version: 66.08
glider: 169
mission: 2
dive: 128
start: 10 1 110 6 40 28
data:
$ID,169
$MISSION,2
$DIVE,128
$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,-6841.9878
$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
$GPS1,011010,063514,2406.189,12611.316,14,1.4,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-72.3
$GPS2,011010,064002,2406.188,12611.266,23,1.6,23,-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,12.2,25609,-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,-204.4,0.0,0.0,0,111,0.00,0.00,-94.88,0.000,2,0.000,0.000,149,1978,3087,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.8,-7.3,12,148,9.43,1.92,-14.57,0.000,4,0.239,0.080,2476,3166,3927,0,0,0,0,0,0
$GC,221,-0.69,-204.4,54.8,-40.2,28,230,0.00,1.80,0.00,0.000,6,0.000,0.047,2477,2012,3929,0,0,0,0,0,0
$GC,585,-0.68,-204.4,170.0,-27.5,89,592,0.12,1.70,0.00,0.000,4,0.202,0.053,2507,880,3932,0,0,0,0,0,0
$GC,625,-0.68,-204.4,179.2,-21.8,95,631,0.00,1.77,0.00,0.000,6,0.000,0.053,2507,2041,3932,0,0,0,0,0,0
$GC,980,-0.68,-204.4,249.5,-19.3,156,988,0.00,1.75,0.00,0.000,4,0.000,0.060,2507,3165,3932,0,0,0,0,0,0
$GC,1076,-0.69,-204.4,266.0,-16.2,172,1085,0.00,1.77,0.00,0.000,6,0.000,0.044,2507,2003,3932,0,0,0,0,0,0
$GC,1427,-0.69,-204.4,327.5,-16.7,219,1431,0.00,1.65,0.00,0.000,4,0.000,0.052,2507,876,3932,0,0,0,0,0,0
$GC,1478,-0.70,-204.4,336.4,-15.2,223,1485,0.00,1.77,0.00,0.000,6,0.000,0.050,2507,2037,3932,0,0,0,0,0,0
$GC,1803,-0.71,-204.4,388.5,-16.5,254,1807,0.00,1.73,0.00,0.000,4,0.000,0.060,2507,3167,3930,0,0,0,0,0,0
$GC,1864,-0.72,-204.4,396.8,-12.8,259,1867,0.00,1.73,0.00,0.000,6,0.000,0.043,2507,2001,3930,0,0,0,0,0,0
$GC,2196,-0.73,-204.4,440.4,-12.4,290,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2000,3929,0,0,0,0,0,0
$GC,2515,-0.74,-204.4,477.9,-11.6,320,2518,0.00,1.77,0.00,0.000,4,0.000,0.057,2507,3167,3927,0,0,0,0,0,0
$GC,2574,-0.75,-204.4,484.6,-10.1,325,2578,0.00,1.73,0.00,0.000,6,0.000,0.042,2507,2000,3927,0,0,0,0,0,0
$STATE,2712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2712,begin apogee
$GC,2716,-0.18,0.0,500.4,11.5,338,2877,0.50,0.08,156.27,0.856,6,0.158,0.110,2662,2090,3092,0,0,0,0,0,0
$STATE,2878,end apogee,CONTROL_FINISHED_OK
$STATE,2878,begin climb
$GC,2880,0.72,204.4,508.1,0.0,351,3052,0.85,0.00,167.85,0.845,6,0.073,0.000,2962,2090,2257,0,0,0,0,0,0
$GC,3370,0.71,204.4,454.4,16.0,396,3374,0.00,1.77,0.00,0.000,4,0.000,0.041,2961,3279,2243,0,0,0,0,0,0
$GC,3589,0.70,204.4,418.1,17.2,415,3593,0.00,1.75,0.00,0.000,6,0.000,0.031,2970,2074,2240,0,0,0,0,0,0
$GC,3920,0.70,212.8,364.3,14.7,446,3935,0.00,1.65,5.38,0.578,4,0.000,0.039,2978,966,2222,0,0,0,0,0,0
$GC,4029,0.70,215.1,348.6,15.0,455,4033,0.00,1.73,0.00,0.000,6,0.000,0.035,2975,2158,2221,0,0,0,0,0,0
$GC,4360,0.74,253.5,304.3,13.2,486,4398,0.00,0.00,34.67,0.736,6,0.000,0.000,2975,2158,2056,0,0,0,0,0,0
$GC,4748,0.73,253.5,246.2,16.5,549,4754,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2158,2044,0,0,0,0,0,0
$GC,5103,0.77,284.8,189.5,13.6,610,5133,0.00,1.73,24.23,0.653,4,0.000,0.041,2975,3274,1929,0,0,0,0,0,0
$GC,5258,0.77,284.8,166.8,15.8,635,5265,0.00,1.75,0.00,0.000,6,0.000,0.031,2984,2082,1923,0,0,0,0,0,0
$GC,5619,0.77,284.8,112.9,15.4,696,5627,0.00,1.80,0.00,0.000,4,0.000,0.041,2984,3271,1921,0,0,0,0,0,0
$GC,5678,0.77,284.8,104.3,15.2,705,5686,0.00,1.75,0.00,0.000,6,0.000,0.030,2993,2088,1920,0,0,0,0,0,0
$GC,6041,0.96,437.0,61.9,7.6,766,6163,0.12,0.00,117.15,0.566,6,0.083,0.000,3067,2086,1308,0,0,0,0,0,0
$STATE,6419,end climb,SURFACE_DEPTH_REACHED
$STATE,6419,begin surface coast
$FINISH,-0.0,1.021171
$STATE,6438,end surface coast,CONTROL_FINISHED_OK
$STATE,6438,begin surface
$SM_CCo,6453,131.68,0.055,0,0,481,640.23
$SM_GC,0.90,0.00,0.00,131.68,0.000,0.000,0.055,140,1977,481,-8.08,-1.36,640.23
$IRIDIUM_FIX,2354.48,12610.66,011010,040424
$TT8_MAMPS,0.026215
$HUMID,43.69
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,18.540
$10V_AH,10.5,15.322
$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,19.250,35.450,505.550,131.675,0.000,30.731,44.161,110.547,0.000,0.000,24.079,1941.554,1657.589,594.235,2568.479,115.646,0.000,1412.977,0.000,2376.833,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,110.160,856.035,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.408,0.000,1725.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,50435,828
$CAP_FILE_SIZE,81923,0
$CFSIZE,260165632,247566336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$CURRENT,0.082,227.7,1
$GPS,011010,083124,2407.011,12611.166,45,1.4,45,-3.6