version: 66.08
glider: 169
mission: 2
dive: 159
start: 10 3 110 16 22 2
data:
$ID,169
$MISSION,2
$DIVE,159
$N_DIVES,165
$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,-6882.3203
$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
$GPS1,031010,161644,2404.263,12612.276,10,2.0,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.8
$GPS2,031010,162136,2404.307,12612.272,32,1.0,32,-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,181.8,7989,-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,15,-0.72,-204.4,0.0,0.0,0,111,0.00,0.00,-94.00,0.000,2,0.000,0.000,146,1997,3043,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.4,-4.8,12,148,9.12,1.75,-15.52,0.000,4,0.225,0.067,2491,875,3928,0,0,0,0,0,0
$GC,260,-0.71,-204.4,63.3,-29.3,35,269,0.00,1.83,0.00,0.000,6,0.000,0.054,2491,2034,3929,0,0,0,0,0,0
$GC,622,-0.70,-204.4,157.2,-24.4,96,630,0.00,1.77,0.00,0.000,4,0.000,0.050,2491,882,3931,0,0,0,0,0,0
$GC,644,-0.70,-204.4,162.3,-24.1,99,651,0.00,1.75,0.00,0.000,6,0.000,0.050,2491,2046,3931,0,0,0,0,0,0
$GC,987,-0.69,-204.4,240.7,-20.0,160,996,0.00,1.80,0.00,0.000,4,0.000,0.051,2491,880,3931,0,0,0,0,0,0
$GC,1038,-0.70,-204.4,250.0,-18.2,168,1046,0.00,1.77,0.00,0.000,6,0.000,0.051,2491,2031,3931,0,0,0,0,0,0
$GC,1386,-0.70,-204.4,314.4,-17.7,223,1390,0.00,1.73,0.00,0.000,4,0.000,0.058,2491,3171,3931,0,0,0,0,0,0
$GC,1424,-0.70,-204.4,321.7,-17.2,226,1433,0.00,1.80,0.00,0.000,6,0.000,0.047,2491,2002,3931,0,0,0,0,0,0
$GC,1751,-0.71,-204.4,379.5,-17.3,257,1755,0.00,1.83,0.00,0.000,4,0.000,0.058,2491,3162,3930,0,0,0,0,0,0
$GC,1778,-0.71,-204.4,384.6,-17.4,259,1785,0.00,1.77,0.00,0.000,6,0.000,0.046,2491,2002,3930,0,0,0,0,0,0
$GC,2104,-0.72,-204.4,434.4,-15.0,290,2107,0.00,1.67,0.00,0.000,4,0.000,0.052,2491,866,3928,0,0,0,0,0,0
$GC,2176,-0.73,-204.4,444.6,-12.9,296,2185,0.00,1.80,0.00,0.000,6,0.000,0.049,2491,2038,3928,0,0,0,0,0,0
$GC,2503,-0.73,-204.4,489.5,-13.9,327,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2038,3926,0,0,0,0,0,0
$STATE,2575,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2575,begin apogee
$GC,2579,-0.18,0.0,500.1,14.3,334,2742,0.55,0.08,156.10,0.858,6,0.153,0.110,2662,2091,3090,0,0,0,0,0,0
$STATE,2742,end apogee,CONTROL_FINISHED_OK
$STATE,2742,begin climb
$GC,2744,0.72,204.4,509.4,0.0,347,2926,0.85,1.77,167.73,0.848,4,0.086,0.039,2966,968,2255,0,0,0,0,0,0
$GC,2974,0.71,204.4,498.0,15.7,367,2977,0.00,1.77,0.00,0.000,6,0.000,0.034,2963,2152,2250,0,0,0,0,0,0
$GC,3306,0.72,213.7,448.5,14.7,398,3320,0.00,1.67,7.43,0.666,4,0.000,0.039,2964,3273,2218,0,0,0,0,0,0
$GC,3412,0.71,213.7,432.0,15.9,407,3416,0.00,1.75,0.00,0.000,6,0.000,0.031,2972,2077,2215,0,0,0,0,0,0
$GC,3743,0.71,221.7,382.4,14.7,438,3755,0.00,0.00,7.05,0.648,6,0.000,0.000,2972,2076,2188,0,0,0,0,0,0
$GC,4074,0.71,232.4,333.5,14.6,469,4088,0.00,1.83,10.40,0.686,4,0.000,0.043,2969,3272,2143,0,0,0,0,0,0
$GC,4198,0.70,232.4,313.9,16.3,480,4202,0.00,1.77,0.00,0.000,6,0.000,0.031,2977,2086,2138,0,0,0,0,0,0
$GC,4540,0.70,239.9,258.7,14.8,533,4555,0.00,1.83,7.12,0.596,4,0.000,0.041,2977,3271,2111,0,0,0,0,0,0
$GC,4660,0.70,239.9,240.0,15.2,553,4667,0.08,1.77,0.00,0.000,6,0.163,0.032,2961,2086,2108,0,0,0,0,0,0
$GC,5007,0.80,321.6,197.5,11.1,614,5078,0.00,1.75,65.88,0.668,4,0.000,0.041,2969,965,1778,0,0,0,0,0,0
$GC,5154,0.84,354.5,178.0,13.5,637,5190,0.10,1.80,26.50,0.629,6,0.095,0.036,3027,2160,1644,0,0,0,0,0,0
$GC,5541,0.84,354.5,101.9,18.5,702,5550,0.00,1.67,0.00,0.000,4,0.000,0.041,3027,3270,1635,0,0,0,0,0,0
$GC,5606,0.83,354.5,89.7,17.5,712,5615,0.10,1.77,0.00,0.000,6,0.153,0.031,3002,2084,1634,0,0,0,0,0,0
$GC,5973,1.01,488.7,43.9,8.5,773,6087,0.15,1.90,102.00,0.549,4,0.070,0.040,3087,3272,1095,0,0,0,0,0,0
$GC,6119,1.01,488.7,19.1,20.3,792,6129,0.12,1.80,0.00,0.000,6,0.142,0.031,3055,2083,1093,0,0,1,0,0,0
$STATE,6211,end climb,SURFACE_DEPTH_REACHED
$STATE,6212,begin surface coast
$FINISH,-0.1,0.999754
$STATE,6232,end surface coast,CONTROL_FINISHED_OK
$STATE,6232,begin surface
$SM_CCo,6247,103.60,0.464,1,0,480,640.23
$SM_GC,0.79,0.00,0.00,103.60,0.000,0.000,0.464,149,1995,480,-8.06,-0.85,640.23
$IRIDIUM_FIX,2354.48,12612.57,031010,141450
$TT8_MAMPS,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,22.679
$10V_AH,10.5,18.806
$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,19.250,46.475,550.200,103.600,0.000,28.793,37.111,112.636,0.000,0.000,33.164,1886.067,1510.064,628.948,2501.736,124.912,0.000,1460.888,0.000,2310.852,0.000,0.545,0.000
$DEVICE_MAMPS,224.910,110.160,857.565,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.519,0.000,1677.023,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,50286,810
$CAP_FILE_SIZE,85753,0
$CFSIZE,260165632,246075392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.105,356.2,1
$GPS,031010,180838,2403.572,12612.440,14,1.6,14,-3.6