version: 66.08
glider: 169
mission: 2
dive: 98
start: 9 28 110 23 41 30
data:
$ID,169
$MISSION,2
$DIVE,98
$N_DIVES,110
$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,-6802.4238
$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
$GPS1,280910,233637,2417.770,12611.813,40,1.0,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.0
$GPS2,280910,234104,2417.827,12611.752,12,2.2,31,-3.7
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$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,178.9,33018,-21.0,-15.152
$D_GRID,1635
$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,-204.4,0.0,0.0,0,111,0.00,0.00,-94.00,0.000,2,0.000,0.000,138,1999,3034,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.2,-4.9,12,148,9.50,1.75,-16.00,0.000,4,0.240,0.070,2489,881,3927,0,0,0,0,0,0
$GC,283,-0.70,-204.4,72.3,-35.6,39,291,0.00,1.80,0.00,0.000,6,0.000,0.054,2490,2033,3928,0,0,0,0,0,0
$GC,641,-0.69,-204.4,175.0,-27.3,100,650,0.00,1.77,0.00,0.000,4,0.000,0.051,2489,877,3931,0,0,0,0,0,0
$GC,735,-0.69,-204.4,195.7,-20.9,116,743,0.00,1.80,0.00,0.000,6,0.000,0.052,2489,2039,3931,0,0,0,0,0,0
$GC,1084,-0.68,-204.4,273.9,-23.2,177,1092,0.00,1.73,0.00,0.000,4,0.000,0.061,2490,3166,3932,0,0,0,0,0,0
$GC,1116,-0.68,-204.4,281.3,-22.1,182,1124,0.00,1.77,0.00,0.000,6,0.000,0.047,2489,2005,3932,0,0,0,0,0,0
$GC,1451,-0.68,-204.4,344.1,-18.0,221,1454,0.00,1.80,0.00,0.000,4,0.000,0.060,2489,3168,3931,0,0,0,0,0,0
$GC,1477,-0.68,-204.4,349.3,-16.3,223,1485,0.00,1.77,0.00,0.000,6,0.000,0.047,2489,2004,3930,0,0,0,0,0,0
$GC,1803,-0.68,-204.4,407.0,-16.7,254,1807,0.00,1.67,0.00,0.000,4,0.000,0.056,2489,868,3930,0,0,0,0,0,0
$GC,1966,-0.69,-204.4,430.8,-13.9,268,1975,0.00,1.80,0.00,0.000,6,0.000,0.050,2489,2037,3928,0,0,0,0,0,0
$GC,2293,-0.70,-204.4,476.4,-13.6,299,2297,0.00,1.77,0.00,0.000,4,0.000,0.054,2489,878,3927,0,0,0,0,0,0
$GC,2320,-0.70,-204.4,480.6,-13.9,301,2327,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2037,3927,0,0,0,0,0,0
$STATE,2474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2474,begin apogee
$GC,2478,-0.18,0.0,501.2,13.4,316,2639,0.55,0.08,155.73,0.852,6,0.145,0.111,2665,2091,3091,0,0,0,0,0,0
$STATE,2640,end apogee,CONTROL_FINISHED_OK
$STATE,2640,begin climb
$GC,2641,0.72,204.4,508.9,0.0,329,2816,0.82,1.75,167.75,0.843,4,0.072,0.037,2970,964,2257,0,0,0,0,0,0
$GC,2855,0.71,204.4,498.1,15.6,347,2862,0.00,1.83,0.00,0.000,6,0.000,0.035,2970,2148,2251,0,0,0,0,0,0
$GC,3183,0.70,204.4,443.8,15.3,378,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2148,2244,0,0,0,0,0,0
$GC,3501,0.73,231.1,396.6,13.8,408,3527,0.00,1.85,21.48,0.761,4,0.000,0.041,2979,956,2147,0,0,0,0,0,0
$GC,3587,0.73,242.4,384.4,14.6,415,3602,0.00,1.77,10.43,0.691,6,0.000,0.036,2978,2151,2101,0,0,0,0,0,0
$GC,3929,0.73,242.4,329.9,15.6,447,3933,0.00,1.75,0.00,0.000,4,0.000,0.042,2987,956,2092,0,0,0,0,0,0
$GC,3967,0.72,242.4,322.8,17.7,450,3977,0.00,1.77,0.00,0.000,6,0.000,0.037,2987,2143,2092,0,0,0,0,0,0
$GC,4305,0.71,242.4,271.4,15.2,498,4314,0.00,1.70,0.00,0.000,4,0.000,0.043,2987,3278,2089,0,0,0,0,0,0
$GC,4478,0.70,242.4,242.2,17.5,528,4487,0.10,1.77,0.00,0.000,6,0.166,0.033,2964,2080,2087,0,0,0,0,0,0
$GC,4828,0.75,278.0,190.6,13.4,589,4865,0.00,1.67,27.92,0.654,4,0.000,0.042,2972,970,1955,0,0,0,0,0,0
$GC,4929,0.78,300.1,176.9,14.1,605,4958,0.00,1.73,18.65,0.623,6,0.000,0.036,2972,2152,1865,0,0,0,0,0,0
$GC,5308,0.83,336.7,127.2,13.3,669,5342,0.00,1.85,29.60,0.604,4,0.000,0.041,2981,962,1717,0,0,0,0,0,0
$GC,5489,0.90,391.8,104.5,12.4,698,5540,0.08,1.77,43.62,0.588,6,0.052,0.035,3039,2147,1491,0,0,0,0,0,0
$GC,5890,0.95,425.3,42.1,13.5,764,5922,0.00,0.00,26.02,0.534,6,0.000,0.000,3039,2147,1357,0,0,0,0,0,0
$STATE,6166,end climb,SURFACE_DEPTH_REACHED
$STATE,6166,begin surface coast
$FINISH,0.1,1.010357
$STATE,6192,end surface coast,CONTROL_FINISHED_OK
$STATE,6192,begin surface
$SM_CCo,6207,138.68,0.055,0,0,481,640.23
$SM_GC,1.00,0.00,0.00,138.68,0.000,0.000,0.055,147,2000,481,-8.07,-0.74,640.23
$IRIDIUM_FIX,2411.01,12611.03,280910,212144
$TT8_MAMPS,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.4,14.595
$10V_AH,10.4,11.988
$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,19.125,42.900,501.200,138.675,0.000,31.644,15.773,110.628,0.000,0.000,33.273,1909.230,1481.716,623.091,2493.497,109.877,0.000,1430.348,0.000,2322.793,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,110.925,852.210,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.941,0.000,1718.645,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,50393,814
$CAP_FILE_SIZE,83101,0
$CFSIZE,260165632,248942592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,342.7,1
$GPS,290910,012813,2417.148,12611.842,14,1.8,31,-3.7