version: 66.08
glider: 169
mission: 2
dive: 133
start: 10 1 110 16 11 52
data:
$ID,169
$MISSION,2
$DIVE,133
$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,-6848.4512
$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
$GPS1,011010,160655,2411.704,12610.830,41,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.4
$GPS2,011010,161126,2411.763,12610.810,13,1.4,13,-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,23.8,15386,-21.0,-15.152
$D_GRID,1645
$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,-95.97,0.000,2,0.000,0.000,141,1997,3107,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.7,-6.2,12,150,9.45,1.90,-14.07,0.000,4,0.238,0.080,2486,3166,3929,0,0,0,0,0,0
$GC,246,-0.70,-204.4,64.5,-38.5,32,255,0.00,1.80,0.00,0.000,6,0.000,0.045,2486,2004,3930,0,0,0,0,0,0
$GC,609,-0.69,-204.4,175.4,-27.0,93,615,0.00,1.67,0.00,0.000,4,0.000,0.054,2486,880,3933,0,0,0,0,0,0
$GC,674,-0.69,-204.4,192.7,-23.7,104,682,0.00,1.80,0.00,0.000,6,0.000,0.054,2486,2037,3933,0,0,0,0,0,0
$GC,1032,-0.68,-204.4,268.6,-20.1,165,1039,0.00,1.73,0.00,0.000,4,0.000,0.050,2486,874,3933,0,0,0,0,0,0
$GC,1098,-0.69,-204.4,280.8,-18.1,176,1106,0.00,1.80,0.00,0.000,6,0.000,0.051,2486,2041,3933,0,0,0,0,0,0
$GC,1438,-0.69,-204.4,343.5,-18.0,216,1442,0.00,1.70,0.00,0.000,4,0.000,0.060,2486,3167,3932,0,0,0,0,0,0
$GC,1500,-0.69,-204.4,352.5,-14.5,221,1504,0.00,1.73,0.00,0.000,6,0.000,0.044,2486,2003,3933,0,0,0,0,0,0
$GC,1830,-0.70,-204.4,406.7,-16.5,252,1834,0.00,1.77,0.00,0.000,4,0.000,0.059,2486,3167,3931,0,0,0,0,0,0
$GC,1903,-0.71,-204.4,417.7,-13.4,258,1913,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2000,3931,0,0,0,0,0,0
$GC,2229,-0.71,-204.4,469.1,-15.5,289,2233,0.00,1.70,0.00,0.000,4,0.000,0.053,2486,883,3929,0,0,0,0,0,0
$GC,2314,-0.72,-204.4,481.9,-13.4,296,2323,0.00,1.77,0.00,0.000,6,0.000,0.048,2486,2039,3928,0,0,0,0,0,0
$STATE,2448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2448,begin apogee
$GC,2452,-0.18,0.0,501.3,15.0,309,2621,0.57,0.05,156.45,0.855,6,0.151,0.066,2667,2094,3090,0,0,0,0,0,0
$STATE,2622,end apogee,CONTROL_FINISHED_OK
$STATE,2622,begin climb
$GC,2623,0.72,204.4,510.3,0.0,323,2799,0.80,1.80,167.60,0.845,4,0.076,0.041,2963,961,2256,0,0,0,0,0,0
$GC,2843,0.71,204.4,499.3,15.4,341,2850,0.00,1.83,0.00,0.000,6,0.000,0.034,2963,2147,2250,0,0,0,0,0,0
$GC,3170,0.70,204.4,448.1,15.8,372,3174,0.00,1.67,0.00,0.000,4,0.000,0.042,2963,3281,2243,0,0,0,0,0,0
$GC,3228,0.69,204.4,438.7,16.1,377,3232,0.00,1.75,0.00,0.000,6,0.000,0.031,2972,2078,2242,0,0,0,0,0,0
$GC,3561,0.72,238.1,390.3,13.5,408,3598,0.00,1.88,26.67,0.768,4,0.000,0.041,2972,3275,2118,0,0,0,0,0,0
$GC,3668,0.71,238.1,373.8,16.2,417,3672,0.00,1.73,0.00,0.000,6,0.000,0.031,2981,2081,2113,0,0,1,0,0,0
$GC,4001,0.73,254.5,323.8,14.3,448,4019,0.00,1.80,13.80,0.699,4,0.000,0.040,2979,3275,2051,0,0,0,0,0,0
$GC,4163,0.72,254.5,296.6,17.4,463,4171,0.00,1.77,0.00,0.000,6,0.000,0.033,2988,2076,2044,0,0,0,0,0,0
$GC,4509,0.72,259.2,239.2,14.9,524,4517,0.00,1.65,0.00,0.000,4,0.000,0.042,2997,964,2041,0,0,0,0,0,0
$GC,4704,0.71,259.2,208.8,16.0,558,4713,0.10,1.75,0.00,0.000,6,0.151,0.035,2964,2149,2039,0,0,0,0,0,0
$GC,5052,0.84,362.2,170.5,10.0,619,5143,0.10,0.00,83.80,0.644,6,0.099,0.000,3021,2149,1613,0,0,0,0,0,0
$GC,5489,0.83,362.2,89.5,17.1,692,5498,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2149,1603,0,0,0,0,0,0
$GC,5853,0.93,437.0,39.5,11.4,753,5919,0.00,1.73,57.12,0.542,4,0.000,0.038,3021,3266,1307,0,0,0,0,0,0
$GC,5974,1.01,493.6,25.9,12.3,770,6024,0.00,1.80,44.35,0.521,6,0.000,0.031,3029,2080,1076,0,0,0,0,0,0
$STATE,6157,end climb,SURFACE_DEPTH_REACHED
$STATE,6157,begin surface coast
$FINISH,0.0,1.021754
$STATE,6177,end surface coast,CONTROL_FINISHED_OK
$STATE,6178,begin surface
$SM_CCo,6192,100.12,0.055,0,0,480,640.23
$SM_GC,0.93,0.00,0.00,100.12,0.000,0.000,0.055,140,2000,480,-8.09,-0.71,640.23
$IRIDIUM_FIX,2401.56,12610.15,011010,141415
$TT8_MAMPS,0.026215
$HUMID,44.05
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.4,19.196
$10V_AH,10.4,15.890
$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,19.225,42.600,549.800,100.125,0.000,27.314,44.867,105.397,0.000,0.000,14.215,1861.996,1493.737,610.397,2491.606,111.108,0.000,1444.353,0.000,2307.096,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,100.980,855.270,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.399,0.000,1667.406,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,46863,802
$CAP_FILE_SIZE,82380,0
$CFSIZE,260165632,247332864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.097, 25.7,1
$GPS,011010,175736,2412.965,12611.314,26,1.5,26,-3.6