version: 66.08
glider: 169
mission: 2
dive: 93
start: 9 28 110 14 15 16
data:
$ID,169
$MISSION,2
$DIVE,93
$N_DIVES,105
$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,9
$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,-6796.0557
$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,360
$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
$GPS1,280910,141034,2418.020,12611.074,12,2.5,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.9
$GPS2,280910,141450,2418.033,12611.024,14,1.3,14,-3.7
$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,30.5,3997,-21.0,-15.152
$D_GRID,1688
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-95.62,0.000,2,0.000,0.000,146,2000,3071,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.2,-4.4,12,149,9.20,1.88,-15.32,0.000,4,0.231,0.077,2486,3165,3929,0,0,0,0,0,0
$GC,187,-0.69,-204.4,37.4,-45.3,22,196,0.00,1.83,0.00,0.000,6,0.000,0.054,2486,2016,3930,0,0,0,0,0,0
$GC,552,-0.69,-204.4,157.3,-24.5,83,558,0.00,1.70,0.00,0.000,4,0.000,0.057,2486,881,3932,0,0,0,0,0,0
$GC,625,-0.68,-204.4,174.8,-21.7,95,631,0.00,1.77,0.00,0.000,6,0.000,0.051,2486,2049,3932,0,0,0,0,0,0
$GC,980,-0.68,-204.4,253.0,-19.4,156,988,0.00,1.73,0.00,0.000,4,0.000,0.060,2486,3164,3933,0,0,0,0,0,0
$GC,1060,-0.69,-204.4,266.9,-16.3,169,1067,0.00,1.73,0.00,0.000,6,0.000,0.047,2486,2004,3934,0,0,0,0,0,0
$GC,1407,-0.69,-204.4,334.2,-18.9,215,1410,0.00,1.70,0.00,0.000,4,0.000,0.055,2486,867,3933,0,0,0,0,0,0
$GC,1623,-0.70,-204.4,371.3,-16.1,234,1626,0.00,1.77,0.00,0.000,6,0.000,0.050,2486,2039,3933,0,0,0,0,0,0
$GC,1955,-0.70,-204.4,424.4,-15.2,265,1959,0.00,1.77,0.00,0.000,4,0.000,0.055,2486,866,3931,0,0,0,0,0,0
$GC,2013,-0.71,-204.4,432.9,-13.7,270,2016,0.00,1.77,0.00,0.000,6,0.000,0.050,2486,2040,3931,0,0,0,0,0,0
$GC,2345,-0.72,-204.4,479.3,-13.2,301,2349,0.00,1.77,0.00,0.000,4,0.000,0.054,2486,885,3929,0,0,0,0,0,0
$GC,2430,-0.73,-204.4,490.5,-12.3,308,2439,0.00,1.77,0.00,0.000,6,0.000,0.049,2486,2049,3929,0,0,0,0,0,0
$STATE,2510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2510,begin apogee
$GC,2514,-0.18,0.0,501.1,13.5,316,2677,0.55,0.08,156.27,0.856,6,0.144,0.109,2663,2091,3091,0,0,0,0,0,0
$STATE,2678,end apogee,CONTROL_FINISHED_OK
$STATE,2678,begin climb
$GC,2679,0.72,204.4,508.6,0.0,329,2855,0.82,1.80,167.65,0.844,4,0.083,0.041,2961,966,2256,0,0,0,0,0,0
$GC,2936,0.72,209.7,493.2,14.9,350,2950,0.00,1.80,4.88,0.561,6,0.000,0.035,2961,2160,2235,0,0,0,0,0,0
$GC,3267,0.72,215.8,443.8,14.8,381,3281,0.00,1.77,5.93,0.616,4,0.000,0.040,2970,960,2210,0,0,0,0,0,0
$GC,3317,0.73,229.8,436.6,14.5,385,3335,0.00,1.75,13.55,0.741,6,0.000,0.036,2970,2158,2154,0,0,0,0,0,0
$GC,3654,0.73,232.3,381.5,15.0,416,3658,0.00,1.67,0.00,0.000,4,0.000,0.041,2970,3274,2144,0,0,0,0,0,0
$GC,3744,0.72,232.3,366.8,15.5,424,3748,0.00,1.75,0.00,0.000,6,0.000,0.032,2979,2078,2143,0,0,0,0,0,0
$GC,4076,0.71,232.3,315.2,16.2,455,4080,0.00,1.80,0.00,0.000,4,0.000,0.042,2975,3269,2141,0,0,0,0,0,0
$GC,4123,0.71,242.2,308.0,14.7,459,4138,0.00,1.73,10.00,0.667,6,0.000,0.031,2984,2076,2103,0,0,0,0,0,0
$GC,4478,0.72,250.3,256.7,14.8,517,4493,0.00,1.83,7.53,0.604,4,0.000,0.041,2979,3271,2070,0,0,0,0,0,0
$GC,4652,0.71,250.3,228.3,16.1,547,4659,0.00,1.75,0.00,0.000,6,0.000,0.032,2988,2080,2066,0,0,0,0,0,0
$GC,4998,0.74,275.1,176.9,13.9,608,5028,0.00,1.85,21.25,0.639,4,0.000,0.043,2988,3274,1968,0,0,0,0,0,0
$GC,5287,0.73,275.1,133.2,16.8,657,5297,0.08,1.77,0.00,0.000,6,0.157,0.032,2971,2084,1961,0,0,0,0,0,0
$GC,5647,0.94,435.5,93.2,7.2,718,5777,0.17,1.77,124.03,0.586,4,0.067,0.041,3070,959,1313,0,0,0,0,0,0
$GC,5832,0.94,435.5,65.4,17.8,743,5841,0.10,1.83,0.00,0.000,6,0.148,0.034,3037,2155,1309,0,0,0,0,0,0
$GC,6190,0.98,465.5,13.9,13.7,804,6223,0.00,1.70,23.40,0.506,4,0.000,0.040,3037,3269,1191,0,0,0,0,0,0
$STATE,6265,end climb,SURFACE_DEPTH_REACHED
$STATE,6265,begin surface coast
$FINISH,1.8,1.021794
$STATE,6274,end surface coast,CONTROL_FINISHED_OK
$STATE,6274,begin surface
$SM_CCo,6291,117.30,0.464,1,0,481,640.23
$SM_GC,0.96,0.00,0.00,117.30,0.000,0.000,0.464,152,2000,481,-8.06,-0.71,640.23
$IRIDIUM_FIX,2406.29,12609.64,280910,121247
$TT8_MAMPS,0.026215
$HUMID,43.22
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.4,13.940
$10V_AH,10.5,11.420
$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,19.075,49.925,534.475,117.300,0.000,26.194,36.215,103.227,0.000,0.000,15.060,1915.995,1499.806,619.972,2534.564,104.298,0.000,1460.257,0.000,2365.531,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,109.395,856.035,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.430,0.000,1715.446,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,50299,816
$CAP_FILE_SIZE,85705,0
$CFSIZE,260165632,249188352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.022,289.0,1
$GPS,280910,160244,2418.974,12611.170,9,1.4,9,-3.7