version: 66.08
glider: 169
mission: 2
dive: 165
start: 10 4 110 3 22 47
data:
$ID,169
$MISSION,2
$DIVE,165
$N_DIVES,170
$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,-6890.1426
$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
$GPS1,041010,031714,2400.022,12612.101,12,2.0,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.5
$GPS2,041010,032220,2400.029,12612.072,13,1.7,13,-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,351.3,36987,-21.0,-15.152
$D_GRID,2058
$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,-95.53,0.000,2,0.000,0.000,138,1976,3140,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.4,-8.3,12,150,9.57,1.92,-13.20,0.000,4,0.239,0.079,2486,3160,3928,0,0,0,0,0,0
$GC,165,-0.66,-204.4,30.7,-55.2,18,174,0.00,1.80,0.00,0.000,6,0.000,0.045,2486,2004,3930,0,0,0,0,0,0
$GC,530,-0.65,-204.4,151.5,-25.0,79,537,0.12,0.00,0.00,0.000,6,0.190,0.000,2518,2002,3932,0,0,0,0,0,0
$GC,885,-0.65,-204.4,223.1,-16.8,140,894,0.00,1.83,0.00,0.000,4,0.000,0.058,2517,3161,3933,0,0,0,0,0,0
$GC,959,-0.66,-204.4,234.4,-13.6,152,968,0.00,1.77,0.00,0.000,6,0.000,0.044,2518,2004,3933,0,0,0,0,0,0
$GC,1318,-0.67,-204.4,291.6,-15.7,213,1325,0.00,1.70,0.00,0.000,4,0.000,0.051,2518,865,3932,0,0,0,0,0,0
$GC,1395,-0.68,-204.4,303.1,-13.9,224,1404,0.00,1.80,0.00,0.000,6,0.000,0.049,2517,2036,3932,0,0,0,0,0,0
$GC,1723,-0.69,-204.4,350.6,-14.0,255,1726,0.00,1.75,0.00,0.000,4,0.000,0.057,2518,3168,3931,0,0,0,0,0,0
$GC,1793,-0.70,-204.4,359.6,-11.2,261,1797,0.00,1.75,0.00,0.000,6,0.000,0.043,2518,2002,3931,0,0,0,0,0,0
$GC,2126,-0.71,-204.4,403.5,-13.5,292,2129,0.00,1.77,0.00,0.000,4,0.000,0.057,2518,3168,3929,0,0,0,0,0,0
$GC,2173,-0.72,-204.4,409.5,-11.8,296,2177,0.00,1.73,0.00,0.000,6,0.000,0.042,2518,2002,3929,0,0,0,0,0,0
$GC,2507,-0.74,-204.4,450.4,-11.0,327,2510,0.00,1.70,0.00,0.000,4,0.000,0.051,2518,881,3927,0,0,0,0,0,0
$GC,2603,-0.75,-204.4,460.3,-9.2,335,2609,0.00,1.77,0.00,0.000,6,0.000,0.047,2518,2040,3926,0,0,0,0,0,0
$GC,2930,-0.76,-204.4,491.3,-9.5,366,2934,0.10,1.75,0.00,0.000,4,0.127,0.059,2477,3168,3924,0,0,0,0,0,0
$GC,2966,-0.77,-204.4,495.3,-11.9,369,2970,0.00,1.75,0.00,0.000,6,0.000,0.045,2477,1999,3924,0,0,0,0,0,0
$STATE,3010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3010,begin apogee
$GC,3014,-0.18,0.0,501.1,13.3,373,3176,0.62,0.08,155.93,0.862,6,0.161,0.109,2667,2091,3091,0,0,0,0,0,0
$STATE,3176,end apogee,CONTROL_FINISHED_OK
$STATE,3177,begin climb
$GC,3178,0.72,204.4,509.4,0.0,386,3354,0.85,1.73,167.75,0.854,4,0.076,0.038,2972,966,2256,0,0,0,0,0,0
$GC,3412,0.71,205.1,496.2,15.1,406,3416,0.00,1.83,0.00,0.000,6,0.000,0.035,2967,2150,2249,0,0,0,0,0,0
$GC,3744,0.70,205.1,442.8,15.6,437,3747,0.00,1.67,0.00,0.000,4,0.000,0.042,2967,3275,2243,0,0,0,0,0,0
$GC,3792,0.69,205.1,435.4,15.5,441,3795,0.00,1.73,0.00,0.000,6,0.000,0.032,2975,2078,2241,0,0,1,0,0,0
$GC,4124,0.69,214.1,387.4,14.7,472,4138,0.00,1.67,6.28,0.623,4,0.000,0.039,2984,960,2219,0,0,0,0,0,0
$GC,4163,0.68,214.1,381.0,15.7,475,4168,0.12,1.75,0.00,0.000,6,0.187,0.036,2952,2161,2218,0,0,0,0,0,0
$GC,4494,0.76,277.2,338.1,12.0,506,4557,0.00,1.73,52.78,0.760,4,0.000,0.041,2952,3265,1957,0,0,0,0,0,0
$GC,4695,0.76,277.2,309.4,16.0,523,4698,0.00,1.77,0.00,0.000,6,0.000,0.033,2961,2080,1950,0,0,0,0,0,0
$GC,5042,0.76,277.2,253.3,15.6,578,5052,0.00,1.65,0.00,0.000,4,0.000,0.041,2970,970,1945,0,0,0,0,0,0
$GC,5138,0.76,277.2,238.8,15.2,594,5148,0.00,1.77,0.00,0.000,6,0.000,0.036,2967,2157,1944,0,0,0,0,0,0
$GC,5499,0.82,331.3,189.3,12.5,655,5546,0.00,0.00,41.67,0.658,6,0.000,0.000,2967,2157,1739,0,0,0,0,0,0
$GC,5899,0.88,377.4,136.8,12.9,722,5942,0.12,1.75,36.62,0.613,4,0.082,0.041,3033,3274,1550,0,0,0,0,0,0
$GC,6062,0.88,377.4,103.4,20.1,747,6070,0.00,1.77,0.00,0.000,6,0.000,0.032,3042,2084,1544,0,0,1,0,0,0
$GC,6426,0.97,447.2,41.9,11.7,808,6485,0.00,1.90,54.20,0.548,4,0.000,0.039,3042,3281,1265,0,0,0,0,0,0
$GC,6517,1.00,471.7,30.4,13.9,820,6543,0.00,1.80,20.08,0.515,6,0.000,0.031,3051,2087,1166,0,0,1,0,0,0
$STATE,6698,end climb,SURFACE_DEPTH_REACHED
$STATE,6698,begin surface coast
$FINISH,0.1,1.021639
$STATE,6719,end surface coast,CONTROL_FINISHED_OK
$STATE,6719,begin surface
$SM_CCo,6734,113.18,0.055,0,0,481,640.23
$SM_GC,0.79,0.00,0.00,113.18,0.000,0.000,0.055,143,1983,481,-8.07,-1.19,640.23
$IRIDIUM_FIX,2352.12,12610.66,041010,010115
$TT8_MAMPS,0.026215
$HUMID,44.48
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,23.470
$10V_AH,10.5,19.480
$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,19.775,49.750,535.300,113.175,0.000,29.457,45.741,133.022,0.000,0.000,14.631,2016.442,1768.013,612.309,2636.339,126.307,0.000,1475.960,0.000,2424.833,0.000,0.545,0.000
$DEVICE_MAMPS,239.445,108.630,862.155,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,570.873,0.000,1728.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,50311,853
$CAP_FILE_SIZE,90103,0
$CFSIZE,260165632,245784576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.055, 31.9,1
$GPS,041010,051801,2401.203,12611.963,39,1.0,39,-3.6