version: 66.08
glider: 169
mission: 2
dive: 176
start: 10 5 110 0 54 39
data:
$ID,169
$MISSION,2
$DIVE,176
$N_DIVES,190
$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,-6903.9575
$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
$GPS1,051010,004937,2412.351,12611.688,30,1.3,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-65.8
$GPS2,051010,005413,2412.339,12611.696,17,1.7,34,-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,346.7,14197,-21.0,-15.152
$D_GRID,1645
$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,-95.47,0.000,2,0.000,0.000,150,1981,3099,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.7,-5.9,12,149,9.52,1.92,-14.10,0.000,4,0.239,0.083,2486,3165,3929,0,0,0,0,0,0
$GC,157,-0.65,-204.4,26.6,-54.5,17,167,0.08,1.80,0.00,0.000,6,0.203,0.048,2508,2020,3930,0,0,0,0,0,0
$GC,522,-0.64,-204.4,135.1,-22.0,78,532,0.00,1.83,0.00,0.000,4,0.000,0.060,2508,3168,3933,0,0,0,0,0,0
$GC,547,-0.64,-204.4,140.6,-23.0,81,556,0.00,1.80,0.00,0.000,6,0.000,0.046,2508,2003,3933,0,0,0,0,0,0
$GC,905,-0.64,-204.4,211.9,-17.6,142,915,0.00,1.70,0.00,0.000,4,0.000,0.050,2508,884,3933,0,0,0,0,0,0
$GC,940,-0.65,-204.4,217.8,-17.3,147,947,0.00,1.75,0.00,0.000,6,0.000,0.049,2508,2050,3934,0,0,0,0,0,0
$GC,1295,-0.65,-204.4,279.9,-17.2,208,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2051,3934,0,0,0,0,0,0
$GC,1639,-0.65,-204.4,336.6,-15.9,249,1643,0.00,1.77,0.00,0.000,4,0.000,0.050,2508,871,3933,0,0,0,0,0,0
$GC,1713,-0.67,-204.4,347.7,-14.4,255,1720,0.00,1.80,0.00,0.000,6,0.000,0.048,2508,2045,3932,0,0,0,0,0,0
$GC,2038,-0.67,-204.4,393.0,-13.7,286,2042,0.00,1.73,0.00,0.000,4,0.000,0.058,2508,3174,3931,0,0,0,0,0,0
$GC,2112,-0.69,-204.4,402.6,-11.8,292,2121,0.00,1.77,0.00,0.000,6,0.000,0.045,2507,2011,3931,0,0,0,0,0,0
$GC,2440,-0.70,-204.4,445.1,-12.8,323,2443,0.00,1.73,0.00,0.000,4,0.000,0.054,2508,884,3929,0,0,0,0,0,0
$GC,2490,-0.71,-204.4,451.9,-11.9,327,2497,0.00,1.77,0.00,0.000,6,0.000,0.048,2508,2041,3929,0,0,0,0,0,0
$GC,2815,-0.72,-204.4,493.7,-12.8,358,2819,0.00,1.70,0.00,0.000,4,0.000,0.058,2508,3168,3927,0,0,0,0,0,0
$GC,2865,-0.74,-204.4,500.0,-11.3,362,2876,0.00,1.77,0.00,0.000,6,0.000,0.044,2508,2003,3927,0,0,0,0,0,0
$STATE,2880,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2880,begin apogee
$GC,2885,-0.18,0.0,501.7,10.9,364,3047,0.50,0.08,157.32,0.861,6,0.155,0.110,2663,2091,3091,0,0,0,0,0,0
$STATE,3048,end apogee,CONTROL_FINISHED_OK
$STATE,3048,begin climb
$GC,3050,0.72,204.4,512.9,0.0,377,3233,0.82,1.80,168.05,0.855,4,0.077,0.041,2964,966,2255,0,0,0,0,0,0
$GC,3325,0.71,204.4,497.2,15.8,401,3329,0.00,1.77,0.00,0.000,6,0.000,0.035,2961,2158,2248,0,0,0,0,0,0
$GC,3655,0.70,204.4,445.5,15.5,432,3659,0.00,1.67,0.00,0.000,4,0.000,0.041,2962,3283,2242,0,0,0,0,0,0
$GC,3784,0.71,213.3,426.2,14.7,443,3796,0.00,1.73,6.32,0.633,6,0.000,0.033,2970,2082,2221,0,0,1,0,0,0
$GC,4115,0.72,227.7,378.3,14.4,474,4132,0.00,1.80,13.57,0.731,4,0.000,0.040,2963,3275,2161,0,0,0,0,0,0
$GC,4305,0.74,256.0,350.5,13.7,490,4338,0.00,1.77,24.15,0.748,6,0.000,0.033,2971,2080,2045,0,0,1,0,0,0
$GC,4656,0.77,283.4,301.0,13.8,523,4683,0.00,1.73,22.45,0.713,4,0.000,0.042,2980,967,1934,0,0,0,0,0,0
$GC,4754,0.77,283.4,286.2,15.2,538,4762,0.00,1.80,0.00,0.000,6,0.000,0.036,2979,2155,1929,0,0,0,0,0,0
$GC,5102,0.77,283.4,229.7,16.3,599,5109,0.00,1.77,0.00,0.000,4,0.000,0.041,2988,956,1925,0,0,0,0,0,0
$GC,5139,0.77,283.4,223.7,15.9,605,5147,0.00,1.77,0.00,0.000,6,0.000,0.034,2988,2164,1925,0,0,0,0,0,0
$GC,5487,0.78,293.2,173.2,14.7,666,5501,0.00,1.65,7.75,0.559,4,0.000,0.039,2989,3274,1895,0,0,0,0,0,0
$GC,5577,0.78,293.2,158.8,16.0,681,5584,0.00,1.75,0.00,0.000,6,0.000,0.031,2997,2081,1892,0,0,0,0,0,0
$GC,5939,0.86,357.8,108.8,11.9,742,5996,0.00,1.75,52.00,0.600,4,0.000,0.041,3006,955,1631,0,0,0,0,0,0
$GC,6086,0.89,376.9,89.4,14.2,764,6112,0.00,1.80,16.00,0.545,6,0.000,0.035,3006,2146,1552,0,0,0,0,0,0
$GC,6463,1.03,477.8,45.3,10.1,827,6553,0.15,1.77,77.78,0.544,4,0.073,0.040,3090,3275,1141,0,0,0,0,0,0
$GC,6563,1.02,477.8,28.5,19.3,839,6572,0.10,1.80,0.00,0.000,6,0.155,0.031,3066,2083,1141,0,0,1,0,0,0
$STATE,6702,end climb,SURFACE_DEPTH_REACHED
$STATE,6703,begin surface coast
$FINISH,0.0,1.021434
$STATE,6716,end surface coast,CONTROL_FINISHED_OK
$STATE,6716,begin surface
$SM_CCo,6732,112.30,0.055,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,112.30,0.000,0.000,0.055,143,2000,481,-8.07,-0.71,640.23
$IRIDIUM_FIX,2403.92,12613.45,041010,222207
$TT8_MAMPS,0.026215
$HUMID,44.36
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.4,24.918
$10V_AH,10.4,20.768
$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,19.325,53.400,545.400,112.300,0.000,30.378,16.161,112.323,0.000,0.000,34.837,2026.009,1650.673,646.866,2668.427,130.940,0.000,1536.521,0.000,2492.509,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,110.160,861.390,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,577.083,0.000,1801.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,50384,864
$CAP_FILE_SIZE,92009,0
$CFSIZE,260165632,245198848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1
$CURRENT,0.093, 62.6,1
$GPS,051010,024920,2413.487,12611.604,11,1.7,11,-3.6