version: 66.08
glider: 169
mission: 2
dive: 180
start: 10 5 110 8 34 46
data:
$ID,169
$MISSION,2
$DIVE,180
$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,-6908.981
$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
$GPS1,051010,083007,2416.779,12612.078,28,1.5,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-69.6
$GPS2,051010,083420,2416.773,12612.064,12,1.4,12,-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,351.1,5978,-21.0,-15.152
$D_GRID,1664
$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,-96.53,0.000,2,0.000,0.000,150,1998,3127,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.9,-6.7,12,150,9.73,1.88,-13.70,0.000,4,0.246,0.073,2480,3166,3928,0,0,0,0,0,0
$GC,181,-0.68,-204.4,37.8,-51.9,21,190,0.00,1.83,0.00,0.000,6,0.000,0.050,2480,2007,3929,0,0,0,0,0,0
$GC,544,-0.67,-204.4,158.2,-26.6,82,554,0.12,1.75,0.00,0.000,4,0.198,0.054,2511,881,3932,0,0,0,0,0,0
$GC,572,-0.67,-204.4,164.7,-23.8,86,581,0.00,1.80,0.00,0.000,6,0.000,0.052,2511,2036,3932,0,0,0,0,0,0
$GC,932,-0.67,-204.4,235.7,-17.5,147,938,0.00,1.75,0.00,0.000,4,0.000,0.060,2511,3175,3933,0,0,0,0,0,0
$GC,1009,-0.68,-204.4,247.8,-13.8,160,1017,0.00,1.80,0.00,0.000,6,0.000,0.047,2511,2005,3933,0,0,0,0,0,0
$GC,1367,-0.68,-204.4,303.8,-15.8,219,1370,0.00,1.83,0.00,0.000,4,0.000,0.060,2511,3171,3932,0,0,0,0,0,0
$GC,1392,-0.69,-204.4,307.6,-14.9,221,1396,0.00,1.77,0.00,0.000,6,0.000,0.047,2511,2002,3932,0,0,0,0,0,0
$GC,1723,-0.70,-204.4,359.2,-15.3,252,1726,0.00,1.80,0.00,0.000,4,0.000,0.059,2511,3173,3931,0,0,0,0,0,0
$GC,1808,-0.71,-204.4,370.9,-12.7,259,1815,0.00,1.80,0.00,0.000,6,0.000,0.047,2511,2002,3930,0,0,0,0,0,0
$GC,2133,-0.72,-204.4,411.2,-11.7,290,2137,0.00,1.67,0.00,0.000,4,0.000,0.051,2511,865,3929,0,0,0,0,0,0
$GC,2161,-0.73,-204.4,414.8,-11.9,292,2170,0.00,1.80,0.00,0.000,6,0.000,0.049,2510,2036,3929,0,0,0,0,0,0
$GC,2489,-0.74,-204.4,451.6,-11.7,323,2493,0.00,1.75,0.00,0.000,4,0.000,0.057,2511,3168,3927,0,0,0,0,0,0
$GC,2573,-0.75,-204.4,461.1,-10.4,330,2582,0.00,1.77,0.00,0.000,6,0.000,0.044,2510,2003,3927,0,0,0,0,0,0
$GC,2899,-0.77,-204.4,496.9,-11.0,361,2903,0.00,1.73,0.00,0.000,4,0.000,0.053,2511,869,3925,0,0,0,0,0,0
$STATE,2925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2925,begin apogee
$GC,2931,-0.18,0.0,500.5,11.2,363,3098,0.47,0.05,156.93,0.861,6,0.142,0.066,2663,2091,3089,0,0,0,0,0,0
$STATE,3099,end apogee,CONTROL_FINISHED_OK
$STATE,3099,begin climb
$GC,3100,0.72,204.4,509.3,0.0,377,3275,0.80,1.75,167.73,0.853,4,0.063,0.041,2968,960,2256,0,0,0,0,0,0
$GC,3443,0.72,213.0,480.9,14.7,406,3457,0.00,1.77,7.10,0.662,6,0.000,0.036,2967,2154,2222,0,0,0,0,0,0
$GC,3775,0.71,213.0,432.6,15.4,437,3778,0.00,1.67,0.00,0.000,4,0.000,0.042,2967,3278,2215,0,0,0,0,0,0
$GC,3927,0.70,213.0,406.7,16.8,450,3936,0.00,1.80,0.00,0.000,6,0.000,0.033,2976,2077,2213,0,0,0,0,0,0
$GC,4255,0.70,213.0,355.6,15.2,481,4258,0.00,1.83,0.00,0.000,4,0.000,0.043,2975,3273,2211,0,0,0,0,0,0
$GC,4289,0.69,213.0,349.7,16.6,484,4293,0.12,1.70,0.00,0.000,6,0.187,0.033,2952,2082,2210,0,0,1,0,0,0
$GC,4621,0.72,243.3,304.5,13.6,515,4650,0.00,1.80,24.75,0.731,4,0.000,0.041,2952,3272,2097,0,0,0,0,0,0
$GC,4774,0.73,252.0,282.2,14.7,537,4789,0.00,1.75,7.90,0.617,6,0.000,0.032,2961,2080,2062,0,0,1,0,0,0
$GC,5141,0.81,316.6,234.8,11.9,599,5199,0.00,1.92,52.50,0.692,4,0.000,0.041,2961,3276,1799,0,0,0,0,0,0
$GC,5242,0.84,338.9,221.2,14.0,614,5266,0.00,1.83,19.00,0.646,6,0.000,0.032,2970,2088,1708,0,0,0,0,0,0
$GC,5617,0.84,338.9,165.1,15.5,677,5624,0.00,1.70,0.00,0.000,4,0.000,0.042,2978,959,1699,0,0,0,0,0,0
$GC,5647,0.84,338.9,159.7,15.8,682,5656,0.00,1.80,0.00,0.000,6,0.000,0.036,2978,2153,1699,0,0,0,0,0,0
$GC,6005,0.90,386.1,104.1,12.8,743,6047,0.12,0.00,36.80,0.592,6,0.086,0.000,3049,2153,1515,0,0,0,0,0,0
$GC,6397,0.97,434.5,39.2,12.7,808,6440,0.00,1.75,37.83,0.543,4,0.000,0.038,3049,3274,1318,0,0,0,0,0,0
$GC,6468,0.97,434.5,29.2,15.9,817,6476,0.00,1.80,0.00,0.000,6,0.000,0.031,3058,2073,1317,0,0,1,0,0,0
$STATE,6642,end climb,SURFACE_DEPTH_REACHED
$STATE,6642,begin surface coast
$FINISH,0.4,1.021786
$STATE,6662,end surface coast,CONTROL_FINISHED_OK
$STATE,6662,begin surface
$SM_CCo,6677,137.45,0.055,0,0,481,640.23
$SM_GC,0.89,0.00,0.00,137.45,0.000,0.000,0.055,140,1999,481,-8.08,-0.74,640.23
$IRIDIUM_FIX,2408.65,12612.94,051010,060653
$TT8_MAMPS,0.026215
$HUMID,44.29
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.3,25.443
$10V_AH,10.4,21.226
$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,19.525,53.725,510.525,137.450,0.000,25.020,18.742,113.088,0.000,0.000,13.366,2006.118,1729.812,625.564,2576.595,132.547,0.000,1489.115,0.000,2422.009,0.000,0.544,0.000
$DEVICE_MAMPS,245.565,101.745,860.625,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.406,0.000,1731.453,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50372,849
$CAP_FILE_SIZE,90911,0
$CFSIZE,260165632,244985856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.100,140.4,1
$GPS,051010,102916,2417.571,12612.132,7,2.3,26,-3.7