version: 66.08
glider: 169
mission: 2
dive: 94
start: 9 28 110 16 7 22
data:
$ID,169
$MISSION,2
$DIVE,94
$N_DIVES,105
$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,-6797.3071
$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
$GPS1,280910,160244,2418.974,12611.170,9,1.4,9,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.9
$GPS2,280910,160656,2418.997,12611.127,15,2.0,15,-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,45.6,2371,-21.0,-15.152
$D_GRID,1732
$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,-0.72,-204.4,0.0,0.0,0,114,0.00,0.00,-98.12,0.000,2,0.000,0.000,151,2001,3195,0,0,0,0,0,0
$GC,116,-0.72,-204.4,4.1,-7.7,12,144,9.38,1.90,-12.20,0.000,4,0.238,0.080,2485,3166,3929,0,0,0,0,0,0
$GC,163,-0.66,-204.4,30.6,-57.3,18,173,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2005,3930,0,0,1,0,0,0
$GC,527,-0.65,-204.4,154.9,-25.1,79,534,0.12,1.73,0.00,0.000,4,0.201,0.055,2517,870,3932,0,0,0,0,0,0
$GC,555,-0.64,-204.4,161.5,-24.3,83,561,0.00,1.80,0.00,0.000,6,0.000,0.051,2517,2049,3932,0,0,0,0,0,0
$GC,910,-0.65,-204.4,228.7,-17.0,144,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,2049,3933,0,0,0,0,0,0
$GC,1268,-0.65,-204.4,290.3,-17.1,205,1274,0.00,1.70,0.00,0.000,4,0.000,0.060,2517,3167,3933,0,0,0,0,0,0
$GC,1422,-0.66,-204.4,312.3,-13.2,223,1426,0.00,1.73,0.00,0.000,6,0.000,0.044,2517,2002,3933,0,0,0,0,0,0
$GC,1754,-0.67,-204.4,360.4,-14.9,254,1758,0.00,1.65,0.00,0.000,4,0.000,0.053,2517,878,3932,0,0,0,0,0,0
$GC,1862,-0.69,-204.4,375.4,-12.9,263,1869,0.00,1.77,0.00,0.000,6,0.000,0.048,2516,2039,3931,0,0,0,0,0,0
$GC,2187,-0.70,-204.4,418.7,-12.8,294,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2039,3930,0,0,0,0,0,0
$GC,2507,-0.71,-204.4,456.8,-11.6,324,2510,0.00,1.75,0.00,0.000,4,0.000,0.054,2517,865,3927,0,0,0,0,0,0
$GC,2544,-0.72,-204.4,460.9,-11.2,327,2548,0.00,1.77,0.00,0.000,6,0.000,0.049,2517,2042,3927,0,0,0,0,0,0
$GC,2875,-0.73,-204.4,495.8,-10.5,358,2878,0.00,1.73,0.00,0.000,4,0.000,0.059,2517,3175,3925,0,0,0,0,0,0
$GC,2912,-0.75,-204.4,499.5,-10.4,361,2915,0.00,1.75,0.00,0.000,6,0.000,0.044,2517,1996,3925,0,0,0,0,0,0
$STATE,2922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2922,begin apogee
$GC,2926,-0.18,0.0,500.7,9.5,362,3088,0.47,0.08,156.30,0.860,6,0.145,0.109,2668,2091,3090,0,0,0,0,0,0
$STATE,3089,end apogee,CONTROL_FINISHED_OK
$STATE,3089,begin climb
$GC,3091,0.72,204.4,510.1,0.0,375,3266,0.82,1.75,167.88,0.848,4,0.081,0.041,2968,966,2256,0,0,0,0,0,0
$GC,3434,0.71,204.4,481.6,15.2,405,3438,0.00,1.77,0.00,0.000,6,0.000,0.036,2967,2152,2246,0,0,0,0,0,0
$GC,3764,0.70,204.4,429.8,17.8,436,3768,0.00,1.75,0.00,0.000,4,0.000,0.041,2976,958,2242,0,0,0,0,0,0
$GC,3791,0.69,204.4,424.8,18.1,438,3801,0.00,1.77,0.00,0.000,6,0.000,0.036,2975,2145,2242,0,0,0,0,0,0
$GC,4118,0.69,209.4,372.6,14.9,469,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2145,2239,0,0,0,0,0,0
$GC,4438,0.71,231.2,328.4,14.1,499,4463,0.00,1.83,20.62,0.731,4,0.000,0.041,2983,963,2147,0,0,0,0,0,0
$GC,4490,0.72,247.9,320.8,14.3,503,4514,0.00,1.77,15.02,0.702,6,0.000,0.037,2983,2156,2078,0,0,0,0,0,0
$GC,4848,0.75,272.5,267.7,13.9,554,4872,0.00,1.75,20.10,0.689,4,0.000,0.044,2983,3278,1979,0,0,0,0,0,0
$GC,4925,0.74,272.5,256.0,16.6,566,4934,0.00,1.80,0.00,0.000,6,0.000,0.031,2992,2078,1975,0,0,0,0,0,0
$GC,5284,0.75,289.4,199.5,14.3,627,5305,0.00,1.80,13.88,0.631,4,0.000,0.041,2992,3273,1910,0,0,0,0,0,0
$GC,5490,0.75,289.4,166.1,15.3,662,5500,0.00,1.77,0.00,0.000,6,0.000,0.033,3001,2089,1905,0,0,0,0,0,0
$GC,5849,0.76,298.6,111.6,14.7,723,5866,0.00,1.80,8.38,0.530,4,0.000,0.041,3000,3268,1871,0,0,0,0,0,0
$GC,6116,0.88,397.6,75.8,10.2,768,6205,0.00,1.75,77.80,0.578,6,0.000,0.031,3010,2084,1467,0,0,0,0,0,0
$GC,6554,1.02,504.3,26.6,9.8,839,6643,0.12,1.83,81.40,0.528,4,0.081,0.038,3086,3272,1034,0,0,0,0,0,0
$STATE,6685,end climb,SURFACE_DEPTH_REACHED
$STATE,6685,begin surface coast
$FINISH,0.1,1.012238
$STATE,6699,end surface coast,CONTROL_FINISHED_OK
$STATE,6699,begin surface
$SM_CCo,6715,94.22,0.055,0,0,481,640.23
$SM_GC,0.93,0.00,0.00,94.22,0.000,0.000,0.055,153,1998,481,-8.06,-0.76,640.23
$IRIDIUM_FIX,2408.65,12606.33,280910,141444
$TT8_MAMPS,0.026215
$HUMID,43.54
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.4,14.067
$10V_AH,10.4,11.537
$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,19.350,46.500,561.375,94.225,0.000,31.445,17.218,107.592,0.000,0.000,16.653,2003.980,1737.439,603.549,2607.770,112.990,0.000,1472.558,0.000,2451.478,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,109.395,859.860,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,574.330,0.000,1785.878,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,50348,859
$CAP_FILE_SIZE,88014,0
$CFSIZE,260165632,249131008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.024, 10.0,1
$GPS,280910,180155,2419.838,12611.751,38,2.0,38,-3.7