version: 66.08
glider: 169
mission: 2
dive: 136
start: 10 1 110 21 41 51
data:
$ID,169
$MISSION,2
$DIVE,136
$N_DIVES,150
$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,-6852.4053
$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
$GPS1,011010,213658,2415.261,12611.675,11,3.3,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.0
$GPS2,011010,214124,2415.308,12611.670,38,1.6,38,-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,345.7,8708,-21.0,-15.152
$D_GRID,1642
$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,-96.62,0.000,2,0.000,0.000,138,1982,3142,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.0,-6.7,12,149,9.38,1.92,-13.25,0.000,4,0.235,0.078,2477,3167,3929,0,0,0,0,0,0
$GC,303,-0.71,-204.4,84.7,-28.9,42,312,0.00,1.80,0.00,0.000,6,0.000,0.048,2477,2010,3931,0,0,0,0,0,0
$GC,666,-0.70,-204.4,188.4,-22.9,103,673,0.00,1.73,0.00,0.000,4,0.000,0.057,2477,875,3933,0,0,0,0,0,0
$GC,786,-0.70,-204.4,215.0,-20.9,123,792,0.00,1.80,0.00,0.000,6,0.000,0.054,2476,2050,3933,0,0,0,0,0,0
$GC,1140,-0.69,-204.4,292.3,-20.4,184,1148,0.00,1.73,0.00,0.000,4,0.000,0.061,2476,3161,3933,0,0,0,0,0,0
$GC,1177,-0.69,-204.4,300.0,-19.9,190,1187,0.00,1.77,0.00,0.000,6,0.000,0.047,2476,2006,3933,0,0,0,0,0,0
$GC,1503,-0.69,-204.4,370.6,-21.0,221,1507,0.00,1.67,0.00,0.000,4,0.000,0.056,2476,881,3932,0,0,0,0,0,0
$GC,1666,-0.70,-204.4,400.1,-17.5,235,1670,0.00,1.77,0.00,0.000,6,0.000,0.051,2476,2051,3932,0,0,0,0,0,0
$GC,1998,-0.70,-204.4,457.3,-16.1,266,2001,0.00,1.75,0.00,0.000,4,0.000,0.052,2476,879,3930,0,0,0,0,0,0
$GC,2081,-0.71,-204.4,469.3,-13.4,273,2084,0.00,1.75,0.00,0.000,6,0.000,0.051,2476,2050,3930,0,0,0,0,0,0
$STATE,2282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2282,begin apogee
$GC,2286,-0.18,0.0,500.4,14.7,292,2447,0.62,0.08,156.12,0.849,6,0.159,0.109,2669,2091,3091,0,0,0,0,0,0
$STATE,2448,end apogee,CONTROL_FINISHED_OK
$STATE,2448,begin climb
$GC,2450,0.72,204.4,507.0,0.0,305,2623,0.80,1.80,166.65,0.838,4,0.078,0.040,2961,964,2256,0,0,0,0,0,0
$GC,2662,0.73,216.0,495.8,14.6,322,2677,0.00,1.83,10.48,0.713,6,0.000,0.034,2961,2150,2210,0,0,0,0,0,0
$GC,2998,0.73,223.7,447.4,14.8,353,3011,0.00,1.75,6.72,0.636,4,0.000,0.041,2961,3281,2177,0,0,0,0,0,0
$GC,3266,0.72,223.7,400.3,16.8,376,3275,0.00,1.80,0.00,0.000,6,0.000,0.031,2970,2073,2171,0,0,0,0,0,0
$GC,3594,0.76,260.2,353.6,13.3,407,3630,0.00,1.73,30.10,0.750,4,0.000,0.041,2978,956,2029,0,0,0,0,0,0
$GC,3647,0.80,298.4,346.2,13.3,411,3691,0.00,1.80,32.08,0.733,6,0.000,0.035,2978,2146,1871,0,0,0,0,0,0
$GC,4012,0.79,298.4,284.2,18.5,452,4021,0.00,1.70,0.00,0.000,4,0.000,0.042,2978,3271,1861,0,0,0,0,0,0
$GC,4116,0.79,298.4,265.4,18.6,469,4123,0.00,1.75,0.00,0.000,6,0.000,0.031,2987,2081,1860,0,0,0,0,0,0
$GC,4472,0.78,298.4,202.8,19.1,530,4481,0.00,1.80,0.00,0.000,4,0.000,0.042,2987,3266,1858,0,0,0,0,0,0
$GC,4624,0.78,298.4,176.2,15.7,555,4630,0.00,1.73,0.00,0.000,6,0.000,0.032,2996,2074,1857,0,0,0,0,0,0
$GC,4984,0.78,298.4,119.2,16.0,616,4992,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2074,1856,0,0,0,0,0,0
$GC,5348,0.94,428.7,73.7,8.7,677,5453,0.10,0.00,98.65,0.569,6,0.100,0.000,3056,2073,1342,0,0,0,0,0,0
$STATE,5801,end climb,SURFACE_DEPTH_REACHED
$STATE,5801,begin surface coast
$FINISH,0.2,1.021750
$STATE,5820,end surface coast,CONTROL_FINISHED_OK
$STATE,5820,begin surface
$SM_CCo,5835,135.82,0.054,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,135.82,0.000,0.000,0.054,146,1990,481,-8.07,-0.99,640.23
$IRIDIUM_FIX,2406.29,12609.64,011010,191911
$TT8_MAMPS,0.026215
$HUMID,43.69
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,19.581
$10V_AH,10.4,16.218
$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,19.050,35.675,500.800,135.825,0.000,29.372,17.934,103.578,0.000,0.000,39.371,1760.214,1384.463,607.570,2383.235,107.564,0.000,1385.741,0.000,2208.556,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,109.395,849.150,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,503.066,0.000,1603.433,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,43717,753
$CAP_FILE_SIZE,76092,0
$CFSIZE,260165632,247205888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086, 54.1,1
$GPS,011010,232202,2416.169,12611.491,14,2.0,14,-3.7