version: 66.08
glider: 169
mission: 2
dive: 83
start: 9 27 110 23 4 45
data:
$ID,169
$MISSION,2
$DIVE,83
$N_DIVES,90
$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,-6782.9404
$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
$GPS1,270910,230007,2408.743,12611.730,28,1.0,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.7
$GPS2,270910,230419,2408.779,12611.702,11,1.1,11,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2412.000,12612.000
$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,20.0,5986,-21.0,-15.152
$D_GRID,1685
$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,-204.4,0.0,0.0,0,119,0.00,0.00,-101.80,0.000,2,0.000,0.000,153,1979,3291,0,0,0,0,0,0
$GC,121,-0.72,-204.4,4.3,-8.0,13,148,9.32,1.95,-10.38,0.000,4,0.237,0.080,2486,3168,3928,0,0,0,0,0,0
$GC,175,-0.68,-204.4,34.2,-54.9,20,183,0.00,1.83,0.00,0.000,6,0.000,0.052,2486,2009,3929,0,0,0,0,0,0
$GC,538,-0.67,-204.4,156.4,-28.5,81,545,0.00,1.83,0.00,0.000,4,0.000,0.066,2486,3168,3931,0,0,0,0,0,0
$GC,587,-0.66,-204.4,169.6,-26.6,89,594,0.10,1.75,0.00,0.000,6,0.200,0.047,2510,2002,3931,0,0,0,0,0,0
$GC,931,-0.66,-204.4,240.5,-18.6,150,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2000,3932,0,0,0,0,0,0
$GC,1279,-0.67,-204.4,299.0,-16.2,211,1286,0.00,1.67,0.00,0.000,4,0.000,0.052,2510,871,3932,0,0,0,0,0,0
$GC,1308,-0.67,-204.4,304.1,-15.1,214,1317,0.00,1.80,0.00,0.000,6,0.000,0.051,2510,2037,3931,0,0,0,0,0,0
$GC,1636,-0.68,-204.4,354.6,-15.0,245,1639,0.00,1.73,0.00,0.000,4,0.000,0.060,2510,3170,3931,0,0,0,0,0,0
$GC,1685,-0.69,-204.4,361.2,-12.7,249,1689,0.00,1.73,0.00,0.000,6,0.000,0.046,2510,2003,3931,0,0,0,0,0,0
$GC,2016,-0.70,-204.4,409.0,-13.7,280,2020,0.00,1.65,0.00,0.000,4,0.000,0.052,2510,874,3929,0,0,0,0,0,0
$GC,2039,-0.71,-204.4,412.3,-13.7,282,2043,0.00,1.75,0.00,0.000,6,0.000,0.050,2510,2048,3929,0,0,0,0,0,0
$GC,2372,-0.72,-204.4,453.5,-11.6,313,2376,0.00,1.67,0.00,0.000,4,0.000,0.059,2510,3167,3928,0,0,0,0,0,0
$GC,2442,-0.73,-204.4,460.9,-10.0,319,2446,0.00,1.73,0.00,0.000,6,0.000,0.044,2510,2000,3927,0,0,0,0,0,0
$GC,2774,-0.74,-204.4,498.2,-11.2,350,2778,0.00,1.77,0.00,0.000,4,0.000,0.058,2510,3169,3926,0,0,0,0,0,0
$STATE,2789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2789,begin apogee
$GC,2794,-0.18,0.0,500.2,10.7,351,2963,0.47,0.08,156.23,0.858,6,0.147,0.121,2661,2158,3090,0,0,0,0,0,0
$STATE,2963,end apogee,CONTROL_FINISHED_OK
$STATE,2963,begin climb
$GC,2965,0.72,204.4,508.1,0.0,365,3147,0.80,1.88,168.25,0.845,4,0.066,0.039,2966,964,2254,0,0,0,0,0,0
$GC,3241,0.71,204.4,488.1,15.6,389,3244,0.00,1.77,0.00,0.000,6,0.000,0.036,2966,2154,2248,0,0,0,0,0,0
$GC,3572,0.71,205.7,433.6,15.1,420,3575,0.00,1.67,0.00,0.000,4,0.000,0.043,2966,3278,2243,0,0,0,0,0,0
$GC,3711,0.70,205.7,412.0,16.3,432,3720,0.00,1.77,0.00,0.000,6,0.000,0.033,2975,2087,2241,0,0,0,0,0,0
$GC,4037,0.70,217.2,364.7,14.6,463,4049,0.00,0.00,9.27,0.685,6,0.000,0.000,2975,2086,2205,0,0,0,0,0,0
$GC,4365,0.73,250.0,317.6,13.5,494,4403,0.00,1.85,28.33,0.737,4,0.000,0.042,2974,3268,2068,0,0,0,0,0,0
$GC,4429,0.74,262.7,309.1,14.5,499,4445,0.00,1.77,11.25,0.666,6,0.000,0.032,2983,2081,2019,0,0,0,0,0,0
$GC,4781,0.74,262.7,251.9,15.2,556,4790,0.00,1.67,0.00,0.000,4,0.000,0.043,2992,958,2009,0,0,0,0,0,0
$GC,4883,0.73,262.7,236.8,15.2,573,4890,0.00,1.75,0.00,0.000,6,0.000,0.037,2991,2151,2008,0,0,0,0,0,0
$GC,5229,0.75,283.2,182.9,14.1,634,5252,0.00,1.67,16.45,0.630,4,0.000,0.040,2991,3277,1935,0,0,0,0,0,0
$GC,5293,0.75,283.7,173.3,15.1,644,5302,0.00,1.77,0.00,0.000,6,0.000,0.031,3000,2089,1932,0,0,0,0,0,0
$GC,5652,0.77,301.0,121.0,14.3,705,5678,0.00,1.83,15.05,0.584,4,0.000,0.041,3000,3272,1862,0,0,0,0,0,0
$GC,5732,0.77,309.2,108.7,14.7,717,5749,0.00,1.77,7.95,0.516,6,0.000,0.031,3009,2083,1829,0,0,0,0,0,0
$GC,6098,0.93,433.0,65.6,9.0,779,6204,0.00,1.85,96.68,0.568,4,0.000,0.037,3009,3274,1322,0,0,0,0,0,0
$GC,6236,0.99,474.9,50.4,13.1,797,6277,0.00,1.83,33.45,0.538,6,0.000,0.032,3018,2087,1152,0,0,0,0,0,0
$STATE,6578,end climb,SURFACE_DEPTH_REACHED
$STATE,6578,begin surface coast
$FINISH,0.2,1.021937
$STATE,6604,end surface coast,CONTROL_FINISHED_OK
$STATE,6604,begin surface
$SM_CCo,6619,112.97,0.055,0,0,481,640.23
$SM_GC,0.93,0.00,0.00,112.97,0.000,0.000,0.055,150,1997,481,-8.06,-0.79,640.23
$IRIDIUM_FIX,2401.56,12610.15,270910,212148
$TT8_MAMPS,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.4,12.758
$10V_AH,10.4,10.435
$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,18.850,49.575,542.900,112.975,0.000,28.184,41.814,99.065,0.000,0.000,12.063,2006.222,1627.870,627.651,2616.254,111.728,0.000,1496.764,0.000,2456.507,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,120.870,858.330,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.209,0.000,1798.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,50316,858
$CAP_FILE_SIZE,88785,0
$CFSIZE,260165632,249622528
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,316.9,1
$GPS,280910,005732,2410.143,12611.757,10,1.6,10,-3.6