version: 66.08
glider: 169
mission: 2
dive: 77
start: 9 27 110 11 46 27
data:
$ID,169
$MISSION,2
$DIVE,77
$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,-6775.2212
$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
$GPS1,270910,114136,2402.279,12611.976,14,1.1,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-73.3
$GPS2,270910,114601,2402.284,12611.943,20,1.1,20,-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,4.8,17995,-21.0,-15.152
$D_GRID,1802
$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,14,-0.72,-204.4,0.0,0.0,0,110,0.00,0.00,-93.43,0.000,2,0.000,0.000,147,2001,3014,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.2,-5.0,11,147,9.43,1.88,-16.58,0.000,4,0.239,0.078,2487,3162,3927,0,0,0,0,0,0
$GC,200,-0.70,-204.4,41.9,-38.6,24,209,0.00,1.80,0.00,0.000,6,0.000,0.050,2487,2009,3928,0,0,0,0,0,0
$GC,565,-0.69,-204.4,147.3,-24.9,85,574,0.00,1.83,0.00,0.000,4,0.000,0.064,2487,3158,3931,0,0,0,0,0,0
$GC,582,-0.68,-204.4,152.2,-26.2,87,589,0.00,1.73,0.00,0.000,6,0.000,0.047,2487,2003,3931,0,0,0,0,0,0
$GC,926,-0.68,-204.4,234.4,-24.3,148,934,0.00,1.83,0.00,0.000,4,0.000,0.063,2487,3162,3931,0,0,0,0,0,0
$GC,959,-0.68,-204.4,241.7,-23.1,153,967,0.00,1.73,0.00,0.000,6,0.000,0.047,2487,2003,3931,0,0,0,0,0,0
$GC,1304,-0.68,-204.4,310.3,-17.9,209,1308,0.00,1.77,0.00,0.000,4,0.000,0.061,2487,3167,3931,0,0,0,0,0,0
$GC,1338,-0.68,-204.4,316.3,-15.9,212,1341,0.00,1.75,0.00,0.000,6,0.000,0.045,2487,2002,3931,0,0,0,0,0,0
$GC,1670,-0.68,-204.4,376.2,-17.9,243,1673,0.00,1.65,0.00,0.000,4,0.000,0.052,2487,874,3930,0,0,0,0,0,0
$GC,1696,-0.68,-204.4,381.4,-17.0,245,1705,0.00,1.80,0.00,0.000,6,0.000,0.051,2486,2045,3930,0,0,0,0,0,0
$GC,2023,-0.69,-204.4,438.1,-15.7,276,2027,0.00,1.75,0.00,0.000,4,0.000,0.052,2487,865,3929,0,0,0,0,0,0
$GC,2068,-0.70,-204.4,444.8,-13.7,280,2072,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2036,3929,0,0,0,0,0,0
$GC,2400,-0.70,-204.4,492.3,-13.8,311,2404,0.00,1.75,0.00,0.000,4,0.000,0.052,2487,865,3927,0,0,0,0,0,0
$GC,2438,-0.71,-204.4,498.1,-13.5,314,2447,0.00,1.80,0.00,0.000,6,0.000,0.050,2487,2042,3927,0,0,0,0,0,0
$STATE,2467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2467,begin apogee
$GC,2471,-0.18,0.0,501.3,12.3,317,2632,0.55,0.08,156.12,0.857,6,0.148,0.112,2662,2091,3091,0,0,0,0,0,0
$STATE,2633,end apogee,CONTROL_FINISHED_OK
$STATE,2633,begin climb
$GC,2634,0.72,204.4,510.5,0.0,330,2813,0.82,1.88,168.32,0.844,4,0.080,0.039,2954,3275,2255,0,0,0,0,0,0
$GC,2851,0.71,204.4,500.1,16.7,348,2861,0.00,1.80,0.00,0.000,6,0.000,0.031,2963,2094,2249,0,0,1,0,0,0
$GC,3180,0.70,207.0,451.0,15.0,379,3183,0.00,1.67,0.00,0.000,4,0.000,0.042,2971,971,2243,0,0,0,0,0,0
$GC,3259,0.70,210.3,438.7,15.0,386,3274,0.00,1.77,4.03,0.500,6,0.000,0.036,2970,2154,2232,0,0,0,0,0,0
$GC,3590,0.70,219.0,388.9,14.7,417,3603,0.00,1.83,8.57,0.679,4,0.000,0.043,2979,966,2198,0,0,0,0,0,0
$GC,3719,0.71,235.0,370.3,14.4,428,3739,0.00,1.73,15.15,0.732,6,0.000,0.037,2979,2152,2132,0,0,0,0,0,0
$GC,4060,0.72,247.0,320.7,14.6,459,4074,0.00,1.70,10.48,0.675,4,0.000,0.043,2979,3281,2082,0,0,0,0,0,0
$GC,4120,0.71,247.0,310.1,17.4,464,4129,0.00,1.77,0.00,0.000,6,0.000,0.033,2988,2083,2079,0,0,1,0,0,0
$GC,4471,0.70,247.0,253.0,15.7,519,4478,0.12,1.77,0.00,0.000,4,0.192,0.041,2956,3274,2075,0,0,0,0,0,0
$GC,4557,0.73,271.4,240.6,13.9,533,4586,0.00,1.73,20.48,0.679,6,0.000,0.032,2965,2079,1982,0,0,0,0,0,0
$GC,4937,0.75,287.9,188.6,14.3,597,4958,0.00,1.85,13.75,0.630,4,0.000,0.041,2965,3270,1915,0,0,0,0,0,0
$GC,5051,0.75,287.9,171.9,15.5,616,5060,0.00,1.80,0.00,0.000,6,0.000,0.032,2973,2083,1911,0,0,0,0,0,0
$GC,5412,0.80,327.1,122.0,13.2,677,5453,0.00,0.00,32.17,0.607,6,0.000,0.000,2973,2083,1755,0,0,0,0,0,0
$GC,5802,0.94,435.6,74.0,9.8,742,5893,0.15,1.90,83.97,0.575,4,0.071,0.039,3056,3271,1314,0,0,0,0,0,0
$GC,6074,0.94,435.6,26.7,15.4,784,6083,0.08,1.77,0.00,0.000,6,0.154,0.031,3039,2092,1307,0,0,0,0,0,0
$STATE,6243,end climb,SURFACE_DEPTH_REACHED
$STATE,6243,begin surface coast
$FINISH,0.1,1.021915
$STATE,6269,end surface coast,CONTROL_FINISHED_OK
$STATE,6269,begin surface
$SM_CCo,6284,133.38,0.056,0,0,481,640.23
$SM_GC,0.91,0.00,0.00,133.38,0.000,0.000,0.056,150,1980,481,-8.07,-1.27,640.23
$IRIDIUM_FIX,2354.48,12613.96,270910,090941
$TT8_MAMPS,0.026215
$HUMID,42.71
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,24.60
$XPDR_PINGS,39
$24V_AH,24.4,11.997
$10V_AH,10.4,9.748
$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,19.400,50.175,513.050,133.375,0.000,27.707,36.754,106.722,9.750,0.000,21.007,1914.385,1513.042,634.821,2519.165,105.325,0.000,1462.261,0.000,2347.753,0.000,0.545,0.000
$DEVICE_MAMPS,239.445,112.455,856.800,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.671,0.000,1718.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50248,816
$CAP_FILE_SIZE,86923,0
$CFSIZE,260165632,249921536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,4
$CURRENT,0.018,275.7,1
$GPS,270910,133422,2403.340,12611.782,12,2.7,31,-3.6