version: 66.08
glider: 169
mission: 2
dive: 286
start: 10 13 110 18 15 2
data:
$ID,169
$MISSION,2
$DIVE,286
$N_DIVES,297
$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,-7042.3687
$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
$GPS1,131010,180916,2404.203,12610.912,12,2.2,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.8
$GPS2,131010,181436,2404.214,12610.916,35,1.1,35,-3.6
$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,205.0,44882,-21.0,-15.152
$D_GRID,1722
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-94.65,0.000,2,0.000,0.000,147,2052,3026,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.2,-4.9,12,150,9.65,1.88,-16.15,0.000,4,0.236,0.068,2485,882,3927,0,0,0,0,0,0
$GC,240,-0.71,-204.4,53.9,-33.0,31,249,0.00,1.85,0.00,0.000,6,0.000,0.056,2486,2043,3927,0,0,0,0,0,0
$GC,603,-0.70,-204.4,152.1,-24.4,92,612,0.00,1.77,0.00,0.000,4,0.000,0.061,2485,3165,3930,0,0,0,0,0,0
$GC,638,-0.69,-204.4,159.7,-23.1,97,645,0.00,1.75,0.00,0.000,6,0.000,0.044,2485,2003,3930,0,0,0,0,0,0
$GC,983,-0.69,-204.4,234.7,-21.1,158,992,0.00,1.73,0.00,0.000,4,0.000,0.053,2485,883,3930,0,0,0,0,0,0
$GC,1033,-0.69,-204.4,245.2,-20.5,166,1041,0.00,1.80,0.00,0.000,6,0.000,0.052,2485,2036,3930,0,0,0,0,0,0
$GC,1383,-0.69,-204.4,313.9,-18.0,221,1387,0.00,1.73,0.00,0.000,4,0.000,0.058,2485,3167,3930,0,0,0,0,0,0
$GC,1445,-0.69,-204.4,323.4,-12.7,226,1454,0.00,1.77,0.00,0.000,6,0.000,0.041,2486,2005,3930,0,0,0,0,0,0
$GC,1772,-0.69,-204.4,372.6,-18.2,257,1776,0.00,1.88,0.00,0.000,4,0.000,0.062,2486,3168,3929,0,0,0,0,0,0
$GC,1830,-0.70,-204.4,382.5,-16.9,262,1833,0.00,1.75,0.00,0.000,6,0.000,0.042,2485,2001,3929,0,0,0,0,0,0
$GC,2162,-0.71,-204.4,436.7,-15.3,293,2166,0.00,1.88,0.00,0.000,4,0.000,0.060,2486,3168,3927,0,0,0,0,0,0
$GC,2188,-0.71,-204.4,440.3,-14.4,295,2192,0.00,1.80,0.00,0.000,6,0.000,0.042,2486,1999,3927,0,0,0,0,0,0
$GC,2519,-0.71,-204.4,483.3,-13.0,326,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1996,3925,0,0,0,0,0,0
$STATE,2644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2644,begin apogee
$GC,2649,-0.18,0.0,501.0,13.9,338,2813,0.57,0.08,159.35,0.858,6,0.145,0.106,2665,2091,3091,0,0,0,0,0,0
$STATE,2814,end apogee,CONTROL_FINISHED_OK
$STATE,2814,begin climb
$GC,2816,0.72,204.4,511.6,0.0,351,2995,0.80,1.75,169.73,0.853,4,0.072,0.038,2963,960,2255,0,0,0,0,0,0
$GC,3032,0.78,257.7,506.6,12.5,369,3082,0.00,1.80,44.38,0.824,6,0.000,0.034,2961,2155,2039,0,0,0,0,0,0
$GC,3399,0.77,257.7,451.4,16.2,403,3403,0.00,1.80,0.00,0.000,4,0.000,0.042,2970,960,2026,0,0,0,0,0,0
$GC,3447,0.77,257.7,443.5,16.2,407,3451,0.00,1.77,0.00,0.000,6,0.000,0.035,2970,2155,2025,0,0,0,0,0,0
$GC,3779,0.77,257.7,387.0,16.2,438,3783,0.00,1.77,0.00,0.000,4,0.000,0.042,2979,964,2023,0,0,0,0,0,0
$GC,3870,0.77,260.2,372.9,15.0,446,3874,0.00,1.77,0.00,0.000,6,0.000,0.035,2979,2167,2023,0,0,0,0,0,0
$GC,4203,0.77,266.1,322.3,14.9,477,4215,0.00,1.65,5.20,0.548,4,0.000,0.039,2979,3277,2006,0,0,0,0,0,0
$GC,4343,0.77,271.9,301.1,14.9,489,4356,0.00,1.77,6.72,0.599,6,0.000,0.032,2988,2075,1982,0,0,0,0,0,0
$GC,4696,0.85,337.2,254.0,11.9,550,4761,0.00,1.73,54.83,0.708,4,0.000,0.044,2996,971,1714,0,0,0,0,0,0
$GC,4833,0.85,341.9,234.3,14.9,572,4843,0.00,1.80,4.57,0.467,6,0.000,0.034,2996,2152,1697,0,0,0,0,0,0
$GC,5185,0.85,341.9,172.1,16.3,633,5192,0.00,1.67,0.00,0.000,4,0.000,0.040,2996,3275,1691,0,0,0,0,0,0
$GC,5211,0.85,341.9,167.5,17.1,637,5218,0.00,1.77,0.00,0.000,6,0.000,0.031,3005,2077,1690,0,0,0,0,0,0
$GC,5569,0.85,343.0,113.4,15.1,698,5578,0.00,1.65,0.00,0.000,4,0.000,0.041,3014,971,1689,0,0,0,0,0,0
$GC,5652,0.91,389.2,101.7,12.9,711,5695,0.00,1.75,38.05,0.594,6,0.000,0.034,3014,2147,1503,0,0,0,0,0,0
$GC,6047,1.09,525.3,59.4,8.4,776,6161,0.17,1.83,106.00,0.555,4,0.065,0.041,3119,969,948,0,0,0,0,0,0
$GC,6216,1.09,525.3,28.3,20.6,799,6226,0.10,1.80,0.00,0.000,6,0.143,0.034,3085,2152,945,0,0,0,0,0,0
$STATE,6345,end climb,SURFACE_DEPTH_REACHED
$STATE,6345,begin surface coast
$FINISH,0.0,1.021610
$STATE,6365,end surface coast,CONTROL_FINISHED_OK
$STATE,6365,begin surface
$SM_CCo,6382,79.80,0.447,1,0,480,640.23
$SM_GC,0.90,0.00,0.00,79.80,0.000,0.000,0.447,149,1995,480,-8.07,-0.85,640.23
$IRIDIUM_FIX,2356.84,12608.76,131010,161606
$TT8_MAMPS,0.026215
$HUMID,45.70
$INTERNAL_PRESSURE,9.30079
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.2,40.059
$10V_AH,10.4,33.343
$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,19.500,50.200,588.825,79.800,0.000,29.522,14.886,149.303,0.000,0.000,36.011,1919.368,1519.818,610.842,2571.891,165.988,0.000,1469.583,0.000,2375.257,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,105.570,858.330,446.760,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.132,0.000,1728.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50486,823
$CAP_FILE_SIZE,87715,0
$CFSIZE,260165632,239636480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.181, 90.8,1
$GPS,131010,200346,2403.242,12611.079,10,3.7,29,-3.6