.000,0.000,0.055,151,1995,480,-8.06,-0.85,640.23
$IRIDIUM_FIX,2356.84,12613.96,101010,010130
$TT8_MAMPS,0.026215
$HUMID,45.23
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.60
$XPDR_PINGS,53
$24V_AH,24.3,33.727
$10V_AH,10.4,28.148
$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,20.125,53.600,597.450,69.300,0.000,24.015,20.546,159.044,13.250,0.000,32.900,1904.598,1520.928,623.080,2553.604,159.821,0.000,1485.537,0.000,2348.795,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,100.215,862.920,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.786,0.000,1709.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50321,820
$CAP_FILE_SIZE,88929,0
$CFSIZE,260165632,241958912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.020, 79.4,1
$GPS,101010,053201,2404.044,12611.565,38,1.4,38,-3.6