version: 66.08
glider: 169
mission: 2
dive: 172
start: 10 4 110 17 8 0
data:
$ID,169
$MISSION,2
$DIVE,172
$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,-6898.9351
$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
$GPS1,041010,165846,2407.781,12611.062,10,2.2,29,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.0
$GPS2,041010,170734,2407.909,12611.012,14,3.3,33,-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,15.2,22455,-21.0,-15.152
$D_GRID,1712
$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,15,-0.72,-204.4,0.0,0.0,0,114,0.00,0.00,-96.22,0.000,2,0.000,0.000,136,1979,3130,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.9,-6.5,12,150,9.68,1.92,-13.75,0.000,4,0.243,0.077,2476,3167,3928,0,0,0,0,0,0
$GC,189,-0.69,-204.4,38.2,-43.6,22,198,0.00,1.80,0.00,0.000,6,0.000,0.054,2476,2019,3929,0,0,1,0,0,0
$GC,554,-0.69,-204.4,145.7,-23.7,83,563,0.10,1.77,0.00,0.000,4,0.204,0.054,2500,879,3931,0,0,0,0,0,0
$GC,726,-0.69,-204.4,177.4,-16.6,112,735,0.00,1.80,0.00,0.000,6,0.000,0.051,2500,2039,3931,0,0,0,0,0,0
$GC,1085,-0.70,-204.4,241.4,-17.5,173,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2039,3932,0,0,0,0,0,0
$GC,1445,-0.70,-204.4,303.8,-16.4,233,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2039,3930,0,0,0,0,0,0
$GC,1765,-0.71,-204.4,351.8,-14.7,263,1768,0.00,1.77,0.00,0.000,4,0.000,0.053,2500,870,3929,0,0,0,0,0,0
$GC,1800,-0.72,-204.4,357.5,-15.1,266,1803,0.00,1.77,0.00,0.000,6,0.000,0.050,2500,2052,3929,0,0,0,0,0,0
$GC,2133,-0.73,-204.4,405.7,-14.1,297,2136,0.00,1.75,0.00,0.000,4,0.000,0.051,2501,876,3928,0,0,0,0,0,0
$GC,2159,-0.73,-204.4,409.5,-14.8,299,2163,0.00,1.75,0.00,0.000,6,0.000,0.050,2500,2045,3927,0,0,0,0,0,0
$GC,2490,-0.74,-204.4,454.3,-12.9,330,2493,0.00,1.70,0.00,0.000,4,0.000,0.059,2500,3169,3925,0,0,0,0,0,0
$GC,2553,-0.76,-204.4,461.9,-11.2,335,2559,0.00,1.75,0.00,0.000,6,0.000,0.045,2500,2001,3925,0,0,0,0,0,0
$GC,2878,-0.77,-204.4,499.8,-11.5,366,2881,0.00,1.67,0.00,0.000,4,0.000,0.053,2500,868,3922,0,0,0,0,0,0
$STATE,2890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2891,begin apogee
$GC,2897,-0.18,0.0,501.2,11.1,367,3065,0.52,0.08,156.10,0.856,6,0.143,0.107,2667,2091,3089,0,0,0,0,0,0
$STATE,3065,end apogee,CONTROL_FINISHED_OK
$STATE,3066,begin climb
$GC,3067,0.72,204.4,508.3,0.0,381,3243,0.80,1.80,167.38,0.847,4,0.077,0.041,2962,967,2256,0,0,0,0,0,0
$GC,3333,0.72,213.0,490.4,14.7,403,3345,0.00,1.77,7.53,0.669,6,0.000,0.037,2961,2154,2222,0,0,0,0,0,0
$GC,3662,0.72,213.0,439.9,15.3,434,3666,0.00,1.70,0.00,0.000,4,0.000,0.042,2961,3278,2214,0,0,0,0,0,0
$GC,3823,0.71,213.0,416.1,15.3,448,3827,0.00,1.80,0.00,0.000,6,0.000,0.033,2970,2077,2211,0,0,0,0,0,0
$GC,4156,0.70,213.0,366.2,16.1,479,4159,0.00,1.62,0.00,0.000,4,0.000,0.043,2978,953,2209,0,0,0,0,0,0
$GC,4204,0.70,213.0,358.9,15.8,483,4208,0.00,1.75,0.00,0.000,6,0.000,0.036,2979,2159,2209,0,0,0,0,0,0
$GC,4535,0.73,250.1,309.6,13.3,514,4568,0.00,0.00,29.90,0.737,6,0.000,0.000,2978,2161,2071,0,0,0,0,0,0
$GC,4910,0.73,250.1,257.3,15.4,573,4916,0.00,1.77,0.00,0.000,4,0.000,0.042,2987,965,2059,0,0,0,0,0,0
$GC,4940,0.73,250.1,252.1,16.1,578,4949,0.00,1.77,0.00,0.000,6,0.000,0.037,2987,2151,2058,0,0,0,0,0,0
$GC,5299,0.73,255.7,193.7,14.9,639,5305,0.00,1.67,0.00,0.000,4,0.000,0.042,2987,3282,2055,0,0,0,0,0,0
$GC,5458,0.76,288.8,168.5,13.5,666,5495,0.00,1.77,30.33,0.641,6,0.000,0.033,2996,2089,1911,0,0,0,0,0,0
$GC,5850,0.83,345.7,117.1,12.3,731,5907,0.00,1.88,45.28,0.604,4,0.000,0.041,2996,3272,1678,0,0,0,0,0,0
$GC,5963,0.86,362.9,101.8,14.3,747,5988,0.00,1.80,14.35,0.552,6,0.000,0.031,3006,2083,1609,0,0,0,0,0,0
$GC,6338,1.03,492.9,53.8,8.7,810,6445,0.15,1.75,99.88,0.552,4,0.070,0.039,3103,965,1080,0,0,0,0,0,0
$GC,6507,1.03,492.9,25.5,18.4,833,6516,0.10,1.80,0.00,0.000,6,0.144,0.036,3069,2147,1077,0,0,0,0,0,0
$STATE,6640,end climb,SURFACE_DEPTH_REACHED
$STATE,6641,begin surface coast
$FINISH,0.0,1.021708
$STATE,6655,end surface coast,CONTROL_FINISHED_OK
$STATE,6655,begin surface
$SM_CCo,6670,102.57,0.055,0,0,481,640.23
$SM_GC,0.84,0.00,0.00,102.57,0.000,0.000,0.055,139,1970,481,-8.09,-1.55,640.23
$IRIDIUM_FIX,2359.20,12610.15,041010,171707
$TT8_MAMPS,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,24.378
$10V_AH,10.4,20.300
$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,19.575,46.425,550.725,102.575,0.000,52.663,33.983,227.492,0.000,0.000,35.587,1997.735,1754.641,607.723,2801.978,141.605,0.000,1471.671,0.000,2445.699,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,107.100,856.035,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.188,0.000,1782.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50273,857
$CAP_FILE_SIZE,89818,0
$CFSIZE,260165632,245415936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.052,  7.3,1
$GPS,041010,190132,2409.121,12611.142,13,1.2,13,-3.6