version: 66.08
glider: 169
mission: 2
dive: 171
start: 10 4 110 15 7 52
data:
$ID,169
$MISSION,2
$DIVE,171
$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,-6897.6787
$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
$GPS1,041010,150307,2406.320,12611.109,51,1.3,51,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.5
$GPS2,041010,150726,2406.350,12611.084,16,1.7,16,-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,18.0,25328,-21.0,-15.152
$D_GRID,1752
$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,-204.4,0.0,0.0,0,107,0.00,0.00,-90.35,0.000,2,0.000,0.000,138,1980,2926,0,0,0,0,0,0
$GC,109,-0.72,-204.4,3.0,-4.5,11,144,9.65,1.92,-18.62,0.000,4,0.243,0.078,2487,3166,3928,0,0,0,0,0,0
$GC,245,-0.71,-204.4,51.9,-34.4,32,254,0.00,1.80,0.00,0.000,6,0.000,0.052,2487,2011,3929,0,0,1,0,0,0
$GC,610,-0.70,-204.4,148.2,-23.5,93,619,0.00,1.75,0.00,0.000,4,0.000,0.056,2486,877,3931,0,0,0,0,0,0
$GC,778,-0.70,-204.4,182.0,-18.5,122,787,0.00,1.80,0.00,0.000,6,0.000,0.053,2487,2034,3932,0,0,0,0,0,0
$GC,1127,-0.70,-204.4,249.4,-19.0,183,1133,0.00,1.75,0.00,0.000,4,0.000,0.057,2487,3167,3932,0,0,0,0,0,0
$GC,1153,-0.70,-204.4,254.1,-18.6,187,1159,0.00,1.73,0.00,0.000,6,0.000,0.045,2486,2004,3932,0,0,0,0,0,0
$GC,1493,-0.71,-204.4,313.7,-15.6,240,1496,0.00,1.70,0.00,0.000,4,0.000,0.054,2486,867,3932,0,0,0,0,0,0
$GC,1529,-0.71,-204.4,319.1,-16.0,243,1533,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2052,3931,0,0,0,0,0,0
$GC,1860,-0.72,-204.4,366.9,-14.3,274,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2052,3930,0,0,0,0,0,0
$GC,2179,-0.72,-204.4,411.2,-14.1,304,2183,0.00,1.77,0.00,0.000,4,0.000,0.051,2486,875,3928,0,0,0,0,0,0
$GC,2241,-0.73,-204.4,420.2,-13.0,309,2248,0.00,1.77,0.00,0.000,6,0.000,0.050,2487,2034,3928,0,0,0,0,0,0
$GC,2566,-0.74,-204.4,465.6,-13.0,340,2569,0.00,1.73,0.00,0.000,4,0.000,0.057,2487,3168,3926,0,0,0,0,0,0
$GC,2604,-0.75,-204.4,470.7,-12.3,343,2611,0.00,1.77,0.00,0.000,6,0.000,0.044,2487,2001,3926,0,0,0,0,0,0
$STATE,2834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2834,begin apogee
$GC,2838,-0.18,0.0,500.7,12.8,365,2999,0.57,0.08,156.35,0.863,6,0.150,0.110,2666,2091,3091,0,0,0,0,0,0
$STATE,3000,end apogee,CONTROL_FINISHED_OK
$STATE,3000,begin climb
$GC,3002,0.72,204.4,509.6,0.0,378,3177,0.82,1.77,167.68,0.853,4,0.076,0.039,2968,964,2256,0,0,0,0,0,0
$GC,3241,0.72,210.0,496.2,14.9,398,3256,0.00,1.77,4.85,0.563,6,0.000,0.034,2967,2153,2235,0,0,0,0,0,0
$GC,3572,0.71,210.0,444.5,16.1,429,3576,0.00,1.67,0.00,0.000,4,0.000,0.041,2967,3277,2228,0,0,0,0,0,0
$GC,3746,0.70,210.0,416.4,15.9,444,3750,0.00,1.73,0.00,0.000,6,0.000,0.033,2975,2076,2225,0,0,1,0,0,0
$GC,4079,0.69,210.0,366.1,15.4,475,4083,0.00,1.83,0.00,0.000,4,0.000,0.043,2974,3275,2223,0,0,0,0,0,0
$GC,4104,0.68,210.0,362.0,16.1,477,4108,0.10,1.77,0.00,0.000,6,0.163,0.033,2951,2086,2222,0,0,0,0,0,0
$GC,4434,0.75,269.0,320.4,12.2,508,4491,0.00,1.88,47.10,0.754,4,0.000,0.044,2950,3271,1992,0,0,0,0,0,0
$GC,4496,0.82,323.8,312.5,12.4,513,4551,0.08,1.80,45.60,0.730,6,0.050,0.031,3011,2073,1767,0,0,1,0,0,0
$GC,4893,0.81,323.8,238.0,19.9,576,4901,0.00,1.85,0.00,0.000,4,0.000,0.043,3011,3277,1757,0,0,0,0,0,0
$GC,4920,0.80,323.8,232.5,21.2,580,4929,0.08,1.77,0.00,0.000,6,0.168,0.031,2996,2081,1757,0,0,1,0,0,0
$GC,5278,0.80,323.8,168.6,15.3,641,5285,0.00,1.62,0.00,0.000,4,0.000,0.040,3004,954,1754,0,0,0,0,0,0
$GC,5317,0.80,323.8,162.7,15.5,647,5324,0.00,1.77,0.00,0.000,6,0.000,0.034,3003,2165,1753,0,0,0,0,0,0
$GC,5677,0.80,323.8,107.9,17.0,708,5686,0.00,1.65,0.00,0.000,4,0.000,0.041,3003,3269,1752,0,0,0,0,0,0
$GC,5747,0.80,323.8,96.2,17.8,719,5756,0.00,1.75,0.00,0.000,6,0.000,0.031,3012,2089,1751,0,0,0,0,0,0
$GC,6111,0.99,465.1,49.0,8.1,780,6225,0.10,1.90,106.35,0.554,4,0.093,0.040,3078,3272,1194,0,0,0,0,0,0
$GC,6264,0.99,465.1,26.7,19.4,800,6273,0.10,1.80,0.00,0.000,6,0.148,0.030,3053,2087,1192,0,0,0,0,0,0
$STATE,6440,end climb,SURFACE_DEPTH_REACHED
$STATE,6440,begin surface coast
$FINISH,0.2,1.021731
$STATE,6465,end surface coast,CONTROL_FINISHED_OK
$STATE,6465,begin surface
$SM_CCo,6480,117.15,0.055,0,0,480,640.23
$SM_GC,0.84,0.00,0.00,117.15,0.000,0.000,0.055,150,1978,480,-8.06,-1.30,640.23
$IRIDIUM_FIX,2354.48,12607.37,041010,131347
$TT8_MAMPS,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.3,24.244
$10V_AH,10.5,20.179
$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,19.700,50.075,527.925,117.150,0.000,27.099,14.722,116.802,0.000,0.000,17.178,1951.851,1593.085,623.756,2565.391,124.332,0.000,1461.316,0.000,2406.586,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,110.160,862.920,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.349,0.000,1760.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50408,833
$CAP_FILE_SIZE,86412,0
$CFSIZE,260165632,245469184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.102,338.0,1
$GPS,041010,165846,2407.781,12611.062,10,2.2,29,-3.6