version: 66.08
glider: 169
mission: 2
dive: 181
start: 10 5 110 10 34 53
data:
$ID,169
$MISSION,2
$DIVE,181
$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,-6910.2358
$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
$GPS1,051010,102916,2417.571,12612.132,7,2.3,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-67.2
$GPS2,051010,103427,2417.566,12612.109,17,2.3,36,-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,351.2,4512,-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,-204.4,0.0,0.0,0,113,0.00,0.00,-95.18,0.000,2,0.000,0.000,138,1999,3105,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.0,-7.4,12,150,9.60,1.75,-13.90,0.000,4,0.240,0.069,2486,885,3929,0,0,0,0,0,0
$GC,166,-0.66,-204.4,30.8,-55.7,18,174,0.00,1.83,0.00,0.000,6,0.000,0.056,2486,2036,3929,0,0,0,0,0,0
$GC,529,-0.65,-204.4,152.9,-25.0,79,537,0.12,1.75,0.00,0.000,4,0.197,0.059,2517,3170,3933,0,0,0,0,0,0
$GC,569,-0.65,-204.4,161.9,-20.1,85,576,0.00,1.77,0.00,0.000,6,0.000,0.047,2517,2003,3933,0,0,0,0,0,0
$GC,925,-0.65,-204.4,227.0,-16.4,146,933,0.00,1.70,0.00,0.000,4,0.000,0.051,2517,885,3934,0,0,0,0,0,0
$GC,1029,-0.66,-204.4,241.2,-13.1,163,1036,0.00,1.73,0.00,0.000,6,0.000,0.048,2517,2042,3934,0,0,0,0,0,0
$GC,1385,-0.67,-204.4,295.3,-15.6,224,1394,0.00,1.75,0.00,0.000,4,0.000,0.059,2517,3166,3933,0,0,0,0,0,0
$GC,1461,-0.68,-204.4,305.1,-12.3,233,1465,0.00,1.75,0.00,0.000,6,0.000,0.043,2517,2003,3933,0,0,0,0,0,0
$GC,1793,-0.69,-204.4,353.2,-15.5,264,1796,0.00,1.83,0.00,0.000,4,0.000,0.058,2517,3174,3931,0,0,0,0,0,0
$GC,1866,-0.70,-204.4,363.8,-12.8,270,1875,0.00,1.80,0.00,0.000,6,0.000,0.046,2517,2002,3931,0,0,0,0,0,0
$GC,2194,-0.71,-204.4,410.9,-14.3,301,2198,0.00,1.70,0.00,0.000,4,0.000,0.051,2517,884,3929,0,0,0,0,0,0
$GC,2221,-0.73,-204.4,415.1,-13.5,303,2228,0.00,1.75,0.00,0.000,6,0.000,0.047,2517,2043,3929,0,0,0,0,0,0
$GC,2546,-0.74,-204.4,453.2,-11.3,334,2550,0.00,1.73,0.00,0.000,4,0.000,0.057,2517,3168,3928,0,0,0,0,0,0
$GC,2629,-0.76,-204.4,461.5,-10.1,341,2633,0.00,1.73,0.00,0.000,6,0.000,0.043,2517,2003,3928,0,0,0,0,0,0
$GC,2961,-0.77,-204.4,498.8,-10.8,372,2966,0.10,1.73,0.00,0.000,4,0.136,0.052,2478,865,3925,0,0,0,0,0,0
$STATE,2973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2973,begin apogee
$GC,2980,-0.18,0.0,500.2,10.3,373,3141,0.60,0.00,156.77,0.867,6,0.155,0.000,2663,2138,3091,0,0,0,0,0,0
$STATE,3142,end apogee,CONTROL_FINISHED_OK
$STATE,3142,begin climb
$GC,3144,0.72,204.4,508.0,0.0,386,3322,0.85,1.83,168.40,0.858,4,0.073,0.040,2969,968,2255,0,0,0,0,0,0
$GC,3339,0.71,204.4,497.4,16.2,403,3346,0.00,1.85,0.00,0.000,6,0.000,0.036,2969,2152,2251,0,0,0,0,0,0
$GC,3666,0.70,204.4,442.8,16.4,434,3669,0.00,1.77,0.00,0.000,4,0.000,0.044,2978,961,2243,0,0,0,0,0,0
$GC,3716,0.69,204.4,434.3,15.8,438,3726,0.00,1.80,0.00,0.000,6,0.000,0.036,2978,2157,2242,0,0,0,0,0,0
$GC,4043,0.68,205.6,382.8,15.1,469,4047,0.00,1.67,0.00,0.000,4,0.000,0.041,2978,3273,2239,0,0,0,0,0,0
$GC,4192,0.70,225.6,359.3,14.2,482,4218,0.12,1.75,16.08,0.743,6,0.186,0.033,2956,2069,2170,0,0,0,0,0,0
$GC,4536,0.74,261.3,315.3,13.4,514,4574,0.00,1.88,29.73,0.745,4,0.000,0.041,2955,3269,2023,0,0,0,0,0,0
$GC,4646,0.73,261.3,299.2,15.6,523,4653,0.00,1.73,0.00,0.000,6,0.000,0.034,2964,2083,2017,0,0,1,0,0,0
$GC,5002,0.77,292.5,245.6,13.6,584,5032,0.00,1.90,25.35,0.691,4,0.000,0.042,2963,3278,1897,0,0,0,0,0,0
$GC,5122,0.77,292.5,227.7,15.5,603,5128,0.00,1.77,0.00,0.000,6,0.000,0.034,2972,2081,1890,0,0,1,0,0,0
$GC,5477,0.84,347.4,178.4,12.4,664,5528,0.00,1.70,43.95,0.653,4,0.000,0.041,2981,964,1672,0,0,0,0,0,0
$GC,5555,0.89,388.3,169.1,13.1,675,5598,0.10,1.80,33.03,0.633,6,0.096,0.037,3039,2154,1506,0,0,0,0,0,0
$GC,5947,0.89,388.3,84.3,19.4,741,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2154,1499,0,0,0,0,0,0
$GC,6312,1.02,489.6,35.6,10.1,802,6394,0.00,0.00,77.10,0.545,6,0.000,0.000,3039,2156,1094,0,0,0,0,0,0
$STATE,6545,end climb,SURFACE_DEPTH_REACHED
$STATE,6545,begin surface coast
$FINISH,0.2,1.021809
$STATE,6565,end surface coast,CONTROL_FINISHED_OK
$STATE,6565,begin surface
$SM_CCo,6580,103.20,0.463,1,0,481,640.23
$SM_GC,0.89,0.00,0.00,103.20,0.000,0.000,0.463,147,1993,481,-8.07,-0.93,640.23
$IRIDIUM_FIX,2408.65,12612.94,051010,080829
$TT8_MAMPS,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.3,25.585
$10V_AH,10.4,21.341
$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,19.675,49.925,550.400,103.200,0.000,30.987,39.712,116.069,0.000,0.000,37.994,1963.314,1676.652,636.308,2592.559,133.151,0.000,1485.866,0.000,2384.331,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,68.850,866.745,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.139,0.000,1712.233,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50284,841
$CAP_FILE_SIZE,88213,0
$CFSIZE,260165632,244936704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.086,157.0,1
$GPS,051010,122730,2418.269,12612.010,37,0.9,42,-3.7