version: 66.08
glider: 169
mission: 2
dive: 120
start: 9 30 110 16 5 10
data:
$ID,169
$MISSION,2
$DIVE,120
$N_DIVES,120
$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,-6831.4653
$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
$GPS1,300910,155830,2401.509,12611.976,37,1.1,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.1
$GPS2,300910,160444,2401.543,12611.966,16,1.8,16,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$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,182.3,2859,-21.0,-15.152
$D_GRID,2058
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.72,0.000,2,0.000,0.000,146,1990,3063,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.5,-5.6,12,148,9.32,1.73,-15.27,0.000,4,0.234,0.070,2488,885,3928,0,0,0,0,0,0
$GC,302,-0.70,-204.4,80.5,-31.8,42,310,0.00,1.80,0.00,0.000,6,0.000,0.054,2488,2040,3929,0,0,0,0,0,0
$GC,661,-0.70,-204.4,182.6,-24.7,103,667,0.00,1.75,0.00,0.000,4,0.000,0.063,2488,3169,3931,0,0,0,0,0,0
$GC,726,-0.70,-204.4,196.8,-19.6,114,734,0.00,1.80,0.00,0.000,6,0.000,0.048,2488,2003,3931,0,0,0,0,0,0
$GC,1076,-0.69,-204.4,274.6,-22.1,175,1083,0.00,1.83,0.00,0.000,4,0.000,0.061,2488,3172,3931,0,0,0,0,0,0
$GC,1129,-0.70,-204.4,285.3,-18.3,184,1137,0.00,1.80,0.00,0.000,6,0.000,0.048,2488,2003,3931,0,0,0,0,0,0
$GC,1462,-0.70,-204.4,349.1,-18.1,221,1466,0.00,1.67,0.00,0.000,4,0.000,0.053,2488,876,3930,0,0,0,0,0,0
$GC,1532,-0.70,-204.4,360.9,-15.8,227,1535,0.00,1.75,0.00,0.000,6,0.000,0.052,2488,2045,3930,0,0,0,0,0,0
$GC,1864,-0.70,-204.4,416.3,-16.0,258,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2045,3929,0,0,0,0,0,0
$GC,2183,-0.71,-204.4,463.2,-14.7,288,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2045,3928,0,0,0,0,0,0
$STATE,2435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2435,begin apogee
$GC,2439,-0.18,0.0,501.5,15.7,312,2601,0.57,0.08,155.85,0.855,6,0.155,0.109,2668,2091,3090,0,0,0,0,0,0
$STATE,2602,end apogee,CONTROL_FINISHED_OK
$STATE,2602,begin climb
$GC,2604,0.72,204.4,510.9,0.0,325,2782,0.82,1.80,167.38,0.842,4,0.081,0.041,2968,960,2255,0,0,0,0,0,0
$GC,2899,0.71,204.4,487.2,16.0,350,2909,0.00,1.80,0.00,0.000,6,0.000,0.035,2967,2141,2247,0,0,0,0,0,0
$GC,3227,0.70,204.4,434.5,15.4,381,3231,0.00,1.70,0.00,0.000,4,0.000,0.041,2967,3273,2242,0,0,0,0,0,0
$GC,3484,0.69,204.4,393.6,15.5,404,3488,0.00,1.75,0.00,0.000,6,0.000,0.033,2976,2081,2239,0,0,0,0,0,0
$GC,3816,0.71,223.5,345.7,14.2,435,3841,0.00,1.83,14.30,0.713,4,0.000,0.041,2973,3267,2177,0,0,0,0,0,0
$GC,3924,0.70,223.5,328.1,15.9,444,3934,0.08,1.77,0.00,0.000,6,0.165,0.033,2959,2083,2173,0,0,0,0,0,0
$GC,4256,0.78,294.8,284.6,11.6,486,4321,0.00,1.70,57.62,0.724,4,0.000,0.040,2967,963,1887,0,0,0,0,0,0
$GC,4338,0.78,294.8,273.1,15.3,498,4347,0.00,1.83,0.00,0.000,6,0.000,0.035,2963,2154,1883,0,0,0,0,0,0
$GC,4686,0.81,322.3,220.4,13.8,559,4715,0.00,0.00,22.42,0.658,6,0.000,0.000,2963,2154,1774,0,0,0,0,0,0
$GC,5054,0.81,322.3,162.6,15.9,623,5061,0.00,1.65,0.00,0.000,4,0.000,0.040,2963,3274,1767,0,0,0,0,0,0
$GC,5126,0.82,322.3,151.2,16.0,635,5132,0.00,1.75,0.00,0.000,6,0.000,0.033,2972,2084,1765,0,0,0,0,0,0
$GC,5481,0.90,384.4,105.3,12.1,696,5533,0.12,0.00,48.12,0.593,6,0.081,0.000,3048,2083,1522,0,0,0,0,0,0
$GC,5882,0.93,408.9,37.4,13.9,762,5907,0.00,0.00,19.48,0.524,6,0.000,0.000,3048,2083,1421,0,0,0,0,0,0
$STATE,6121,end climb,SURFACE_DEPTH_REACHED
$STATE,6121,begin surface coast
$FINISH,-0.1,1.015148
$STATE,6146,end surface coast,CONTROL_FINISHED_OK
$STATE,6146,begin surface
$SM_CCo,6161,147.90,0.055,0,0,480,640.23
$SM_GC,0.87,0.00,0.00,147.90,0.000,0.000,0.055,147,1998,480,-8.06,-0.76,640.23
$IRIDIUM_FIX,2352.12,12619.16,300910,141422
$TT8_MAMPS,0.026215
$HUMID,43.18
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,17.491
$10V_AH,10.4,14.431
$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,19.050,32.000,485.175,147.900,0.000,60.205,49.448,108.913,0.000,0.000,17.643,1889.811,1552.056,603.764,2537.879,103.661,0.000,1404.619,0.000,2314.549,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,108.630,855.270,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.169,0.000,1689.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,46942,806
$CAP_FILE_SIZE,79529,0
$CFSIZE,260165632,247947264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.085, 56.8,1
$GPS,300910,175116,2400.749,12612.340,12,2.7,31,-3.6