version: 66.08
glider: 169
mission: 2
dive: 168
start: 10 4 110 9 12 46
data:
$ID,169
$MISSION,2
$DIVE,168
$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,-6893.9111
$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
$GPS1,041010,090730,2403.187,12611.723,72,1.0,72,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-70.2
$GPS2,041010,091220,2403.195,12611.690,13,1.3,13,-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,3.5,31127,-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,-204.4,0.0,0.0,0,113,0.00,0.00,-96.68,0.000,2,0.000,0.000,149,1984,3148,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.1,-7.4,12,150,9.82,1.92,-13.02,0.000,4,0.250,0.083,2486,3161,3928,0,0,0,0,0,0
$GC,181,-0.68,-204.4,39.9,-53.7,21,191,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2020,3929,0,0,0,0,0,0
$GC,545,-0.67,-204.4,155.5,-26.0,82,554,0.00,1.75,0.00,0.000,4,0.000,0.052,2486,876,3932,0,0,0,0,0,0
$GC,579,-0.67,-204.4,163.4,-24.3,87,586,0.00,1.77,0.00,0.000,6,0.000,0.054,2486,2040,3932,0,0,0,0,0,0
$GC,924,-0.66,-204.4,243.7,-20.1,148,933,0.10,1.83,0.00,0.000,4,0.196,0.053,2511,870,3933,0,0,0,0,0,0
$GC,963,-0.67,-204.4,250.8,-17.4,154,971,0.00,1.83,0.00,0.000,6,0.000,0.051,2512,2045,3933,0,0,0,0,0,0
$GC,1312,-0.67,-204.4,310.6,-15.9,210,1316,0.00,1.75,0.00,0.000,4,0.000,0.060,2511,3168,3932,0,0,0,0,0,0
$GC,1380,-0.68,-204.4,320.2,-13.0,216,1383,0.00,1.75,0.00,0.000,6,0.000,0.046,2511,2000,3932,0,0,0,0,0,0
$GC,1712,-0.69,-204.4,366.5,-14.4,247,1716,0.00,1.80,0.00,0.000,4,0.000,0.058,2511,3171,3931,0,0,0,0,0,0
$GC,1773,-0.71,-204.4,375.0,-12.3,252,1782,0.00,1.80,0.00,0.000,6,0.000,0.046,2512,2002,3931,0,0,0,0,0,0
$GC,2101,-0.72,-204.4,418.3,-13.6,283,2104,0.00,1.70,0.00,0.000,4,0.000,0.054,2512,868,3929,0,0,0,0,0,0
$GC,2203,-0.73,-204.4,431.2,-11.8,292,2207,0.00,1.80,0.00,0.000,6,0.000,0.049,2512,2034,3929,0,0,0,0,0,0
$GC,2536,-0.75,-204.4,468.8,-11.0,323,2539,0.00,1.75,0.00,0.000,4,0.000,0.053,2511,865,3927,0,0,0,0,0,0
$GC,2583,-0.76,-204.4,474.0,-11.3,327,2587,0.00,1.77,0.00,0.000,6,0.000,0.048,2512,2050,3926,0,0,0,0,0,0
$STATE,2827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2827,begin apogee
$GC,2831,-0.18,0.0,500.8,10.7,350,2993,0.47,0.08,156.40,0.861,6,0.138,0.110,2666,2091,3091,0,0,0,0,0,0
$STATE,2994,end apogee,CONTROL_FINISHED_OK
$STATE,2994,begin climb
$GC,2995,0.72,204.4,508.9,0.0,363,3171,0.82,1.80,167.65,0.851,4,0.074,0.041,2969,967,2256,0,0,0,0,0,0
$GC,3289,0.71,205.9,488.0,15.1,387,3297,0.00,1.77,0.00,0.000,6,0.000,0.036,2964,2159,2247,0,0,0,0,0,0
$GC,3614,0.71,211.3,440.3,14.9,418,3629,0.00,1.70,4.82,0.561,4,0.000,0.042,2964,3275,2229,0,0,0,0,0,0
$GC,3644,0.70,211.3,435.2,16.1,420,3654,0.00,1.80,0.00,0.000,6,0.000,0.032,2972,2077,2228,0,0,0,0,0,0
$GC,3972,0.73,237.1,386.3,13.9,451,4001,0.00,1.73,22.80,0.761,4,0.000,0.044,2981,964,2124,0,0,0,0,0,0
$GC,4023,0.72,237.1,377.5,16.8,455,4031,0.00,1.80,0.00,0.000,6,0.000,0.036,2977,2157,2120,0,0,0,0,0,0
$GC,4348,0.71,237.1,326.7,15.4,486,4352,0.00,1.67,0.00,0.000,4,0.000,0.042,2977,3280,2114,0,0,0,0,0,0
$GC,4420,0.71,237.1,314.8,16.0,492,4429,0.00,1.77,0.00,0.000,6,0.000,0.034,2985,2087,2113,0,0,1,0,0,0
$GC,4760,0.71,247.0,262.7,14.7,544,4776,0.00,1.83,7.65,0.610,4,0.000,0.043,2986,3271,2083,0,0,0,0,0,0
$GC,4906,0.70,247.0,238.1,17.3,569,4914,0.10,1.77,0.00,0.000,6,0.158,0.035,2963,2092,2080,0,0,0,0,0,0
$GC,5256,0.77,302.0,192.7,12.4,630,5307,0.00,1.75,45.15,0.661,4,0.000,0.042,2970,965,1857,0,0,0,0,0,0
$GC,5379,0.80,323.7,176.7,14.1,649,5408,0.00,1.80,18.25,0.615,6,0.000,0.036,2967,2149,1769,0,0,0,0,0,0
$GC,5753,0.89,394.0,128.9,11.6,713,5819,0.15,1.75,55.50,0.609,4,0.073,0.042,3047,3265,1482,0,0,0,0,0,0
$GC,5909,0.89,394.0,96.8,21.4,736,5919,0.10,1.80,0.00,0.000,6,0.152,0.033,3022,2089,1475,0,0,0,0,0,0
$GC,6274,0.99,470.4,43.4,11.3,797,6340,0.00,1.70,58.78,0.547,4,0.000,0.041,3029,961,1171,0,0,0,0,0,0
$GC,6348,1.09,539.2,34.9,11.7,806,6408,0.10,1.80,53.55,0.531,6,0.043,0.033,3107,2148,891,0,0,0,0,0,0
$STATE,6507,end climb,SURFACE_DEPTH_REACHED
$STATE,6507,begin surface coast
$FINISH,-0.0,1.013501
$STATE,6521,end surface coast,CONTROL_FINISHED_OK
$STATE,6521,begin surface
$SM_CCo,6536,72.93,0.056,0,0,481,640.23
$SM_GC,0.67,0.00,0.00,72.93,0.000,0.000,0.056,151,1975,481,-8.06,-1.41,640.23
$IRIDIUM_FIX,2354.48,12613.96,041010,070718
$TT8_MAMPS,0.026964
$HUMID,45.82
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.4,23.862
$10V_AH,10.4,19.824
$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,20.025,53.700,590.550,72.925,0.000,30.585,38.928,124.340,0.000,0.000,14.533,1932.698,1663.358,616.338,2558.683,131.126,0.000,1497.760,0.000,2371.943,0.000,0.545,0.000
$DEVICE_MAMPS,250.155,110.160,860.625,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.332,0.000,1693.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,50427,832
$CAP_FILE_SIZE,90198,0
$CFSIZE,260165632,245624832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.081,191.5,1
$GPS,041010,110352,2403.968,12611.450,11,2.3,30,-3.6