version: 66.08
glider: 169
mission: 2
dive: 170
start: 10 4 110 13 6 48
data:
$ID,169
$MISSION,2
$DIVE,170
$N_DIVES,180
$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,-6896.4224
$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
$GPS1,041010,130120,2404.981,12611.209,16,2.0,16,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.0
$GPS2,041010,130622,2404.991,12611.141,14,2.1,33,-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,14.7,27835,-21.0,-15.152
$D_GRID,1776
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-96.60,0.000,2,0.000,0.000,147,1989,3155,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.1,-8.0,12,142,9.62,1.92,-12.73,0.000,4,0.243,0.074,2476,3172,3929,0,0,0,0,0,0
$GC,162,-0.67,-204.4,30.2,-56.5,18,172,0.10,1.83,0.00,0.000,6,0.194,0.054,2505,2006,3930,0,0,1,0,0,0
$GC,527,-0.67,-204.4,134.2,-22.0,79,536,0.00,1.85,0.00,0.000,4,0.000,0.063,2505,3166,3933,0,0,0,0,0,0
$GC,563,-0.67,-204.4,141.9,-22.0,84,571,0.00,1.77,0.00,0.000,6,0.000,0.046,2505,2006,3933,0,0,0,0,0,0
$GC,922,-0.67,-204.4,209.2,-17.5,145,928,0.00,1.70,0.00,0.000,4,0.000,0.054,2505,879,3934,0,0,0,0,0,0
$GC,1019,-0.68,-204.4,224.1,-14.0,161,1025,0.00,1.75,0.00,0.000,6,0.000,0.052,2505,2041,3934,0,0,0,0,0,0
$GC,1375,-0.68,-204.4,284.3,-20.9,222,1384,0.00,1.75,0.00,0.000,4,0.000,0.060,2505,3164,3933,0,0,0,0,0,0
$GC,1472,-0.69,-204.4,297.8,-14.1,238,1481,0.00,1.77,0.00,0.000,6,0.000,0.046,2505,2005,3933,0,0,0,0,0,0
$GC,1807,-0.70,-204.4,348.9,-15.1,270,1810,0.00,1.70,0.00,0.000,4,0.000,0.054,2505,874,3932,0,0,0,0,0,0
$GC,1880,-0.71,-204.4,359.5,-13.2,276,1889,0.00,1.80,0.00,0.000,6,0.000,0.050,2505,2039,3931,0,0,0,0,0,0
$GC,2208,-0.72,-204.4,404.4,-13.8,307,2212,0.00,1.77,0.00,0.000,4,0.000,0.061,2505,3165,3930,0,0,0,0,0,0
$GC,2256,-0.74,-204.4,410.7,-12.7,311,2260,0.00,1.77,0.00,0.000,6,0.000,0.044,2505,2003,3930,0,0,0,0,0,0
$GC,2586,-0.75,-204.4,454.6,-12.7,342,2590,0.00,1.67,0.00,0.000,4,0.000,0.053,2505,869,3929,0,0,0,0,0,0
$GC,2624,-0.76,-204.4,459.0,-12.9,345,2628,0.00,1.80,0.00,0.000,6,0.000,0.049,2505,2036,3928,0,0,0,0,0,0
$GC,2954,-0.77,-204.4,498.7,-11.1,376,2958,0.00,1.73,0.00,0.000,4,0.000,0.058,2505,3168,3926,0,0,0,0,0,0
$STATE,2968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2968,begin apogee
$GC,2974,-0.18,0.0,500.7,10.7,377,3141,0.52,0.05,156.95,0.861,6,0.144,0.074,2672,2141,3091,0,0,0,0,0,0
$STATE,3142,end apogee,CONTROL_FINISHED_OK
$STATE,3142,begin climb
$GC,3144,0.72,204.4,508.8,0.0,391,3319,0.80,1.90,167.55,0.852,4,0.073,0.041,2968,963,2256,0,0,0,0,0,0
$GC,3411,0.71,204.4,489.7,15.7,413,3415,0.00,1.77,0.00,0.000,6,0.000,0.035,2967,2153,2249,0,0,0,0,0,0
$GC,3742,0.70,204.4,437.2,16.4,444,3746,0.00,1.65,0.00,0.000,4,0.000,0.041,2967,3280,2242,0,0,0,0,0,0
$GC,3846,0.69,204.4,420.6,16.1,453,3850,0.00,1.73,0.00,0.000,6,0.000,0.032,2975,2077,2241,0,0,1,0,0,0
$GC,4179,0.69,208.9,369.6,14.9,484,4182,0.00,1.77,0.00,0.000,4,0.000,0.042,2974,3277,2239,0,0,0,0,0,0
$GC,4202,0.70,223.4,365.9,14.4,486,4220,0.00,1.73,14.40,0.737,6,0.000,0.032,2983,2071,2180,0,0,1,0,0,0
$GC,4542,0.70,235.1,315.3,14.6,517,4556,0.00,1.67,10.35,0.679,4,0.000,0.043,2991,958,2132,0,0,0,0,0,0
$GC,4591,0.70,235.1,307.2,15.6,521,4598,0.10,1.77,0.00,0.000,6,0.163,0.035,2958,2151,2129,0,0,0,0,0,0
$GC,4935,0.74,271.8,262.0,13.3,577,4970,0.00,1.75,30.80,0.706,4,0.000,0.042,2958,3272,1981,0,0,0,0,0,0
$GC,5013,0.74,275.7,250.7,15.0,589,5019,0.00,1.73,0.00,0.000,6,0.000,0.031,2967,2082,1975,0,0,1,0,0,0
$GC,5358,0.81,329.4,202.8,12.5,650,5410,0.00,1.90,45.83,0.666,4,0.000,0.042,2967,3270,1747,0,0,0,0,0,0
$GC,5439,0.84,354.7,192.0,13.9,662,5468,0.00,1.77,21.42,0.628,6,0.000,0.031,2975,2084,1643,0,0,1,0,0,0
$GC,5810,0.88,384.7,139.8,13.7,726,5845,0.10,1.70,23.73,0.602,4,0.096,0.040,3044,965,1520,0,0,0,0,0,0
$GC,5865,0.88,384.7,129.7,20.1,733,5874,0.08,1.80,0.00,0.000,6,0.158,0.036,3019,2154,1518,0,0,0,0,0,0
$GC,6231,0.89,394.5,66.4,14.7,794,6249,0.00,1.70,8.32,0.493,4,0.000,0.038,3018,3278,1481,0,0,0,0,0,0
$GC,6287,0.96,448.6,58.4,12.5,802,6338,0.00,1.77,43.65,0.555,6,0.000,0.031,3027,2085,1261,0,0,0,0,0,0
$GC,6688,1.00,472.6,13.0,14.0,868,6713,0.00,1.73,19.25,0.500,4,0.000,0.041,3029,964,1162,0,0,0,0,0,0
$GC,6730,1.05,504.3,7.1,13.6,873,6764,0.08,1.77,25.92,0.500,6,0.050,0.031,3096,2162,1032,0,0,0,0,0,0
$STATE,6770,end climb,SURFACE_DEPTH_REACHED
$STATE,6770,begin surface coast
$FINISH,0.1,1.021723
$STATE,6792,end surface coast,CONTROL_FINISHED_OK
$STATE,6792,begin surface
$SM_CCo,6807,94.90,0.055,0,0,481,640.23
$SM_GC,0.83,0.00,0.00,94.90,0.000,0.000,0.055,142,1980,481,-8.07,-1.27,640.23
$IRIDIUM_FIX,2354.48,12612.57,041010,111116
$TT8_MAMPS,0.026215
$HUMID,44.01
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.3,24.118
$10V_AH,10.5,20.062
$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,19.725,60.175,568.175,94.900,0.000,31.151,42.597,111.770,0.000,0.000,35.007,2070.846,1672.721,624.080,2705.278,134.058,0.000,1519.410,0.000,2506.087,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,74.205,860.625,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.848,0.000,1821.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53754,881
$CAP_FILE_SIZE,95349,0
$CFSIZE,260165632,245510144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.086,313.6,1
$GPS,041010,150307,2406.320,12611.109,51,1.3,51,-3.6