version: 66.08
glider: 169
mission: 2
dive: 220
start: 10 8 110 11 34 4
data:
$ID,169
$MISSION,2
$DIVE,220
$N_DIVES,225
$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,1
$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,-6959.4888
$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,330
$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
$GPS1,081010,112831,2414.548,12612.923,41,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.8
$GPS2,081010,113338,2414.615,12612.942,14,1.0,14,-3.7
$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,333.5,10100,-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,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,-95.62,0.000,2,0.000,0.000,139,1976,3084,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.7,-6.2,12,149,9.25,1.92,-14.70,0.000,4,0.225,0.077,2486,3162,3929,0,0,0,0,0,0
$GC,285,-0.71,-204.4,72.6,-26.3,39,294,0.00,1.80,0.00,0.000,6,0.000,0.047,2486,2011,3930,0,0,0,0,0,0
$GC,647,-0.70,-204.4,172.2,-24.1,100,656,0.00,1.75,0.00,0.000,4,0.000,0.052,2486,871,3933,0,0,0,0,0,0
$GC,705,-0.70,-204.4,183.8,-17.8,109,712,0.00,1.77,0.00,0.000,6,0.000,0.052,2486,2039,3933,0,0,0,0,0,0
$GC,1061,-0.70,-204.4,256.6,-19.2,170,1071,0.00,1.77,0.00,0.000,4,0.000,0.060,2486,3168,3933,0,0,0,0,0,0
$GC,1131,-0.71,-204.4,269.3,-17.2,181,1138,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2001,3933,0,0,0,0,0,0
$GC,1472,-0.71,-204.4,336.4,-18.7,225,1476,0.00,1.67,0.00,0.000,4,0.000,0.050,2486,868,3933,0,0,0,0,0,0
$GC,1554,-0.71,-204.4,349.8,-14.5,232,1557,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2049,3932,0,0,0,0,0,0
$GC,1887,-0.71,-204.4,398.6,-14.6,263,1890,0.00,1.75,0.00,0.000,4,0.000,0.059,2486,3167,3931,0,0,0,0,0,0
$GC,1981,-0.72,-204.4,410.1,-10.7,271,1984,0.00,1.77,0.00,0.000,6,0.000,0.043,2486,2000,3931,0,0,0,0,0,0
$GC,2313,-0.73,-204.4,455.9,-13.2,302,2316,0.00,1.70,0.00,0.000,4,0.000,0.051,2486,870,3929,0,0,0,0,0,0
$GC,2350,-0.74,-204.4,460.9,-13.5,305,2354,0.00,1.77,0.00,0.000,6,0.000,0.049,2486,2049,3929,0,0,0,0,0,0
$STATE,2637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2637,begin apogee
$GC,2641,-0.18,0.0,500.2,14.2,332,2804,0.55,0.08,157.48,0.858,6,0.140,0.057,2662,2046,3091,0,0,0,0,0,0
$STATE,2805,end apogee,CONTROL_FINISHED_OK
$STATE,2805,begin climb
$GC,2807,0.72,204.4,507.9,0.0,345,2982,0.80,2.03,167.77,0.852,4,0.063,0.040,2959,3278,2256,0,0,0,0,0,0
$GC,3021,0.71,204.4,496.7,15.4,363,3029,0.00,1.85,0.00,0.000,6,0.000,0.033,2968,2093,2249,0,0,0,0,0,0
$GC,3346,0.70,206.3,445.9,15.1,394,3350,0.00,1.65,0.00,0.000,4,0.000,0.041,2977,964,2243,0,0,0,0,0,0
$GC,3483,0.69,206.3,425.0,15.3,406,3486,0.00,1.77,0.00,0.000,6,0.000,0.036,2974,2162,2241,0,0,0,0,0,0
$GC,3815,0.68,206.3,373.7,15.4,437,3819,0.00,1.77,0.00,0.000,4,0.000,0.041,2983,957,2238,0,0,0,0,0,0
$GC,3831,0.67,206.3,370.7,15.9,438,3840,0.10,1.77,0.00,0.000,6,0.158,0.034,2951,2154,2238,0,0,0,0,0,0
$GC,4158,0.71,241.7,327.9,13.4,469,4195,0.00,1.70,29.12,0.750,4,0.000,0.039,2950,3283,2102,0,0,0,0,0,0
$GC,4358,0.76,283.1,300.4,13.1,486,4401,0.00,1.83,34.00,0.731,6,0.000,0.034,2959,2082,1934,0,0,0,0,0,0
$GC,4741,0.76,283.1,246.1,16.7,552,4749,0.00,1.70,0.00,0.000,4,0.000,0.041,2968,961,1924,0,0,0,0,0,0
$GC,4830,0.79,307.8,232.3,13.9,567,4860,0.00,1.77,19.45,0.668,6,0.000,0.035,2967,2158,1836,0,0,0,0,0,0
$GC,5200,0.79,307.8,172.6,15.2,631,5207,0.00,1.67,0.00,0.000,4,0.000,0.041,2968,3278,1828,0,0,0,0,0,0
$GC,5261,0.81,319.2,163.3,14.6,641,5276,0.00,1.75,10.07,0.582,6,0.000,0.033,2977,2084,1788,0,0,0,0,0,0
$GC,5623,0.85,354.0,112.1,13.4,703,5657,0.00,1.75,28.85,0.600,4,0.000,0.042,2986,958,1646,0,0,0,0,0,0
$GC,5701,0.90,390.2,102.1,13.3,714,5735,0.05,1.80,29.38,0.586,6,0.062,0.035,3039,2151,1499,0,0,0,0,0,0
$GC,6086,0.97,443.5,40.8,12.5,778,6135,0.00,1.80,41.35,0.549,4,0.000,0.041,3042,968,1282,0,0,0,0,0,0
$GC,6202,1.04,495.4,25.9,12.6,795,6252,0.00,1.80,41.20,0.532,6,0.000,0.032,3042,2160,1069,0,0,0,0,0,0
$STATE,6363,end climb,SURFACE_DEPTH_REACHED
$STATE,6363,begin surface coast
$FINISH,0.2,1.021553
$STATE,6388,end surface coast,CONTROL_FINISHED_OK
$STATE,6388,begin surface
$SM_CCo,6404,100.00,0.464,1,0,480,640.23
$SM_GC,0.94,0.00,0.00,100.00,0.000,0.000,0.464,151,1985,480,-8.06,-1.13,640.23
$IRIDIUM_FIX,2403.92,12613.45,081010,090902
$TT8_MAMPS,0.026964
$HUMID,45.07
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.3,30.836
$10V_AH,10.3,25.732
$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,18.875,50.150,558.675,100.000,0.000,23.958,40.974,142.039,0.000,0.000,14.812,1924.892,1569.677,619.681,2566.422,138.552,0.000,1470.520,0.000,2366.235,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,104.040,858.330,463.590,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.331,0.000,1721.820,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50304,824
$CAP_FILE_SIZE,87270,0
$CFSIZE,260165632,243032064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.106,152.0,1
$GPS,081010,132313,2415.159,12612.804,8,2.0,13,-3.7