version: 66.08
glider: 169
mission: 2
dive: 178
start: 10 5 110 4 46 18
data:
$ID,169
$MISSION,2
$DIVE,178
$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,-6906.4678
$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
$GPS1,051010,044107,2414.597,12611.659,30,1.2,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.0
$GPS2,051010,044552,2414.586,12611.657,10,2.5,29,-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,358.1,10044,-21.0,-15.152
$D_GRID,1635
$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,-204.4,0.0,0.0,0,114,0.00,0.00,-97.22,0.000,2,0.000,0.000,138,1994,3181,0,0,0,0,0,0
$GC,116,-0.72,-204.4,4.4,-8.3,12,143,9.95,1.75,-12.15,0.000,4,0.252,0.067,2495,878,3929,0,0,0,0,0,0
$GC,171,-0.68,-204.4,33.7,-56.3,19,179,0.00,1.83,0.00,0.000,6,0.000,0.056,2490,2030,3930,0,0,0,0,0,0
$GC,535,-0.67,-204.4,145.7,-23.8,80,543,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2029,3933,0,0,0,0,0,0
$GC,892,-0.67,-204.4,229.6,-22.3,141,899,0.00,1.75,0.00,0.000,4,0.000,0.060,2490,3168,3934,0,0,0,0,0,0
$GC,970,-0.67,-204.4,245.3,-18.2,154,979,0.00,1.80,0.00,0.000,6,0.000,0.046,2490,2002,3934,0,0,0,0,0,0
$GC,1321,-0.67,-204.4,311.3,-17.7,209,1325,0.00,1.67,0.00,0.000,4,0.000,0.050,2490,878,3933,0,0,0,0,0,0
$GC,1370,-0.68,-204.4,319.2,-15.1,213,1373,0.00,1.75,0.00,0.000,6,0.000,0.050,2490,2048,3933,0,0,0,0,0,0
$GC,1700,-0.68,-204.4,370.1,-15.0,244,1704,0.00,1.70,0.00,0.000,4,0.000,0.060,2489,3170,3932,0,0,0,0,0,0
$GC,1762,-0.69,-204.4,378.8,-12.2,249,1769,0.00,1.77,0.00,0.000,6,0.000,0.046,2490,2011,3932,0,0,0,0,0,0
$GC,2087,-0.70,-204.4,424.3,-13.6,280,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2009,3931,0,0,0,0,0,0
$GC,2407,-0.70,-204.4,464.0,-12.3,310,2410,0.00,1.80,0.00,0.000,4,0.000,0.060,2490,3171,3929,0,0,0,0,0,0
$GC,2457,-0.72,-204.4,470.1,-10.4,314,2467,0.00,1.80,0.00,0.000,6,0.000,0.047,2490,2002,3929,0,0,0,0,0,0
$STATE,2697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2697,begin apogee
$GC,2701,-0.18,0.0,500.5,14.1,337,2863,0.57,0.08,156.68,0.861,6,0.154,0.109,2667,2091,3090,0,0,0,0,0,0
$STATE,2864,end apogee,CONTROL_FINISHED_OK
$STATE,2864,begin climb
$GC,2866,0.72,204.4,511.6,0.0,350,3042,0.82,1.92,167.52,0.852,4,0.079,0.040,2959,3271,2255,0,0,0,0,0,0
$GC,3122,0.71,204.4,497.7,15.6,371,3129,0.00,1.80,0.00,0.000,6,0.000,0.031,2968,2048,2248,0,0,1,0,0,0
$GC,3447,0.70,204.4,447.5,15.3,402,3450,0.00,1.83,0.00,0.000,4,0.000,0.041,2962,3274,2243,0,0,0,0,0,0
$GC,3509,0.69,204.4,437.8,15.2,407,3516,0.00,1.77,0.00,0.000,6,0.000,0.031,2971,2084,2242,0,0,0,0,0,0
$GC,3834,0.71,227.0,391.5,14.0,438,3860,0.00,1.70,17.45,0.759,4,0.000,0.041,2980,966,2164,0,0,0,0,0,0
$GC,3877,0.72,239.6,385.1,14.5,441,3898,0.00,1.77,12.07,0.713,6,0.000,0.036,2977,2144,2112,0,0,0,0,0,0
$GC,4214,0.71,239.6,332.4,16.1,473,4218,0.00,1.67,0.00,0.000,4,0.000,0.042,2977,3274,2104,0,0,0,0,0,0
$GC,4332,0.70,239.6,311.3,17.5,483,4339,0.00,1.77,0.00,0.000,6,0.000,0.032,2986,2084,2102,0,0,0,0,0,0
$GC,4682,0.69,239.6,255.7,15.8,537,4689,0.12,1.62,0.00,0.000,4,0.192,0.041,2962,963,2099,0,0,0,0,0,0
$GC,4756,0.74,279.6,245.4,13.2,549,4800,0.00,1.75,31.45,0.695,6,0.000,0.036,2961,2152,1950,0,0,0,0,0,0
$GC,5149,0.82,344.6,193.0,11.9,615,5208,0.10,1.77,52.35,0.657,4,0.097,0.040,3019,3277,1684,0,0,0,0,0,0
$GC,5246,0.82,344.6,176.9,19.8,629,5253,0.10,1.80,0.00,0.000,6,0.158,0.030,2996,2081,1680,0,0,1,0,0,0
$GC,5608,0.83,352.0,116.6,14.8,690,5619,0.00,1.70,6.00,0.479,4,0.000,0.041,3004,964,1654,0,0,0,0,0,0
$GC,5716,0.88,391.4,102.1,13.2,707,5757,0.00,1.77,32.17,0.584,6,0.000,0.036,3003,2149,1492,0,0,0,0,0,0
$GC,6107,1.06,528.0,59.1,8.4,772,6221,0.17,1.83,105.12,0.555,4,0.064,0.038,3111,960,936,0,0,0,0,0,0
$GC,6248,1.05,528.0,31.3,24.7,790,6258,0.12,1.83,0.00,0.000,6,0.153,0.035,3071,2153,933,0,0,0,0,0,0
$STATE,6389,end climb,SURFACE_DEPTH_REACHED
$STATE,6390,begin surface coast
$FINISH,0.4,1.021777
$STATE,6404,end surface coast,CONTROL_FINISHED_OK
$STATE,6404,begin surface
$SM_CCo,6419,80.75,0.448,1,0,480,640.23
$SM_GC,0.87,0.00,0.00,80.75,0.000,0.000,0.448,150,1991,480,-8.06,-0.96,640.23
$IRIDIUM_FIX,2403.92,12613.45,051010,020248
$TT8_MAMPS,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,25.192
$10V_AH,10.4,20.994
$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,20.375,46.475,580.825,80.750,0.000,23.386,17.440,130.606,0.000,0.000,31.083,1888.990,1635.302,621.141,2515.492,132.881,0.000,1463.990,0.000,2335.578,0.000,0.545,0.000
$DEVICE_MAMPS,251.685,109.395,860.625,447.525,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.809,0.000,1693.071,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50407,815
$CAP_FILE_SIZE,86030,0
$CFSIZE,260165632,245096448
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.081, 58.4,1
$GPS,051010,063535,2415.769,12611.943,10,1.8,25,-3.7