version: 66.08
glider: 169
mission: 2
dive: 129
start: 10 1 110 8 36 27
data:
$ID,169
$MISSION,2
$DIVE,129
$N_DIVES,140
$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,-6843.2441
$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
$GPS1,011010,083124,2407.011,12611.166,45,1.4,45,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-72.2
$GPS2,011010,083601,2407.011,12611.107,22,1.8,39,-3.6
$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,16.7,24102,-21.0,-15.152
$D_GRID,1752
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-96.25,0.000,2,0.000,0.000,137,1977,3152,0,0,0,0,0,0
$GC,116,-0.72,-204.4,4.2,-8.1,12,143,9.43,1.95,-12.88,0.000,4,0.236,0.080,2486,3167,3927,0,0,0,0,0,0
$GC,151,-0.63,-204.4,24.1,-50.6,16,160,0.10,1.80,0.00,0.000,6,0.206,0.044,2514,2001,3929,0,0,0,0,0,0
$GC,516,-0.62,-204.4,139.4,-24.5,77,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,2000,3932,0,0,0,0,0,0
$GC,873,-0.62,-204.4,217.2,-18.0,138,882,0.00,1.83,0.00,0.000,4,0.000,0.059,2514,3163,3932,0,0,0,0,0,0
$GC,982,-0.63,-204.4,234.5,-14.2,156,990,0.00,1.77,0.00,0.000,6,0.000,0.044,2514,2003,3932,0,0,0,0,0,0
$GC,1341,-0.64,-204.4,291.3,-14.5,217,1347,0.00,1.67,0.00,0.000,4,0.000,0.052,2514,878,3932,0,0,0,0,0,0
$GC,1427,-0.65,-204.4,303.4,-12.2,230,1437,0.00,1.77,0.00,0.000,6,0.000,0.049,2514,2034,3932,0,0,0,0,0,0
$GC,1754,-0.66,-204.4,351.5,-14.9,261,1758,0.00,1.73,0.00,0.000,4,0.000,0.057,2515,3161,3930,0,0,0,0,0,0
$GC,1801,-0.67,-204.4,358.3,-13.2,265,1805,0.00,1.73,0.00,0.000,6,0.000,0.042,2514,1999,3930,0,0,0,0,0,0
$GC,2133,-0.68,-204.4,401.3,-11.6,296,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1998,3928,0,0,0,0,0,0
$GC,2453,-0.69,-204.4,437.9,-10.6,326,2456,0.00,1.77,0.00,0.000,4,0.000,0.057,2515,3167,3927,0,0,0,0,0,0
$GC,2500,-0.70,-204.4,442.9,-10.0,330,2503,0.00,1.75,0.00,0.000,6,0.000,0.042,2514,2000,3927,0,0,0,0,0,0
$GC,2832,-0.72,-204.4,482.1,-11.7,361,2836,0.00,1.83,0.00,0.000,4,0.000,0.057,2515,3166,3925,0,0,0,0,0,0
$GC,2881,-0.73,-204.4,487.2,-9.8,365,2884,0.00,1.73,0.00,0.000,6,0.000,0.041,2514,2000,3924,0,0,0,0,0,0
$STATE,3009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3009,begin apogee
$GC,3013,-0.18,0.0,500.9,10.7,377,3182,0.47,0.08,155.85,0.863,6,0.145,0.110,2666,2090,3089,0,0,0,0,0,0
$STATE,3182,end apogee,CONTROL_FINISHED_OK
$STATE,3183,begin climb
$GC,3184,0.72,204.4,509.1,0.0,391,3359,0.82,1.73,167.57,0.853,4,0.075,0.037,2969,966,2256,0,0,0,0,0,0
$GC,3419,0.71,204.4,494.6,16.2,411,3428,0.00,1.83,0.00,0.000,6,0.000,0.034,2969,2151,2249,0,0,0,0,0,0
$GC,3745,0.74,234.3,447.2,13.7,442,3774,0.00,1.70,24.50,0.790,4,0.000,0.040,2969,3275,2134,0,0,0,0,0,0
$GC,3852,0.73,234.3,429.9,16.0,451,3860,0.00,1.80,0.00,0.000,6,0.000,0.031,2978,2081,2126,0,0,0,0,0,0
$GC,4177,0.72,234.3,378.0,17.3,482,4181,0.00,1.80,0.00,0.000,4,0.000,0.041,2975,3278,2122,0,0,0,0,0,0
$GC,4283,0.71,234.3,359.0,17.5,491,4291,0.00,1.77,0.00,0.000,6,0.000,0.031,2983,2088,2121,0,0,0,0,0,0
$GC,4610,0.70,234.3,306.8,16.0,522,4613,0.00,1.75,0.00,0.000,4,0.000,0.041,2983,3274,2119,0,0,0,0,0,0
$GC,4633,0.69,234.3,302.7,16.7,524,4637,0.12,1.73,0.00,0.000,6,0.181,0.032,2959,2081,2118,0,0,0,0,0,0
$GC,4978,0.74,272.3,256.7,13.3,583,5014,0.00,1.73,29.55,0.705,4,0.000,0.042,2967,961,1978,0,0,0,0,0,0
$GC,5039,0.77,300.8,248.6,13.7,592,5067,0.00,1.80,23.98,0.682,6,0.000,0.036,2964,2153,1863,0,0,0,0,0,0
$GC,5407,0.78,308.1,197.2,14.8,656,5417,0.00,1.73,5.88,0.522,4,0.000,0.041,2964,3270,1835,0,0,0,0,0,0
$GC,5475,0.83,348.4,187.6,13.1,667,5518,0.00,1.75,33.78,0.650,6,0.000,0.031,2973,2083,1669,0,0,0,0,0,0
$GC,5862,0.83,348.4,130.5,15.3,733,5871,0.00,1.83,0.00,0.000,4,0.000,0.041,2973,3275,1662,0,0,0,0,0,0
$GC,5915,0.84,348.4,122.4,15.2,741,5924,0.00,1.77,0.00,0.000,6,0.000,0.031,2982,2087,1660,0,0,0,0,0,0
$GC,6279,0.92,405.8,72.2,12.3,802,6330,0.12,1.75,44.60,0.572,4,0.082,0.040,3065,954,1435,0,0,0,0,0,0
$GC,6361,0.92,405.8,59.0,16.4,813,6370,0.10,1.80,0.00,0.000,6,0.142,0.034,3031,2151,1432,0,0,0,0,0,0
$GC,6726,0.98,449.5,13.1,13.0,874,6766,0.00,0.00,34.00,0.520,6,0.000,0.000,3031,2152,1257,0,0,0,0,0,0
$STATE,6807,end climb,SURFACE_DEPTH_REACHED
$STATE,6807,begin surface coast
$FINISH,-0.0,1.021542
$STATE,6832,end surface coast,CONTROL_FINISHED_OK
$STATE,6832,begin surface
$SM_CCo,6847,128.23,0.055,0,0,481,640.23
$SM_GC,0.88,0.00,0.00,128.23,0.000,0.000,0.055,147,1997,481,-8.07,-0.79,640.23
$IRIDIUM_FIX,2356.84,12615.36,011010,060641
$TT8_MAMPS,0.026215
$HUMID,43.38
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.4,18.664
$10V_AH,10.5,15.446
$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,19.400,50.100,519.700,128.225,0.000,27.711,16.070,114.570,0.000,0.000,40.080,2087.103,1698.770,626.675,2719.344,124.833,0.000,1503.103,0.000,2540.690,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,110.160,862.920,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.799,0.000,1846.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,53687,890
$CAP_FILE_SIZE,92313,0
$CFSIZE,260165632,247500800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,5
$CURRENT,0.100,295.1,1
$GPS,011010,103319,2408.272,12610.980,11,1.2,11,-3.6