version: 66.08
glider: 169
mission: 2
dive: 91
start: 9 28 110 10 28 51
data:
$ID,169
$MISSION,2
$DIVE,91
$N_DIVES,100
$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,-6793.4517
$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
$GPS1,280910,102437,2416.124,12610.088,8,2.0,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-73.3
$GPS2,280910,102825,2416.183,12610.054,11,1.5,16,-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,73.6,7794,-21.0,-15.152
$D_GRID,1623
$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,-204.4,0.0,0.0,0,110,0.00,0.00,-93.03,0.000,2,0.000,0.000,152,1998,3022,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.6,-5.4,12,146,8.82,1.85,-16.52,0.000,4,0.219,0.076,2486,3161,3927,0,0,0,0,0,0
$GC,185,-0.68,-204.4,37.0,-49.7,22,194,0.00,1.80,0.00,0.000,6,0.000,0.051,2486,2010,3928,0,0,0,0,0,0
$GC,546,-0.67,-204.4,166.5,-30.5,83,553,0.00,1.80,0.00,0.000,4,0.000,0.063,2486,3167,3930,0,0,0,0,0,0
$GC,584,-0.66,-204.4,178.1,-31.5,89,592,0.12,1.77,0.00,0.000,6,0.194,0.047,2517,1999,3930,0,0,0,0,0,0
$GC,930,-0.66,-204.4,250.0,-16.6,150,939,0.00,1.70,0.00,0.000,4,0.000,0.050,2517,865,3931,0,0,0,0,0,0
$GC,980,-0.66,-204.4,257.0,-12.7,158,989,0.00,1.80,0.00,0.000,6,0.000,0.050,2517,2044,3930,0,0,0,0,0,0
$GC,1329,-0.67,-204.4,309.5,-15.7,215,1333,0.00,1.70,0.00,0.000,4,0.000,0.060,2517,3167,3930,0,0,0,0,0,0
$GC,1431,-0.68,-204.4,323.7,-13.1,224,1435,0.00,1.73,0.00,0.000,6,0.000,0.044,2518,2001,3930,0,0,0,0,0,0
$GC,1763,-0.69,-204.4,370.9,-14.0,255,1767,0.00,1.80,0.00,0.000,4,0.000,0.058,2517,3161,3928,0,0,0,0,0,0
$GC,1820,-0.70,-204.4,378.3,-12.0,260,1824,0.00,1.73,0.00,0.000,6,0.000,0.044,2517,2003,3928,0,0,0,0,0,0
$GC,2153,-0.71,-204.4,423.0,-13.3,291,2157,0.00,1.80,0.00,0.000,4,0.000,0.058,2517,3161,3926,0,0,0,0,0,0
$GC,2200,-0.72,-204.4,428.8,-11.3,295,2203,0.00,1.73,0.00,0.000,6,0.000,0.043,2517,2002,3925,0,0,0,0,0,0
$GC,2532,-0.79,-204.4,456.6,-5.8,326,2536,0.12,1.75,0.00,0.000,4,0.119,0.049,2466,3170,3923,0,0,0,0,0,0
$GC,2638,-0.79,-204.4,467.5,-12.9,335,2646,0.00,1.75,0.00,0.000,6,0.000,0.047,2467,1998,3922,0,0,0,0,0,0
$STATE,2855,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2855,begin apogee
$GC,2859,-0.18,0.0,501.0,15.6,356,3020,0.65,0.08,154.90,0.855,6,0.167,0.110,2665,2091,3091,0,0,0,0,0,0
$STATE,3021,end apogee,CONTROL_FINISHED_OK
$STATE,3021,begin climb
$GC,3023,0.72,204.4,509.5,0.0,369,3199,0.82,1.92,167.40,0.840,4,0.082,0.041,2956,3278,2256,0,0,0,0,0,0
$GC,3346,0.70,204.4,482.7,17.8,396,3350,0.00,1.75,0.00,0.000,6,0.000,0.034,2965,2080,2246,0,0,1,0,0,0
$GC,3678,0.69,204.4,428.4,15.7,427,3682,0.00,1.80,0.00,0.000,4,0.000,0.041,2965,3267,2242,0,0,0,0,0,0
$GC,3746,0.68,204.4,417.1,16.2,433,3750,0.00,1.73,0.00,0.000,6,0.000,0.033,2973,2077,2241,0,0,0,0,0,0
$GC,4078,0.67,204.4,365.3,15.4,464,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2076,2239,0,0,0,0,0,0
$GC,4397,0.66,204.4,314.4,15.4,494,4401,0.00,1.77,0.00,0.000,4,0.000,0.042,2974,3281,2237,0,0,0,0,0,0
$GC,4529,0.65,204.4,293.8,15.4,509,4537,0.15,1.73,0.00,0.000,6,0.186,0.032,2943,2079,2236,0,0,0,0,0,0
$GC,4878,0.76,291.5,252.3,10.8,570,4956,0.00,1.90,67.22,0.705,4,0.000,0.042,2943,3274,1899,0,0,0,0,0,0
$GC,5117,0.81,331.5,221.7,13.2,609,5161,0.12,1.77,32.53,0.666,6,0.081,0.033,3015,2078,1736,0,0,0,0,0,0
$GC,5499,0.80,331.5,151.7,16.8,675,5506,0.00,1.65,0.00,0.000,4,0.000,0.041,3024,953,1728,0,0,0,0,0,0
$GC,5601,0.80,331.5,133.9,17.4,692,5610,0.10,1.77,0.00,0.000,6,0.156,0.036,2990,2149,1726,0,0,0,0,0,0
$GC,5967,0.93,431.5,86.1,10.2,753,6049,0.10,1.77,76.43,0.582,4,0.099,0.040,3049,3275,1330,0,0,0,0,0,0
$GC,6081,0.93,431.5,70.5,15.7,768,6089,0.00,1.77,0.00,0.000,6,0.000,0.030,3059,2092,1327,0,0,1,0,0,0
$GC,6444,0.93,431.5,7.8,16.5,829,6453,0.00,1.80,0.00,0.000,4,0.000,0.041,3058,3277,1322,0,0,0,0,0,0
$STATE,6471,end climb,SURFACE_DEPTH_REACHED
$STATE,6471,begin surface coast
$FINISH,0.7,1.021759
$STATE,6485,end surface coast,CONTROL_FINISHED_OK
$STATE,6485,begin surface
$SM_CCo,6501,133.10,0.055,0,0,481,640.23
$SM_GC,1.01,0.00,0.00,133.10,0.000,0.000,0.055,151,1994,481,-8.06,-0.88,640.23
$IRIDIUM_FIX,2406.29,12611.55,280910,090953
$TT8_MAMPS,0.026964
$HUMID,44.48
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.5,13.663
$10V_AH,10.5,11.195
$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,19.300,50.125,498.475,133.100,0.000,29.912,13.644,96.481,0.000,0.000,17.255,1965.770,1651.475,607.912,2544.317,103.560,0.000,1446.514,0.000,2396.024,0.000,0.545,0.000
$DEVICE_MAMPS,218.790,110.160,854.505,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.901,0.000,1705.887,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,50300,835
$CAP_FILE_SIZE,86836,0
$CFSIZE,260165632,249282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.119,343.9,1
$GPS,280910,122031,2416.938,12610.940,40,1.7,40,-3.7