version: 66.08
glider: 169
mission: 2
dive: 66
start: 9 26 110 15 40 23
data:
$ID,169
$MISSION,2
$DIVE,66
$N_DIVES,75
$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,-5
$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,-6761.041
$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,2755
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,33
$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
$GPS1,260910,153543,2356.056,12620.091,9,1.4,9,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.3
$GPS2,260910,153956,2356.050,12620.064,15,1.1,15,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,WAKE1
$TGT_LATLONG,2400.000,12609.000
$TGT_RADIUS,2000.000
$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,304.6,20098,-21.0,-15.152
$D_GRID,4122
$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,-0.89,-204.4,0.0,0.0,0,115,0.00,0.00,-98.35,0.000,2,0.000,0.000,142,1996,3200,0,0,0,0,0,0
$GC,117,-0.89,-204.4,4.1,-8.0,12,144,9.35,1.90,-12.18,0.000,4,0.241,0.075,2447,3170,3928,0,0,0,0,0,0
$GC,228,-0.87,-204.4,52.7,-30.1,29,237,0.00,1.83,0.00,0.000,6,0.000,0.054,2447,2018,3930,0,0,0,0,0,0
$GC,589,-0.86,-204.4,178.2,-29.6,90,598,0.12,0.00,0.00,0.000,6,0.213,0.000,2477,2016,3932,0,0,0,0,0,0
$GC,949,-0.85,-204.4,265.0,-22.7,151,956,0.00,1.70,0.00,0.000,4,0.000,0.055,2477,868,3933,0,0,0,0,0,0
$GC,987,-0.85,-204.4,273.8,-22.2,157,994,0.00,1.80,0.00,0.000,6,0.000,0.054,2477,2048,3933,0,0,0,0,0,0
$GC,1328,-0.85,-204.4,348.4,-20.4,198,1331,0.00,1.77,0.00,0.000,4,0.000,0.053,2477,866,3932,0,0,0,0,0,0
$GC,1377,-0.85,-204.4,357.9,-16.8,202,1388,0.00,1.80,0.00,0.000,6,0.000,0.053,2477,2034,3932,0,0,0,0,0,0
$GC,1704,-0.85,-204.4,417.6,-19.1,233,1708,0.00,1.73,0.00,0.000,4,0.000,0.061,2477,3167,3931,0,0,0,0,0,0
$GC,1731,-0.85,-204.4,423.4,-18.4,235,1739,0.00,1.77,0.00,0.000,6,0.000,0.045,2477,2001,3931,0,0,0,0,0,0
$GC,2057,-0.85,-204.4,480.9,-16.4,266,2060,0.00,1.80,0.00,0.000,4,0.000,0.060,2477,3167,3930,0,0,0,0,0,0
$GC,2119,-0.86,-204.4,490.6,-14.4,271,2126,0.00,1.77,0.00,0.000,6,0.000,0.046,2477,2000,3930,0,0,0,0,0,0
$STATE,2187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2187,begin apogee
$GC,2191,-0.15,0.0,500.7,15.0,278,2356,0.73,0.08,156.88,0.845,6,0.165,0.109,2700,2091,3091,0,0,0,0,0,0
$STATE,2357,end apogee,CONTROL_FINISHED_OK
$STATE,2357,begin climb
$GC,2359,0.89,204.4,509.4,0.0,291,2534,0.95,1.80,168.30,0.832,4,0.078,0.040,3043,964,2256,0,0,0,0,0,0
$GC,2770,0.87,204.4,457.2,18.7,326,2774,0.00,1.77,0.00,0.000,6,0.000,0.034,3043,2160,2246,0,0,0,0,0,0
$GC,3102,0.84,204.4,388.6,20.1,357,3106,0.00,1.67,0.00,0.000,4,0.000,0.041,3043,3279,2242,0,0,0,0,0,0
$GC,3329,0.82,204.4,337.3,20.2,377,3334,0.12,1.73,0.00,0.000,6,0.208,0.032,3022,2085,2239,0,0,0,0,0,0
$GC,3663,0.81,210.8,281.6,14.8,417,3669,0.00,1.62,0.00,0.000,4,0.000,0.041,3030,947,2237,0,0,0,0,0,0
$GC,3801,0.79,210.8,258.4,17.3,441,3808,0.00,1.75,0.00,0.000,6,0.000,0.035,3030,2153,2236,0,0,0,0,0,0
$GC,4147,0.78,210.8,199.7,16.0,502,4156,0.00,1.65,0.00,0.000,4,0.000,0.041,3030,3271,2235,0,0,0,0,0,0
$GC,4218,0.76,210.8,188.1,16.4,514,4227,0.10,1.75,0.00,0.000,6,0.180,0.031,3007,2077,2234,0,0,0,0,0,0
$GC,4569,0.83,277.4,144.0,11.8,575,4633,0.00,0.00,55.53,0.621,6,0.000,0.000,3007,2076,1958,0,0,0,0,0,0
$GC,4983,0.84,294.0,84.0,14.3,643,5002,0.00,1.85,13.18,0.540,4,0.000,0.040,3007,3274,1890,0,0,0,0,0,0
$GC,5194,0.97,399.3,58.0,9.9,678,5284,0.10,1.77,82.07,0.552,6,0.048,0.031,3083,2077,1461,0,0,0,0,0,0
$STATE,5486,end climb,SURFACE_DEPTH_REACHED
$STATE,5486,begin surface coast
$FINISH,0.1,1.008791
$STATE,5507,end surface coast,CONTROL_FINISHED_OK
$STATE,5507,begin surface
$SM_CCo,5522,157.52,0.476,1,0,481,640.23
$SM_GC,0.93,0.00,0.00,157.52,0.000,0.000,0.476,146,1999,481,-8.15,-0.74,640.23
$IRIDIUM_FIX,2347.41,12619.67,260910,131310
$TT8_MAMPS,0.026964
$HUMID,42.79
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.4,10.587
$10V_AH,10.5,8.516
$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,19.875,35.650,475.950,157.525,0.000,23.992,40.111,97.656,0.000,0.000,16.684,1707.366,1246.319,613.343,2292.176,86.706,0.000,1365.101,0.000,2117.522,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,109.395,844.560,475.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,485.608,0.000,1539.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,43629,727
$CAP_FILE_SIZE,74726,0
$CFSIZE,260165632,250458112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,193.7,1
$GPS,260910,171606,2356.305,12619.249,34,1.0,34,-3.6