version: 66.08
glider: 169
mission: 2
dive: 127
start: 10 1 110 4 49 40
data:
$ID,169
$MISSION,2
$DIVE,127
$N_DIVES,140
$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,-6840.7314
$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
$GPS1,011010,044507,2405.388,12611.669,32,1.0,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.6
$GPS2,011010,044914,2405.385,12611.657,11,1.1,11,-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,2.4,27072,-21.0,-15.152
$D_GRID,1779
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-96.05,0.000,2,0.000,0.000,145,1992,3133,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.1,-7.8,12,150,9.60,1.90,-13.48,0.000,4,0.243,0.080,2486,3165,3930,0,0,0,0,0,0
$GC,250,-0.71,-204.4,64.0,-32.2,33,260,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2018,3931,0,0,0,0,0,0
$GC,612,-0.70,-204.4,167.1,-25.5,94,620,0.00,1.75,0.00,0.000,4,0.000,0.054,2486,872,3933,0,0,0,0,0,0
$GC,724,-0.70,-204.4,188.9,-17.5,113,731,0.00,1.77,0.00,0.000,6,0.000,0.054,2486,2044,3933,0,0,0,0,0,0
$GC,1069,-0.70,-204.4,260.9,-19.8,174,1078,0.00,1.75,0.00,0.000,4,0.000,0.061,2486,3166,3934,0,0,0,0,0,0
$GC,1126,-0.70,-204.4,271.3,-17.9,183,1132,0.00,1.75,0.00,0.000,6,0.000,0.047,2486,2000,3934,0,0,0,0,0,0
$GC,1465,-0.70,-204.4,335.6,-17.2,227,1469,0.00,1.67,0.00,0.000,4,0.000,0.054,2486,879,3933,0,0,0,0,0,0
$GC,1538,-0.71,-204.4,347.8,-14.4,233,1546,0.00,1.80,0.00,0.000,6,0.000,0.052,2486,2046,3933,0,0,0,0,0,0
$GC,1863,-0.71,-204.4,402.1,-16.5,264,1866,0.00,1.77,0.00,0.000,4,0.000,0.052,2486,869,3931,0,0,0,0,0,0
$GC,1923,-0.72,-204.4,411.0,-15.2,269,1927,0.00,1.75,0.00,0.000,6,0.000,0.051,2486,2040,3931,0,0,0,0,0,0
$GC,2253,-0.72,-204.4,464.1,-15.9,300,2257,0.00,1.75,0.00,0.000,4,0.000,0.061,2486,3167,3930,0,0,0,0,0,0
$GC,2292,-0.73,-204.4,469.8,-13.3,303,2299,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2000,3930,0,0,0,0,0,0
$STATE,2500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2500,begin apogee
$GC,2504,-0.18,0.0,500.2,14.9,323,2666,0.57,0.08,156.60,0.854,6,0.153,0.109,2666,2090,3091,0,0,0,0,0,0
$STATE,2667,end apogee,CONTROL_FINISHED_OK
$STATE,2667,begin climb
$GC,2669,0.72,204.4,510.3,0.0,336,2841,0.85,0.00,168.68,0.845,6,0.076,0.000,2964,2090,2257,0,0,0,0,0,0
$GC,3159,0.71,204.4,458.1,15.9,383,3162,0.00,1.80,0.00,0.000,4,0.000,0.041,2964,3280,2244,0,0,0,0,0,0
$GC,3421,0.70,204.4,415.4,17.6,406,3424,0.00,1.77,0.00,0.000,6,0.000,0.031,2972,2075,2240,0,0,0,0,0,0
$GC,3754,0.69,204.5,363.5,15.1,437,3757,0.00,1.65,0.00,0.000,4,0.000,0.041,2981,957,2238,0,0,0,0,0,0
$GC,3778,0.68,204.5,359.5,15.9,439,3783,0.08,1.77,0.00,0.000,6,0.168,0.036,2955,2153,2238,0,0,0,0,0,0
$GC,4108,0.74,257.7,315.8,12.5,470,4157,0.00,1.80,41.28,0.743,4,0.000,0.041,2964,957,2038,0,0,0,0,0,0
$GC,4240,0.78,293.9,299.1,13.4,481,4275,0.00,1.77,30.00,0.713,6,0.000,0.036,2962,2151,1892,0,0,0,0,0,0
$GC,4625,0.78,293.9,240.7,16.3,546,4634,0.00,1.70,0.00,0.000,4,0.000,0.043,2962,3273,1880,0,0,0,0,0,0
$GC,4648,0.78,293.9,236.9,16.8,549,4654,0.00,1.73,0.00,0.000,6,0.000,0.031,2970,2082,1880,0,0,0,0,0,0
$GC,5002,0.84,339.1,183.1,12.9,610,5044,0.00,1.83,35.90,0.649,4,0.000,0.039,2971,3280,1706,0,0,0,0,0,0
$GC,5168,0.84,339.1,157.9,15.3,637,5175,0.00,1.75,0.00,0.000,6,0.000,0.031,2979,2081,1700,0,0,0,0,0,0
$GC,5524,0.87,359.5,106.5,14.1,698,5549,0.00,0.00,16.30,0.571,6,0.000,0.000,2980,2081,1622,0,0,0,0,0,0
$GC,5898,1.07,508.4,59.7,7.7,761,6019,0.25,1.75,114.85,0.557,4,0.050,0.038,3129,964,1016,0,0,0,0,0,0
$GC,6070,1.06,508.4,23.3,26.2,784,6079,0.17,1.80,0.00,0.000,6,0.161,0.034,3075,2153,1013,0,0,0,0,0,0
$STATE,6168,end climb,SURFACE_DEPTH_REACHED
$STATE,6168,begin surface coast
$FINISH,-0.0,1.021436
$STATE,6189,end surface coast,CONTROL_FINISHED_OK
$STATE,6189,begin surface
$SM_CCo,6204,91.10,0.055,0,0,481,640.23
$SM_GC,0.80,0.00,0.00,91.10,0.000,0.000,0.055,150,1978,481,-8.06,-1.33,640.23
$IRIDIUM_FIX,2356.84,12613.96,011010,020250
$TT8_MAMPS,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,18.420
$10V_AH,10.5,15.208
$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,19.800,42.900,563.600,91.100,0.000,28.085,15.871,113.305,0.000,0.000,12.129,1857.773,1524.688,617.227,2435.231,110.875,0.000,1430.382,0.000,2284.069,0.000,0.545,0.000
$DEVICE_MAMPS,242.505,108.630,853.740,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.800,0.000,1667.501,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,46916,803
$CAP_FILE_SIZE,81210,0
$CFSIZE,260165632,247623680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,231.2,1
$GPS,011010,063514,2406.189,12611.316,14,1.4,14,-3.6