version: 66.08
glider: 169
mission: 2
dive: 167
start: 10 4 110 7 15 34
data:
$ID,169
$MISSION,2
$DIVE,167
$N_DIVES,180
$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,-6892.6562
$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
$GPS1,041010,071056,2402.267,12611.785,10,1.9,10,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.2
$GPS2,041010,071508,2402.263,12611.743,14,1.3,14,-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,1.2,32852,-21.0,-15.152
$D_GRID,1793
$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,-95.90,0.000,2,0.000,0.000,139,1992,3134,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.3,-8.8,12,149,9.80,1.90,-13.12,0.000,4,0.246,0.080,2486,3162,3929,0,0,0,0,0,0
$GC,180,-0.68,-204.4,40.2,-54.2,21,189,0.00,1.80,0.00,0.000,6,0.000,0.048,2486,2018,3930,0,0,0,0,0,0
$GC,545,-0.67,-204.4,149.1,-25.4,82,554,0.00,1.83,0.00,0.000,4,0.000,0.063,2486,3161,3932,0,0,0,0,0,0
$GC,569,-0.66,-204.4,155.0,-24.2,85,575,0.00,1.75,0.00,0.000,6,0.000,0.046,2486,2002,3933,0,0,0,0,0,0
$GC,925,-0.66,-204.4,236.5,-21.1,146,935,0.10,1.73,0.00,0.000,4,0.198,0.052,2511,884,3933,0,0,0,0,0,0
$GC,984,-0.67,-204.4,246.7,-15.3,155,990,0.00,1.75,0.00,0.000,6,0.000,0.050,2511,2048,3933,0,0,0,0,0,0
$GC,1338,-0.67,-204.4,305.1,-16.0,213,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,2048,3933,0,0,0,0,0,0
$GC,1658,-0.68,-204.4,353.2,-13.9,243,1661,0.00,1.70,0.00,0.000,4,0.000,0.060,2511,3168,3933,0,0,0,0,0,0
$GC,1752,-0.69,-204.4,365.5,-12.9,251,1756,0.00,1.75,0.00,0.000,6,0.000,0.045,2511,2000,3932,0,0,0,0,0,0
$GC,2084,-0.70,-204.4,411.7,-14.4,282,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1998,3931,0,0,0,0,0,0
$GC,2404,-0.71,-204.4,453.5,-12.0,312,2407,0.00,1.67,0.00,0.000,4,0.000,0.051,2511,866,3929,0,0,0,0,0,0
$GC,2431,-0.72,-204.4,457.3,-12.1,314,2441,0.00,1.80,0.00,0.000,6,0.000,0.050,2511,2036,3929,0,0,0,0,0,0
$GC,2757,-0.73,-204.4,493.3,-10.6,345,2761,0.00,1.77,0.00,0.000,4,0.000,0.058,2511,3167,3927,0,0,0,0,0,0
$STATE,2827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2827,begin apogee
$GC,2832,-0.18,0.0,500.5,9.8,351,3002,0.47,0.08,156.65,0.866,6,0.143,0.122,2662,2149,3090,0,0,0,0,0,0
$STATE,3002,end apogee,CONTROL_FINISHED_OK
$STATE,3003,begin climb
$GC,3004,0.72,204.4,509.4,0.0,365,3187,0.82,1.90,167.93,0.857,4,0.066,0.041,2975,968,2254,0,0,0,0,0,0
$GC,3338,0.71,204.4,481.3,15.8,394,3348,0.00,1.80,0.00,0.000,6,0.000,0.036,2974,2150,2247,0,0,0,0,0,0
$GC,3666,0.70,204.4,430.2,15.6,425,3670,0.00,1.70,0.00,0.000,4,0.000,0.042,2973,3275,2242,0,0,0,0,0,0
$GC,3704,0.69,204.4,423.1,17.8,428,3714,0.08,1.77,0.00,0.000,6,0.173,0.031,2959,2087,2241,0,0,0,0,0,0
$GC,4031,0.72,236.3,378.0,13.6,459,4061,0.00,1.73,25.10,0.763,4,0.000,0.041,2967,964,2126,0,0,0,0,0,0
$GC,4096,0.74,256.0,368.9,14.2,464,4121,0.00,1.75,17.23,0.732,6,0.000,0.036,2963,2151,2046,0,0,0,0,0,0
$GC,4438,0.73,256.0,316.1,15.4,496,4442,0.00,1.70,0.00,0.000,4,0.000,0.043,2963,3272,2035,0,0,0,0,0,0
$GC,4568,0.73,256.0,294.9,16.9,510,4576,0.00,1.77,0.00,0.000,6,0.000,0.033,2972,2089,2033,0,0,0,0,0,0
$GC,4916,0.73,256.0,237.8,15.6,571,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2087,2031,0,0,0,0,0,0
$GC,5260,0.79,314.0,190.6,12.3,632,5311,0.00,1.75,45.25,0.661,4,0.000,0.042,2981,963,1809,0,0,0,0,0,0
$GC,5359,0.83,340.7,177.5,13.8,647,5388,0.00,1.75,22.40,0.628,6,0.000,0.035,2980,2151,1701,0,0,0,0,0,0
$GC,5739,0.83,340.7,119.0,15.4,711,5747,0.00,1.70,0.00,0.000,4,0.000,0.041,2980,3275,1693,0,0,0,0,0,0
$GC,5809,0.84,350.8,108.1,14.6,722,5826,0.00,1.77,8.27,0.520,6,0.000,0.032,2989,2093,1660,0,0,0,0,0,0
$GC,6175,1.07,525.2,62.4,6.5,784,6322,0.22,1.75,134.65,0.559,4,0.053,0.039,3118,973,947,0,0,0,0,0,0
$GC,6342,1.06,525.2,33.8,22.8,805,6352,0.12,1.80,0.00,0.000,6,0.155,0.033,3078,2152,944,0,0,0,0,0,0
$STATE,6501,end climb,SURFACE_DEPTH_REACHED
$STATE,6501,begin surface coast
$FINISH,-0.2,1.008734
$STATE,6521,end surface coast,CONTROL_FINISHED_OK
$STATE,6521,begin surface
$SM_CCo,6536,81.55,0.056,0,0,480,640.23
$SM_GC,0.87,0.00,0.00,81.55,0.000,0.000,0.056,152,1984,480,-8.06,-1.16,640.23
$IRIDIUM_FIX,2349.77,12612.57,041010,050524
$TT8_MAMPS,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,23.727
$10V_AH,10.3,19.709
$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,19.825,46.050,577.475,81.550,0.000,24.679,20.993,110.615,0.000,0.000,15.115,1932.321,1657.274,624.306,2530.749,129.108,0.000,1491.294,0.000,2379.441,0.000,0.544,0.000
$DEVICE_MAMPS,246.330,121.635,865.980,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.591,0.000,1715.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50258,834
$CAP_FILE_SIZE,86711,0
$CFSIZE,260165632,245682176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,171.4,1
$GPS,041010,090730,2403.187,12611.723,72,1.0,72,-3.6