version: 66.08
glider: 169
mission: 2
dive: 225
start: 10 8 110 21 9 49
data:
$ID,169
$MISSION,2
$DIVE,225
$N_DIVES,230
$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,-6965.7686
$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
$GPS1,081010,210352,2419.853,12612.403,13,5.8,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.9
$GPS2,081010,210922,2419.906,12612.403,13,3.2,32,-3.7
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$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,200.8,36873,-21.0,-15.152
$D_GRID,1688
$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,-204.4,0.0,0.0,0,114,0.00,0.00,-97.03,0.000,2,0.000,0.000,138,1991,3123,0,0,0,0,0,0
$GC,117,-0.72,-204.4,3.9,-6.6,12,151,9.40,1.75,-13.80,0.000,4,0.230,0.070,2489,882,3929,0,0,0,0,0,0
$GC,179,-0.68,-204.4,34.4,-51.3,20,187,0.00,1.85,0.00,0.000,6,0.000,0.057,2488,2042,3930,0,0,0,0,0,0
$GC,543,-0.67,-204.4,137.8,-22.2,81,552,0.00,1.77,0.00,0.000,4,0.000,0.063,2488,3163,3932,0,0,0,0,0,0
$GC,573,-0.67,-204.4,145.3,-25.0,85,581,0.00,1.80,0.00,0.000,6,0.000,0.047,2488,2008,3932,0,0,0,0,0,0
$GC,929,-0.66,-204.4,224.0,-21.3,146,939,0.00,1.75,0.00,0.000,4,0.000,0.054,2489,872,3932,0,0,0,0,0,0
$GC,968,-0.66,-204.4,231.8,-19.4,152,976,0.00,1.83,0.00,0.000,6,0.000,0.053,2488,2040,3932,0,0,0,0,0,0
$GC,1326,-0.66,-204.4,299.8,-18.8,213,1333,0.00,1.75,0.00,0.000,4,0.000,0.063,2488,3167,3932,0,0,0,0,0,0
$GC,1374,-0.67,-204.4,308.4,-16.3,218,1378,0.00,1.75,0.00,0.000,6,0.000,0.045,2489,2002,3932,0,0,0,0,0,0
$GC,1707,-0.67,-204.4,366.2,-16.5,249,1708,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2001,3931,0,0,0,0,0,0
$GC,2027,-0.68,-204.4,415.8,-14.5,279,2030,0.00,1.83,0.00,0.000,4,0.000,0.059,2489,3166,3929,0,0,0,0,0,0
$GC,2062,-0.68,-204.4,421.1,-13.6,282,2065,0.00,1.75,0.00,0.000,6,0.000,0.044,2488,2002,3930,0,0,0,0,0,0
$GC,2395,-0.69,-204.4,464.6,-13.0,313,2398,0.00,1.83,0.00,0.000,4,0.000,0.058,2488,3167,3928,0,0,0,0,0,0
$GC,2421,-0.70,-204.4,467.9,-12.9,315,2424,0.00,1.75,0.00,0.000,6,0.000,0.044,2488,2002,3928,0,0,0,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2669,-0.18,0.0,500.8,13.3,338,2832,0.57,0.08,157.45,0.862,6,0.149,0.109,2668,2091,3091,0,0,0,0,0,0
$STATE,2832,end apogee,CONTROL_FINISHED_OK
$STATE,2833,begin climb
$GC,2834,0.72,204.4,507.2,0.0,351,3009,0.80,1.75,167.70,0.852,4,0.073,0.037,2965,960,2257,0,0,0,0,0,0
$GC,3227,0.72,208.0,467.4,15.0,384,3231,0.00,1.80,0.00,0.000,6,0.000,0.034,2962,2152,2247,0,0,0,0,0,0
$GC,3560,0.77,253.7,419.8,12.9,415,3608,0.00,1.75,40.00,0.796,4,0.000,0.040,2962,3270,2052,0,0,0,0,0,0
$GC,3634,0.76,253.7,409.2,15.4,421,3638,0.00,1.80,0.00,0.000,6,0.000,0.031,2970,2080,2047,0,0,0,0,0,0
$GC,3966,0.76,253.7,354.0,16.3,452,3970,0.00,1.65,0.00,0.000,4,0.000,0.042,2979,960,2041,0,0,0,0,0,0
$GC,4016,0.76,253.7,345.6,15.9,456,4025,0.00,1.77,0.00,0.000,6,0.000,0.037,2980,2143,2040,0,0,0,0,0,0
$GC,4346,0.77,272.7,295.7,14.2,489,4368,0.00,1.75,14.18,0.693,4,0.000,0.042,2979,3279,1978,0,0,0,0,0,0
$GC,4400,0.77,272.7,287.5,15.8,497,4406,0.00,1.80,0.00,0.000,6,0.000,0.031,2988,2072,1975,0,0,0,0,0,0
$GC,4755,0.79,288.5,233.4,14.4,558,4779,0.00,1.70,13.90,0.654,4,0.000,0.043,2996,962,1912,0,0,0,0,0,0
$GC,4805,0.82,319.8,226.7,13.6,565,4840,0.00,1.77,26.85,0.673,6,0.000,0.036,2996,2154,1784,0,0,0,0,0,0
$GC,5191,0.82,319.8,166.2,15.7,630,5201,0.00,1.80,0.00,0.000,4,0.000,0.041,3005,968,1778,0,0,0,0,0,0
$GC,5273,0.82,319.8,153.7,15.6,643,5279,0.00,1.75,0.00,0.000,6,0.000,0.036,3005,2161,1777,0,0,0,0,0,0
$GC,5636,0.90,383.7,99.5,12.0,704,5694,0.00,1.83,49.67,0.599,4,0.000,0.041,3015,964,1525,0,0,0,0,0,0
$GC,5738,0.97,434.0,87.1,12.7,718,5788,0.00,1.80,40.17,0.577,6,0.000,0.036,3015,2146,1320,0,0,0,0,0,0
$GC,6139,1.06,503.2,37.7,11.7,784,6198,0.15,1.88,53.40,0.541,4,0.071,0.040,3108,955,1038,0,0,0,0,0,0
$GC,6218,1.06,503.2,22.1,22.5,794,6229,0.10,1.83,0.00,0.000,6,0.145,0.035,3075,2152,1036,0,0,0,0,0,0
$STATE,6317,end climb,SURFACE_DEPTH_REACHED
$STATE,6317,begin surface coast
$FINISH,-0.1,1.009856
$STATE,6338,end surface coast,CONTROL_FINISHED_OK
$STATE,6338,begin surface
$SM_CCo,6354,90.72,0.055,0,0,481,640.23
$SM_GC,0.77,0.00,0.00,90.72,0.000,0.000,0.055,141,1981,481,-8.08,-1.24,640.23
$IRIDIUM_FIX,2408.65,12612.94,081010,191956
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.3,31.528
$10V_AH,10.3,26.310
$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,19.325,50.350,563.325,90.725,0.000,23.395,38.353,148.993,0.250,0.000,34.785,1895.889,1567.874,611.789,2561.373,141.245,0.000,1459.576,0.000,2338.548,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,108.630,862.155,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.523,0.000,1709.008,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46968,813
$CAP_FILE_SIZE,87546,0
$CFSIZE,260165632,242769920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.154, 72.8,1
$GPS,081010,225807,2418.994,12612.617,27,1.3,27,-3.7