version: 66.08
glider: 169
mission: 2
dive: 234
start: 10 9 110 14 17 10
data:
$ID,169
$MISSION,2
$DIVE,234
$N_DIVES,237
$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,-6977.0771
$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
$GPS1,091010,141127,2411.134,12611.892,14,2.8,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.0
$GPS2,091010,141644,2411.152,12611.895,14,1.4,14,-3.6
$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,196.5,20653,-21.0,-15.152
$D_GRID,1685
$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,-96.62,0.000,2,0.000,0.000,141,1990,3097,0,0,0,0,0,0
$GC,117,-0.72,-204.4,3.5,-5.2,12,151,9.98,1.75,-14.43,0.000,4,0.248,0.068,2490,882,3928,0,0,0,0,0,0
$GC,322,-0.71,-204.4,75.6,-24.6,45,330,0.00,1.83,0.00,0.000,6,0.000,0.053,2489,2044,3929,0,0,0,0,0,0
$GC,684,-0.71,-204.4,161.5,-19.7,106,694,0.00,1.77,0.00,0.000,4,0.000,0.060,2490,3168,3931,0,0,0,0,0,0
$GC,720,-0.70,-204.4,168.4,-21.2,111,727,0.00,1.77,0.00,0.000,6,0.000,0.044,2490,2002,3932,0,0,0,0,0,0
$GC,1076,-0.70,-204.4,244.5,-20.8,172,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2001,3932,0,0,0,0,0,0
$GC,1436,-0.70,-204.4,310.0,-17.8,229,1440,0.00,1.80,0.00,0.000,4,0.000,0.058,2490,3167,3931,0,0,0,0,0,0
$GC,1461,-0.70,-204.4,314.3,-17.8,231,1465,0.00,1.75,0.00,0.000,6,0.000,0.043,2490,2001,3931,0,0,0,0,0,0
$GC,1793,-0.70,-204.4,367.9,-14.6,262,1797,0.00,1.67,0.00,0.000,4,0.000,0.050,2490,868,3930,0,0,0,0,0,0
$GC,1840,-0.71,-204.4,374.7,-12.9,266,1843,0.00,1.83,0.00,0.000,6,0.000,0.050,2490,2049,3930,0,0,0,0,0,0
$GC,2172,-0.71,-204.4,422.5,-15.4,297,2175,0.00,1.73,0.00,0.000,4,0.000,0.059,2490,3168,3928,0,0,0,0,0,0
$GC,2300,-0.73,-204.4,438.5,-10.7,308,2303,0.00,1.75,0.00,0.000,6,0.000,0.042,2490,1999,3928,0,0,0,0,0,0
$GC,2633,-0.73,-204.4,481.7,-12.8,339,2637,0.00,1.85,0.00,0.000,4,0.000,0.058,2490,3166,3925,0,0,0,0,0,0
$GC,2681,-0.75,-204.4,487.3,-11.0,343,2685,0.00,1.77,0.00,0.000,6,0.000,0.043,2490,2007,3925,0,0,0,0,0,0
$STATE,2788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2788,begin apogee
$GC,2792,-0.18,0.0,501.0,12.9,353,2962,0.57,0.05,157.90,0.864,6,0.151,0.065,2667,2093,3089,0,0,0,0,0,0
$STATE,2963,end apogee,CONTROL_FINISHED_OK
$STATE,2963,begin climb
$GC,2964,0.72,204.4,509.5,0.0,367,3146,0.82,1.80,168.62,0.854,4,0.075,0.041,2970,968,2254,0,0,0,0,0,0
$GC,3204,0.71,204.4,495.3,16.1,388,3208,0.00,1.83,0.00,0.000,6,0.000,0.034,2970,2153,2249,0,0,0,0,0,0
$GC,3536,0.70,204.4,437.5,17.3,419,3539,0.00,1.67,0.00,0.000,4,0.000,0.041,2970,3274,2243,0,0,0,0,0,0
$GC,3674,0.69,204.4,413.5,15.5,431,3678,0.00,1.75,0.00,0.000,6,0.000,0.031,2979,2076,2241,0,0,0,0,0,0
$GC,4007,0.72,230.5,363.9,13.8,462,4033,0.00,1.90,20.45,0.752,4,0.000,0.042,2979,3275,2150,0,0,0,0,0,0
$GC,4101,0.71,230.5,349.4,15.6,470,4105,0.00,1.75,0.00,0.000,6,0.000,0.031,2988,2081,2145,0,0,0,0,0,0
$GC,4434,0.71,239.2,299.4,14.7,501,4448,0.00,1.65,7.78,0.627,4,0.000,0.039,2996,963,2114,0,0,0,0,0,0
$GC,4529,0.70,239.2,285.5,15.5,517,4536,0.15,1.77,0.00,0.000,6,0.168,0.035,2956,2164,2111,0,0,0,0,0,0
$GC,4877,0.73,265.8,236.1,13.8,578,4906,0.00,1.65,22.38,0.685,4,0.000,0.038,2956,3274,2006,0,0,0,0,0,0
$GC,4947,0.73,265.8,225.8,15.2,589,4954,0.00,1.77,0.00,0.000,6,0.000,0.031,2965,2082,2002,0,0,0,0,0,0
$GC,5292,0.80,319.5,180.7,12.5,650,5343,0.00,1.70,43.55,0.659,4,0.000,0.038,2973,956,1785,0,0,0,0,0,0
$GC,5380,0.84,347.8,169.9,13.7,663,5409,0.00,1.80,23.45,0.629,6,0.000,0.034,2973,2156,1672,0,0,0,0,0,0
$GC,5756,0.91,397.0,116.8,12.7,727,5800,0.12,1.77,38.58,0.607,4,0.082,0.040,3043,3278,1471,0,0,0,0,0,0
$GC,5874,0.90,397.0,94.7,21.8,744,5883,0.08,1.83,0.00,0.000,6,0.154,0.032,3027,2085,1467,0,0,0,0,0,0
$GC,6241,1.01,480.0,40.9,11.0,805,6315,0.00,1.75,64.15,0.552,4,0.000,0.042,3029,968,1131,0,0,0,0,0,0
$GC,6428,1.14,574.3,20.3,10.5,833,6510,0.15,1.80,72.80,0.525,6,0.037,0.031,3123,2161,747,0,0,0,0,0,0
$STATE,6517,end climb,SURFACE_DEPTH_REACHED
$STATE,6517,begin surface coast
$FINISH,0.2,1.021920
$STATE,6531,end surface coast,CONTROL_FINISHED_OK
$STATE,6531,begin surface
$SM_CCo,6547,48.55,0.402,1,0,480,640.23
$SM_GC,0.94,0.00,0.00,48.55,0.000,0.000,0.402,150,1998,480,-8.06,-0.76,640.23
$IRIDIUM_FIX,2403.92,12611.55,091010,121202
$TT8_MAMPS,0.026215
$HUMID,45.66
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.3,32.753
$10V_AH,10.5,27.341
$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,20.450,50.000,619.650,48.550,0.000,24.885,37.550,153.247,0.000,0.000,15.430,1963.132,1574.309,600.855,2630.204,151.082,0.000,1487.623,0.000,2423.496,0.000,0.544,0.000
$DEVICE_MAMPS,247.860,71.910,864.450,401.625,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,564.313,0.000,1763.428,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50255,846
$CAP_FILE_SIZE,89843,0
$CFSIZE,260165632,242315264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,108.5,1
$GPS,091010,160806,2410.075,12611.852,28,1.2,28,-3.6