version: 66.08
glider: 169
mission: 2
dive: 99
start: 9 29 110 1 33 15
data:
$ID,169
$MISSION,2
$DIVE,99
$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,-6803.6772
$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
$GPS1,290910,012813,2417.148,12611.842,14,1.8,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.2
$GPS2,290910,013249,2417.213,12611.800,12,1.5,12,-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,178.5,31880,-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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.62,0.000,2,0.000,0.000,141,2000,3080,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.8,-6.8,12,148,9.48,1.75,-14.85,0.000,4,0.239,0.073,2489,881,3929,0,0,0,0,0,0
$GC,267,-0.71,-204.4,65.2,-31.4,36,276,0.00,1.80,0.00,0.000,6,0.000,0.054,2489,2034,3930,0,0,0,0,0,0
$GC,630,-0.70,-204.4,174.9,-23.2,97,637,0.00,1.75,0.00,0.000,4,0.000,0.050,2489,866,3933,0,0,0,0,0,0
$GC,684,-0.69,-204.4,186.9,-20.1,106,694,0.00,1.80,0.00,0.000,6,0.000,0.050,2489,2034,3933,0,0,0,0,0,0
$GC,1046,-0.69,-204.4,262.8,-21.7,167,1052,0.00,1.70,0.00,0.000,4,0.000,0.057,2489,3171,3933,0,0,0,0,0,0
$GC,1087,-0.69,-204.4,271.9,-18.6,174,1096,0.00,1.77,0.00,0.000,6,0.000,0.048,2489,2011,3933,0,0,0,0,0,0
$GC,1434,-0.69,-204.4,335.6,-16.9,217,1437,0.00,1.67,0.00,0.000,4,0.000,0.055,2489,880,3933,0,0,0,0,0,0
$GC,1484,-0.69,-204.4,344.6,-15.5,221,1491,0.00,1.77,0.00,0.000,6,0.000,0.051,2489,2037,3932,0,0,0,0,0,0
$GC,1811,-0.70,-204.4,401.3,-16.9,252,1814,0.00,1.75,0.00,0.000,4,0.000,0.053,2490,871,3931,0,0,0,0,0,0
$GC,1925,-0.71,-204.4,419.9,-15.3,262,1928,0.00,1.75,0.00,0.000,6,0.000,0.050,2489,2044,3931,0,0,0,0,0,0
$GC,2257,-0.71,-204.4,471.0,-13.9,293,2261,0.00,1.77,0.00,0.000,4,0.000,0.053,2489,885,3929,0,0,0,0,0,0
$GC,2319,-0.72,-204.4,479.3,-12.6,298,2329,0.00,1.75,0.00,0.000,6,0.000,0.049,2490,2034,3928,0,0,0,0,0,0
$STATE,2482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2482,begin apogee
$GC,2486,-0.18,0.0,500.1,13.1,314,2649,0.55,0.05,156.77,0.855,6,0.151,0.067,2663,2094,3091,0,0,0,0,0,0
$STATE,2650,end apogee,CONTROL_FINISHED_OK
$STATE,2650,begin climb
$GC,2651,0.72,204.4,506.8,0.0,327,2826,0.82,1.80,167.70,0.842,4,0.082,0.041,2963,967,2256,0,0,0,0,0,0
$GC,2908,0.72,208.3,489.6,15.0,349,2912,0.00,1.80,0.00,0.000,6,0.000,0.035,2962,2159,2249,0,0,0,0,0,0
$GC,3239,0.71,210.9,438.2,15.0,380,3253,0.00,1.70,4.57,0.539,4,0.000,0.043,2962,3275,2231,0,0,0,0,0,0
$GC,3289,0.70,210.9,430.6,15.7,384,3292,0.00,1.75,0.00,0.000,6,0.000,0.031,2970,2075,2229,0,0,1,0,0,0
$GC,3621,0.71,221.5,381.2,14.6,415,3637,0.00,1.67,10.25,0.698,4,0.000,0.042,2979,967,2188,0,0,0,0,0,0
$GC,3724,0.72,234.0,365.7,14.5,424,3741,0.00,1.73,12.18,0.708,6,0.000,0.037,2977,2152,2136,0,0,0,0,0,0
$GC,4067,0.71,234.0,312.0,15.7,456,4071,0.00,1.77,0.00,0.000,4,0.000,0.041,2986,968,2127,0,0,0,0,0,0
$GC,4125,0.70,234.0,303.3,15.6,461,4128,0.00,1.73,0.00,0.000,6,0.000,0.037,2983,2155,2126,0,0,0,0,0,0
$GC,4467,0.70,234.1,253.5,15.1,520,4476,0.00,1.67,0.00,0.000,4,0.000,0.043,2984,3277,2124,0,0,0,0,0,0
$GC,4539,0.69,237.1,242.5,15.0,532,4549,0.10,1.75,0.00,0.000,6,0.171,0.032,2960,2089,2123,0,0,0,0,0,0
$GC,4889,0.82,345.3,198.4,9.8,593,4987,0.10,1.88,87.32,0.668,4,0.100,0.043,3015,3265,1681,0,0,0,0,0,0
$GC,5182,0.82,345.3,145.0,18.9,641,5190,0.00,1.77,0.00,0.000,6,0.000,0.032,3024,2085,1672,0,0,0,0,0,0
$GC,5546,0.82,349.1,82.5,15.0,702,5554,0.00,1.67,0.00,0.000,4,0.000,0.041,3033,957,1669,0,0,0,0,0,0
$GC,5662,0.91,417.4,67.1,11.7,721,5727,0.00,1.77,55.08,0.567,6,0.000,0.035,3032,2153,1387,0,0,0,0,0,0
$GC,6077,0.95,445.5,4.8,13.8,789,6094,0.00,0.00,15.30,0.491,2,0.000,0.000,3032,2154,1311,0,0,0,0,0,0
$STATE,6095,end climb,SURFACE_DEPTH_REACHED
$STATE,6095,begin surface coast
$FINISH,0.0,1.011541
$STATE,6121,end surface coast,CONTROL_FINISHED_OK
$STATE,6121,begin surface
$SM_CCo,6136,133.48,0.055,0,0,481,640.23
$SM_GC,0.94,0.00,0.00,133.48,0.000,0.000,0.055,150,2003,481,-8.06,-0.62,640.23
$IRIDIUM_FIX,2408.65,12609.64,280910,232355
$TT8_MAMPS,0.026964
$HUMID,43.30
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,14.717
$10V_AH,10.5,12.099
$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,19.225,45.950,509.175,133.475,0.000,30.217,37.037,118.045,0.000,0.000,12.842,1867.926,1490.566,620.177,2467.345,104.117,0.000,1431.629,0.000,2282.037,0.000,0.545,0.000
$DEVICE_MAMPS,239.445,96.390,854.505,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.370,0.000,1654.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,47000,795
$CAP_FILE_SIZE,83691,0
$CFSIZE,260165632,248893440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.067,304.4,1
$GPS,290910,031837,2416.412,12611.808,27,1.1,27,-3.7