version: 66.08
glider: 169
mission: 2
dive: 72
start: 9 27 110 2 35 28
data:
$ID,169
$MISSION,2
$DIVE,72
$N_DIVES,80
$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,-6768.9453
$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
$GPS1,270910,023037,2359.715,12613.037,28,1.2,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.5
$GPS2,270910,023502,2359.714,12613.013,14,1.2,14,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2402.000,12612.000
$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,343.3,4567,-21.0,-15.152
$D_GRID,2182
$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,-204.4,0.0,0.0,0,118,0.00,0.00,-100.62,0.000,2,0.000,0.000,148,1979,3268,0,0,0,0,0,0
$GC,120,-0.72,-204.4,4.3,-7.7,13,147,9.62,1.95,-10.82,0.000,4,0.248,0.082,2486,3166,3929,0,0,0,0,0,0
$GC,224,-0.71,-204.4,50.0,-30.1,29,233,0.00,1.83,0.00,0.000,6,0.000,0.052,2486,2005,3931,0,0,0,0,0,0
$GC,586,-0.70,-204.4,158.0,-25.8,90,594,0.00,1.73,0.00,0.000,4,0.000,0.055,2486,879,3932,0,0,0,0,0,0
$GC,715,-0.70,-204.4,185.4,-18.5,112,723,0.00,1.80,0.00,0.000,6,0.000,0.055,2486,2036,3933,0,0,0,0,0,0
$GC,1063,-0.69,-204.4,263.8,-20.7,173,1070,0.00,1.73,0.00,0.000,4,0.000,0.060,2486,3166,3933,0,0,0,0,0,0
$GC,1104,-0.69,-204.4,272.4,-18.8,180,1113,0.00,1.77,0.00,0.000,6,0.000,0.046,2486,2002,3933,0,0,0,0,0,0
$GC,1444,-0.69,-204.4,337.7,-19.0,224,1448,0.00,1.77,0.00,0.000,4,0.000,0.060,2486,3167,3933,0,0,0,0,0,0
$GC,1470,-0.69,-204.4,342.9,-18.3,226,1480,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2002,3932,0,0,0,0,0,0
$GC,1798,-0.69,-204.4,401.6,-18.0,257,1801,0.00,1.77,0.00,0.000,4,0.000,0.060,2486,3167,3932,0,0,0,0,0,0
$GC,1847,-0.70,-204.4,410.3,-15.0,261,1854,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2001,3932,0,0,0,0,0,0
$GC,2174,-0.70,-204.4,466.2,-16.7,292,2177,0.00,1.67,0.00,0.000,4,0.000,0.052,2486,871,3929,0,0,0,0,0,0
$GC,2196,-0.71,-204.4,470.2,-16.5,294,2200,0.00,1.75,0.00,0.000,6,0.000,0.050,2486,2045,3929,0,0,0,0,0,0
$STATE,2387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2388,begin apogee
$GC,2392,-0.18,0.0,500.6,15.4,312,2555,0.55,0.08,156.35,0.848,6,0.145,0.110,2663,2091,3091,0,0,0,0,0,0
$STATE,2556,end apogee,CONTROL_FINISHED_OK
$STATE,2556,begin climb
$GC,2557,0.72,204.4,508.4,0.0,325,2735,0.82,1.75,167.80,0.836,4,0.079,0.041,2965,957,2256,0,0,0,0,0,0
$GC,2808,0.71,204.4,488.1,16.8,346,2817,0.00,1.83,0.00,0.000,6,0.000,0.034,2965,2152,2249,0,0,0,0,0,0
$GC,3135,0.70,206.6,435.4,15.0,377,3139,0.00,1.75,0.00,0.000,4,0.000,0.041,2973,958,2244,0,0,0,0,0,0
$GC,3147,0.70,206.6,433.2,15.2,378,3151,0.00,1.75,0.00,0.000,6,0.000,0.035,2973,2163,2243,0,0,0,0,0,0
$GC,3480,0.70,217.9,382.8,14.6,409,3496,0.00,1.67,10.32,0.695,4,0.000,0.041,2974,3267,2201,0,0,0,0,0,0
$GC,3518,0.69,217.9,376.4,15.8,412,3528,0.08,1.77,0.00,0.000,6,0.173,0.032,2958,2080,2199,0,0,0,0,0,0
$GC,3845,0.73,254.2,332.3,13.3,443,3882,0.00,1.88,30.65,0.738,4,0.000,0.041,2958,3273,2053,0,0,0,0,0,0
$GC,4030,0.72,254.2,302.4,17.4,459,4034,0.00,1.75,0.00,0.000,6,0.000,0.033,2967,2080,2043,0,0,0,0,0,0
$GC,4372,0.71,254.2,247.1,16.1,518,4381,0.00,1.80,0.00,0.000,4,0.000,0.041,2967,3270,2039,0,0,0,0,0,0
$GC,4406,0.71,257.7,242.2,15.0,523,4413,0.00,1.73,0.00,0.000,6,0.000,0.033,2976,2083,2039,0,0,0,0,0,0
$GC,4751,0.71,261.6,190.9,15.0,584,4759,0.00,0.00,4.80,0.479,6,0.000,0.000,2976,2083,2023,0,0,0,0,0,0
$GC,5104,0.78,316.9,142.8,12.4,645,5155,0.00,1.73,45.55,0.623,4,0.000,0.043,2985,967,1798,0,0,0,0,0,0
$GC,5193,0.83,358.5,131.7,13.1,657,5235,0.00,1.77,33.80,0.599,6,0.000,0.034,2985,2147,1627,0,0,0,0,0,0
$GC,5585,0.90,406.8,79.0,12.7,722,5627,0.10,0.00,37.60,0.566,6,0.099,0.000,3044,2147,1431,0,0,0,0,0,0
$GC,5975,0.90,409.0,20.1,15.0,787,5983,0.00,1.77,0.00,0.000,4,0.000,0.041,3053,967,1424,0,0,0,0,0,0
$GC,6010,0.91,412.1,14.8,15.0,792,6020,0.08,1.75,4.43,0.366,6,0.143,0.033,3026,2154,1410,0,0,0,0,0,0
$STATE,6096,end climb,SURFACE_DEPTH_REACHED
$STATE,6096,begin surface coast
$FINISH,0.1,1.021374
$STATE,6122,end surface coast,CONTROL_FINISHED_OK
$STATE,6122,begin surface
$SM_CCo,6137,147.90,0.055,0,0,481,640.23
$SM_GC,0.94,0.00,0.00,147.90,0.000,0.000,0.055,145,1991,481,-8.08,-0.96,640.23
$IRIDIUM_FIX,2347.41,12614.47,270910,000018
$TT8_MAMPS,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.4,11.342
$10V_AH,10.4,9.189
$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,19.400,46.450,491.300,147.900,0.000,29.473,23.544,120.039,0.000,0.000,15.548,1910.032,1430.333,617.491,2490.406,105.784,0.000,1434.411,0.000,2322.036,0.000,0.545,0.000
$DEVICE_MAMPS,247.860,110.160,848.385,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.443,0.000,1709.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334052
$DATA_FILE_SIZE,50230,810
$CAP_FILE_SIZE,84889,0
$CFSIZE,260165632,250155008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.066,299.8,1
$GPS,270910,042050,2400.744,12612.370,12,1.7,12,-3.6