version: 66.08
glider: 169
mission: 2
dive: 149
start: 10 2 110 21 42 16
data:
$ID,169
$MISSION,2
$DIVE,149
$N_DIVES,160
$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,-6869.2021
$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
$GPS1,021010,213714,2413.275,12612.655,12,1.7,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-74.5
$GPS2,021010,214150,2413.282,12612.680,14,1.7,14,-3.6
$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,206.8,24625,-21.0,-15.152
$D_GRID,1687
$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,-204.4,0.0,0.0,0,114,0.00,0.00,-97.00,0.000,2,0.000,0.000,145,1980,3141,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.8,-6.4,12,144,9.43,1.75,-13.23,0.000,4,0.236,0.073,2486,881,3928,0,0,0,0,0,0
$GC,182,-0.68,-204.4,39.5,-55.9,21,192,0.00,1.83,0.00,0.000,6,0.000,0.057,2486,2033,3929,0,0,0,0,0,0
$GC,545,-0.67,-204.4,153.1,-25.1,82,554,0.00,1.77,0.00,0.000,4,0.000,0.050,2486,879,3932,0,0,0,0,0,0
$GC,568,-0.66,-204.4,158.3,-24.5,85,576,0.00,1.77,0.00,0.000,6,0.000,0.052,2486,2037,3931,0,0,0,0,0,0
$GC,914,-0.66,-204.4,236.1,-23.0,146,923,0.10,1.80,0.00,0.000,4,0.201,0.053,2511,882,3933,0,0,0,0,0,0
$GC,930,-0.66,-204.4,239.6,-22.2,148,938,0.00,1.77,0.00,0.000,6,0.000,0.050,2511,2034,3933,0,0,0,0,0,0
$GC,1276,-0.66,-204.4,299.6,-15.7,209,1283,0.00,1.73,0.00,0.000,4,0.000,0.058,2511,3168,3932,0,0,0,0,0,0
$GC,1405,-0.67,-204.4,318.0,-13.5,221,1408,0.00,1.73,0.00,0.000,6,0.000,0.044,2511,2002,3932,0,0,0,0,0,0
$GC,1737,-0.68,-204.4,367.3,-13.9,252,1740,0.00,1.67,0.00,0.000,4,0.000,0.051,2511,878,3931,0,0,0,0,0,0
$GC,1809,-0.69,-204.4,377.2,-13.3,258,1818,0.00,1.77,0.00,0.000,6,0.000,0.049,2511,2038,3931,0,0,0,0,0,0
$GC,2136,-0.69,-204.4,422.3,-12.7,289,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2038,3929,0,0,0,0,0,0
$GC,2455,-0.70,-204.4,460.6,-12.4,319,2459,0.00,1.75,0.00,0.000,4,0.000,0.060,2511,3175,3927,0,0,0,0,0,0
$GC,2525,-0.72,-204.4,469.4,-12.1,325,2529,0.00,1.77,0.00,0.000,6,0.000,0.044,2511,2002,3926,0,0,0,0,0,0
$STATE,2769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2769,begin apogee
$GC,2773,-0.18,0.0,500.0,11.7,348,2934,0.47,0.08,155.62,0.857,6,0.150,0.109,2661,2090,3091,0,0,0,0,0,0
$STATE,2935,end apogee,CONTROL_FINISHED_OK
$STATE,2935,begin climb
$GC,2937,0.72,204.4,506.4,0.0,361,3112,0.82,1.77,167.38,0.845,4,0.074,0.040,2965,971,2255,0,0,0,0,0,0
$GC,3168,0.74,226.2,495.6,14.1,380,3193,0.00,1.80,18.62,0.774,6,0.000,0.035,2964,2145,2167,0,0,0,0,0,0
$GC,3520,0.73,226.2,442.6,15.4,413,3524,0.00,1.70,0.00,0.000,4,0.000,0.043,2964,3281,2157,0,0,0,0,0,0
$GC,3680,0.72,226.2,414.5,17.1,427,3683,0.00,1.77,0.00,0.000,6,0.000,0.032,2973,2076,2154,0,0,0,0,0,0
$GC,4011,0.72,226.2,362.1,15.6,458,4014,0.00,1.62,0.00,0.000,4,0.000,0.041,2981,950,2153,0,0,0,0,0,0
$GC,4192,0.75,255.1,335.3,13.7,474,4219,0.00,1.77,22.45,0.736,6,0.000,0.035,2980,2165,2051,0,0,0,0,0,0
$GC,4549,0.74,255.1,276.1,16.5,519,4556,0.00,1.65,0.00,0.000,4,0.000,0.042,2980,3278,2041,0,0,0,0,0,0
$GC,4608,0.73,255.1,265.7,17.0,529,4616,0.00,1.75,0.00,0.000,6,0.000,0.031,2989,2084,2039,0,0,0,0,0,0
$GC,4957,0.76,280.9,213.7,13.9,590,4986,0.00,1.83,20.80,0.659,4,0.000,0.040,2987,3281,1944,0,0,0,0,0,0
$GC,5085,0.75,280.9,193.2,17.3,611,5092,0.00,1.77,0.00,0.000,6,0.000,0.032,2996,2081,1940,0,0,1,0,0,0
$GC,5435,0.77,296.9,137.6,14.4,672,5454,0.00,1.70,13.68,0.587,4,0.000,0.041,3005,962,1879,0,0,0,0,0,0
$GC,5554,0.80,323.5,120.6,13.8,691,5580,0.00,1.77,22.52,0.591,6,0.000,0.034,3005,2153,1772,0,0,0,0,0,0
$GC,5930,0.90,400.2,71.5,11.3,754,5997,0.00,1.88,59.65,0.568,4,0.000,0.041,3012,965,1458,0,0,0,0,0,0
$GC,6048,1.00,476.4,58.8,11.4,770,6114,0.08,1.80,59.83,0.548,6,0.049,0.034,3077,2153,1146,0,0,0,0,0,0
$STATE,6347,end climb,SURFACE_DEPTH_REACHED
$STATE,6347,begin surface coast
$FINISH,-0.0,1.011072
$STATE,6366,end surface coast,CONTROL_FINISHED_OK
$STATE,6367,begin surface
$SM_CCo,6382,110.57,0.464,1,0,481,640.23
$SM_GC,0.95,0.00,0.00,110.57,0.000,0.000,0.464,151,1994,481,-8.06,-0.88,640.23
$IRIDIUM_FIX,2406.29,12614.85,021010,191928
$TT8_MAMPS,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,21.295
$10V_AH,10.4,17.680
$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,19.150,46.250,540.550,110.575,0.000,26.119,38.028,116.649,0.000,0.000,15.308,1938.505,1562.440,606.654,2546.000,123.182,0.000,1446.936,0.000,2368.128,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,109.395,856.800,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,548.762,0.000,1702.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50200,821
$CAP_FILE_SIZE,86457,0
$CFSIZE,260165632,246542336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.106, 71.8,1
$GPS,021010,233137,2412.466,12612.604,38,1.7,38,-3.6