version: 66.08
glider: 169
mission: 2
dive: 175
start: 10 4 110 23 0 28
data:
$ID,169
$MISSION,2
$DIVE,175
$N_DIVES,185
$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,-6902.6997
$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
$GPS1,041010,225550,2411.340,12611.532,11,1.5,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.7
$GPS2,041010,230002,2411.341,12611.547,13,1.5,13,-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,347.2,16054,-21.0,-15.152
$D_GRID,1648
$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,-204.4,0.0,0.0,0,105,0.00,0.00,-88.10,0.000,2,0.000,0.000,136,1978,2876,0,0,0,0,0,0
$GC,108,-0.72,-204.4,3.1,-5.8,11,141,9.55,0.00,-19.55,0.000,6,0.238,0.000,2488,1979,3928,0,0,0,0,0,0
$GC,491,-0.71,-204.4,132.3,-24.8,75,500,0.00,1.70,0.00,0.000,4,0.000,0.055,2488,882,3931,0,0,0,0,0,0
$GC,571,-0.71,-204.4,151.9,-19.9,88,580,0.00,1.80,0.00,0.000,6,0.000,0.051,2488,2037,3932,0,0,0,0,0,0
$GC,921,-0.71,-204.4,221.8,-19.2,149,928,0.00,1.73,0.00,0.000,4,0.000,0.061,2488,3169,3933,0,0,0,0,0,0
$GC,985,-0.72,-204.4,232.9,-15.0,160,994,0.00,1.80,0.00,0.000,6,0.000,0.047,2489,2003,3933,0,0,0,0,0,0
$GC,1333,-0.72,-204.4,294.7,-17.4,221,1340,0.00,1.70,0.00,0.000,4,0.000,0.053,2488,868,3933,0,0,0,0,0,0
$GC,1463,-0.73,-204.4,315.9,-15.1,235,1467,0.00,1.77,0.00,0.000,6,0.000,0.051,2488,2049,3933,0,0,0,0,0,0
$GC,1794,-0.73,-204.4,372.3,-17.0,266,1798,0.00,1.70,0.00,0.000,4,0.000,0.060,2489,3171,3931,0,0,0,0,0,0
$GC,1832,-0.74,-204.4,378.1,-16.1,269,1835,0.00,1.75,0.00,0.000,6,0.000,0.047,2489,2002,3931,0,0,0,0,0,0
$GC,2163,-0.75,-204.4,430.0,-14.6,300,2166,0.00,1.70,0.00,0.000,4,0.000,0.052,2489,866,3930,0,0,0,0,0,0
$GC,2190,-0.75,-204.4,434.3,-14.8,302,2199,0.00,1.83,0.00,0.000,6,0.000,0.050,2489,2047,3929,0,0,0,0,0,0
$GC,2517,-0.76,-204.4,479.8,-13.2,333,2521,0.00,1.75,0.00,0.000,4,0.000,0.060,2488,3168,3928,0,0,0,0,0,0
$GC,2596,-0.77,-204.4,489.3,-11.1,340,2600,0.00,1.77,0.00,0.000,6,0.000,0.044,2488,2004,3927,0,0,0,0,0,0
$STATE,2692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2693,begin apogee
$GC,2697,-0.18,0.0,501.1,12.4,349,2860,0.55,0.05,156.77,0.857,6,0.148,0.066,2661,2093,3091,0,0,0,0,0,0
$STATE,2861,end apogee,CONTROL_FINISHED_OK
$STATE,2861,begin climb
$GC,2863,0.72,204.4,509.2,0.0,362,3041,0.82,1.90,167.60,0.850,4,0.074,0.039,2958,3272,2255,0,0,0,0,0,0
$GC,3194,0.71,204.4,479.5,17.3,390,3204,0.00,1.77,0.00,0.000,6,0.000,0.031,2967,2087,2246,0,0,1,0,0,0
$GC,3521,0.70,204.4,429.0,15.8,421,3525,0.00,1.80,0.00,0.000,4,0.000,0.042,2963,3266,2243,0,0,0,0,0,0
$GC,3614,0.69,204.4,413.3,16.6,429,3618,0.00,1.75,0.00,0.000,6,0.000,0.032,2972,2077,2241,0,0,0,0,0,0
$GC,3946,0.69,210.0,358.4,14.9,460,3950,0.00,1.77,0.00,0.000,4,0.000,0.042,2966,3274,2239,0,0,0,0,0,0
$GC,3997,0.69,212.5,350.2,15.0,464,4006,0.00,1.77,5.22,0.564,6,0.000,0.032,2975,2079,2224,0,0,0,0,0,0
$GC,4324,0.75,272.2,306.6,12.2,495,4376,0.00,0.00,49.88,0.737,6,0.000,0.000,2975,2078,1981,0,0,0,0,0,0
$GC,4721,0.75,272.2,248.7,15.3,559,4728,0.00,1.67,0.00,0.000,4,0.000,0.041,2983,965,1969,0,0,0,0,0,0
$GC,4845,0.76,282.1,229.6,14.7,580,4860,0.00,1.77,7.47,0.571,6,0.000,0.036,2984,2152,1941,0,0,0,0,0,0
$GC,5210,0.80,313.1,177.2,13.6,642,5248,0.00,1.75,26.25,0.633,4,0.000,0.041,2984,3275,1812,0,0,0,0,0,0
$GC,5336,0.80,313.1,157.2,16.4,662,5345,0.00,1.77,0.00,0.000,6,0.000,0.031,2992,2083,1808,0,0,1,0,0,0
$GC,5700,0.83,341.7,105.4,13.7,723,5734,0.00,1.70,23.23,0.580,4,0.000,0.039,3001,958,1695,0,0,0,0,0,0
$GC,5777,0.91,398.2,95.6,12.3,734,5827,0.00,1.80,44.97,0.579,6,0.000,0.035,3000,2153,1466,0,0,0,0,0,0
$GC,6178,1.10,540.4,47.2,8.1,800,6292,0.22,1.90,108.57,0.542,4,0.054,0.037,3130,954,885,0,0,0,0,0,0
$GC,6320,1.09,540.4,18.8,23.9,818,6330,0.15,1.83,0.00,0.000,6,0.158,0.034,3083,2152,883,0,0,0,0,0,0
$STATE,6390,end climb,SURFACE_DEPTH_REACHED
$STATE,6390,begin surface coast
$FINISH,0.1,1.021763
$STATE,6404,end surface coast,CONTROL_FINISHED_OK
$STATE,6404,begin surface
$SM_CCo,6419,73.20,0.055,0,0,481,640.23
$SM_GC,0.83,0.00,0.00,73.20,0.000,0.000,0.055,151,1981,481,-8.06,-1.24,640.23
$IRIDIUM_FIX,2401.56,12610.15,041010,212134
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,24.791
$10V_AH,10.4,20.647
$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,19.700,46.475,589.975,73.200,0.000,23.836,15.263,117.481,0.000,0.000,14.120,1936.463,1546.094,604.385,2531.906,128.782,0.000,1467.990,0.000,2378.412,0.000,0.545,0.000
$DEVICE_MAMPS,237.915,74.205,856.800,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.565,0.000,1728.260,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,50311,831
$CAP_FILE_SIZE,86459,0
$CFSIZE,260165632,245256192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.116, 79.9,1
$GPS,051010,004937,2412.351,12611.688,30,1.3,30,-3.6