version: 66.08
glider: 169
mission: 2
dive: 135
start: 10 1 110 19 51 42
data:
$ID,169
$MISSION,2
$DIVE,135
$N_DIVES,150
$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,-6851.0552
$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
$GPS1,011010,194513,2414.148,12611.645,27,1.5,34,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-72.2
$GPS2,011010,195116,2414.223,12611.643,13,2.2,32,-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,344.0,10716,-21.0,-15.152
$D_GRID,1588
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-95.78,0.000,2,0.000,0.000,139,1998,3086,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.4,-5.4,12,149,9.48,1.90,-14.80,0.000,4,0.239,0.079,2486,3167,3928,0,0,0,0,0,0
$GC,257,-0.70,-204.4,69.0,-39.7,34,266,0.00,1.83,0.00,0.000,6,0.000,0.053,2486,2012,3930,0,0,0,0,0,0
$GC,618,-0.69,-204.4,176.9,-26.7,95,625,0.00,1.73,0.00,0.000,4,0.000,0.056,2486,879,3931,0,0,0,0,0,0
$GC,724,-0.69,-204.4,202.3,-21.8,113,732,0.00,1.77,0.00,0.000,6,0.000,0.054,2486,2037,3932,0,0,0,0,0,0
$GC,1068,-0.68,-204.4,279.4,-20.9,174,1077,0.00,1.77,0.00,0.000,4,0.000,0.053,2486,882,3932,0,0,0,0,0,0
$GC,1091,-0.68,-204.4,283.7,-20.7,177,1098,0.00,1.73,0.00,0.000,6,0.000,0.049,2486,2040,3932,0,0,0,0,0,0
$GC,1424,-0.68,-204.4,347.4,-18.8,215,1427,0.00,1.70,0.00,0.000,4,0.000,0.060,2486,3167,3931,0,0,0,0,0,0
$GC,1507,-0.69,-204.4,361.6,-15.1,222,1515,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2003,3931,0,0,0,0,0,0
$GC,1833,-0.69,-204.4,419.9,-16.5,253,1837,0.00,1.67,0.00,0.000,4,0.000,0.053,2486,865,3930,0,0,0,0,0,0
$GC,1936,-0.70,-204.4,434.8,-13.9,262,1939,0.00,1.75,0.00,0.000,6,0.000,0.049,2486,2041,3929,0,0,0,0,0,0
$GC,2268,-0.70,-204.4,482.2,-13.6,293,2272,0.00,1.75,0.00,0.000,4,0.000,0.061,2486,3167,3927,0,0,0,0,0,0
$GC,2307,-0.71,-204.4,487.7,-12.7,296,2316,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2002,3927,0,0,0,0,0,0
$STATE,2398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2398,begin apogee
$GC,2402,-0.18,0.0,500.4,14.4,305,2564,0.57,0.08,156.07,0.851,6,0.158,0.109,2663,2091,3091,0,0,0,0,0,0
$STATE,2564,end apogee,CONTROL_FINISHED_OK
$STATE,2565,begin climb
$GC,2566,0.72,204.4,507.8,0.0,318,2745,0.82,1.77,167.10,0.839,4,0.080,0.038,2965,966,2255,0,0,0,0,0,0
$GC,2830,0.73,222.5,490.5,14.3,340,2851,0.00,1.80,15.45,0.754,6,0.000,0.034,2962,2148,2184,0,0,0,0,0,0
$GC,3168,0.73,222.5,436.0,17.2,372,3172,0.00,1.70,0.00,0.000,4,0.000,0.043,2962,3272,2173,0,0,0,0,0,0
$GC,3332,0.72,222.5,406.3,17.0,386,3342,0.00,1.77,0.00,0.000,6,0.000,0.032,2971,2081,2170,0,0,0,0,0,0
$GC,3659,0.74,247.4,358.7,13.9,417,3685,0.00,1.88,20.05,0.734,4,0.000,0.041,2966,3280,2080,0,0,0,0,0,0
$GC,3697,0.74,248.1,352.7,15.1,420,3701,0.00,1.75,0.00,0.000,6,0.000,0.032,2975,2084,2078,0,0,1,0,0,0
$GC,4030,0.73,248.1,301.2,17.6,451,4033,0.00,1.80,0.00,0.000,4,0.000,0.041,2974,3281,2073,0,0,0,0,0,0
$GC,4145,0.72,248.1,280.1,18.1,470,4154,0.00,1.77,0.00,0.000,6,0.000,0.032,2983,2089,2071,0,0,0,0,0,0
$GC,4505,0.72,248.1,221.0,16.0,531,4512,0.00,1.77,0.00,0.000,4,0.000,0.041,2983,3277,2069,0,0,0,0,0,0
$GC,4628,0.71,248.1,200.1,15.6,552,4637,0.08,1.77,0.00,0.000,6,0.159,0.033,2966,2083,2068,0,0,0,0,0,0
$GC,4986,0.81,327.2,159.4,11.2,613,5057,0.00,1.70,62.33,0.636,4,0.000,0.040,2975,957,1754,0,0,0,0,0,0
$GC,5125,0.83,341.8,140.5,14.4,634,5143,0.00,1.80,12.50,0.567,6,0.000,0.035,2974,2147,1696,0,0,0,0,0,0
$GC,5493,0.91,401.3,88.7,12.2,696,5552,0.12,1.75,46.42,0.575,4,0.083,0.041,3046,3275,1452,0,0,0,0,0,0
$GC,5603,0.91,401.3,68.3,19.2,711,5612,0.08,1.77,0.00,0.000,6,0.155,0.031,3029,2086,1448,0,0,1,0,0,0
$GC,5968,0.99,463.6,20.9,12.1,772,6026,0.00,1.70,47.83,0.522,4,0.000,0.040,3029,972,1199,0,0,0,0,0,0
$GC,6077,1.02,483.2,7.4,14.2,787,6101,0.00,1.77,16.10,0.483,6,0.000,0.031,3029,2161,1119,0,0,0,0,0,0
$STATE,6108,end climb,SURFACE_DEPTH_REACHED
$STATE,6108,begin surface coast
$FINISH,0.1,1.009082
$STATE,6133,end surface coast,CONTROL_FINISHED_OK
$STATE,6134,begin surface
$SM_CCo,6149,105.85,0.460,1,0,481,640.23
$SM_GC,0.87,0.00,0.00,105.85,0.000,0.000,0.460,142,1981,481,-8.08,-1.24,640.23
$IRIDIUM_FIX,2403.92,12610.15,011010,191927
$TT8_MAMPS,0.026215
$HUMID,43.06
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.4,19.462
$10V_AH,10.4,16.110
$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,19.350,50.000,543.850,105.850,0.000,58.579,27.468,104.389,0.000,0.000,34.460,1854.644,1529.169,626.211,2504.048,113.102,0.000,1459.911,0.000,2293.974,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,109.395,850.680,459.765,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.189,0.000,1670.637,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46982,795
$CAP_FILE_SIZE,85972,0
$CFSIZE,260165632,247238656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,1
$CURRENT,0.137, 72.5,1
$GPS,011010,213658,2415.261,12611.675,11,3.3,30,-3.7