version: 66.08
glider: 169
mission: 2
dive: 137
start: 10 1 110 23 27 27
data:
$ID,169
$MISSION,2
$DIVE,137
$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,-6853.7539
$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
$GPS1,011010,232202,2416.169,12611.491,14,2.0,14,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.2
$GPS2,011010,232701,2416.211,12611.496,13,2.0,30,-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,0.1,7069,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-204.4,0.0,0.0,0,114,0.00,0.00,-97.18,0.000,2,0.000,0.000,138,1990,3142,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.9,-6.7,12,151,9.43,1.92,-13.38,0.000,4,0.236,0.082,2479,3168,3929,0,0,0,0,0,0
$GC,205,-0.69,-204.4,50.9,-47.2,25,214,0.00,1.83,0.00,0.000,6,0.000,0.052,2479,2011,3930,0,0,0,0,0,0
$GC,567,-0.68,-204.4,173.1,-27.7,86,577,0.12,1.75,0.00,0.000,4,0.208,0.056,2509,885,3932,0,0,0,0,0,0
$GC,676,-0.68,-204.4,195.2,-15.8,104,685,0.00,1.80,0.00,0.000,6,0.000,0.051,2509,2046,3933,0,0,0,0,0,0
$GC,1034,-0.68,-204.4,264.3,-18.4,165,1041,0.00,1.70,0.00,0.000,4,0.000,0.061,2509,3168,3933,0,0,0,0,0,0
$GC,1085,-0.69,-204.4,273.2,-17.4,173,1091,0.00,1.75,0.00,0.000,6,0.000,0.046,2509,1998,3933,0,0,0,0,0,0
$GC,1424,-0.69,-204.4,331.7,-17.9,217,1428,0.00,1.80,0.00,0.000,4,0.000,0.059,2509,3172,3932,0,0,0,0,0,0
$GC,1463,-0.69,-204.4,338.5,-15.9,220,1473,0.00,1.80,0.00,0.000,6,0.000,0.046,2509,2002,3932,0,0,0,0,0,0
$GC,1791,-0.70,-204.4,390.6,-14.2,251,1795,0.00,1.65,0.00,0.000,4,0.000,0.052,2509,878,3931,0,0,0,0,0,0
$GC,1933,-0.71,-204.4,409.6,-12.9,263,1940,0.00,1.75,0.00,0.000,6,0.000,0.050,2509,2050,3930,0,0,0,0,0,0
$GC,2260,-0.72,-204.4,455.4,-14.1,294,2263,0.00,1.75,0.00,0.000,4,0.000,0.051,2509,871,3929,0,0,0,0,0,0
$GC,2284,-0.73,-204.4,459.0,-14.2,296,2287,0.00,1.75,0.00,0.000,6,0.000,0.049,2509,2045,3929,0,0,0,0,0,0
$GC,2617,-0.74,-204.4,498.8,-11.6,327,2621,0.00,1.73,0.00,0.000,4,0.000,0.059,2509,3164,3927,0,0,0,0,0,0
$STATE,2627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2627,begin apogee
$GC,2632,-0.18,0.0,500.5,11.4,328,2794,0.50,0.05,156.35,0.851,6,0.153,0.077,2665,2138,3090,0,0,0,0,0,0
$STATE,2795,end apogee,CONTROL_FINISHED_OK
$STATE,2795,begin climb
$GC,2796,0.72,204.4,508.7,0.0,341,2975,0.82,1.83,167.00,0.843,4,0.078,0.041,2959,3273,2255,0,0,0,0,0,0
$GC,3227,0.71,205.5,465.4,15.1,378,3236,0.00,1.77,0.00,0.000,6,0.000,0.031,2968,2091,2244,0,0,0,0,0,0
$GC,3554,0.70,205.5,414.5,15.5,409,3557,0.00,1.77,0.00,0.000,4,0.000,0.041,2964,3275,2241,0,0,0,0,0,0
$GC,3812,0.69,206.9,372.6,15.1,432,3816,0.00,1.73,0.00,0.000,6,0.000,0.033,2972,2086,2239,0,0,0,0,0,0
$GC,4145,0.75,255.7,329.5,12.7,463,4187,0.00,0.00,40.10,0.747,6,0.000,0.000,2973,2084,2048,0,0,0,0,0,0
$GC,4514,0.78,289.5,276.9,13.5,511,4549,0.00,1.88,27.27,0.699,4,0.000,0.042,2973,3272,1908,0,0,0,0,0,0
$GC,4691,0.78,289.5,248.7,16.9,541,4698,0.00,1.77,0.00,0.000,6,0.000,0.033,2982,2081,1901,0,0,0,0,0,0
$GC,5038,0.78,289.5,191.8,15.6,602,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2081,1898,0,0,0,0,0,0
$GC,5390,0.79,295.8,141.0,14.8,663,5399,0.00,1.70,4.30,0.425,4,0.000,0.041,2991,959,1884,0,0,0,0,0,0
$GC,5443,0.81,312.3,133.4,14.3,671,5468,0.00,1.77,15.52,0.585,6,0.000,0.036,2990,2152,1816,0,0,0,0,0,0
$GC,5818,0.94,416.6,81.6,10.0,734,5908,0.12,1.83,81.45,0.575,4,0.084,0.040,3069,967,1389,0,0,0,0,0,0
$GC,5951,0.94,416.6,63.4,15.6,752,5960,0.10,1.80,0.00,0.000,6,0.149,0.034,3035,2154,1386,0,0,0,0,0,0
$GC,6309,0.98,448.3,13.5,13.6,813,6342,0.00,1.80,24.23,0.505,4,0.000,0.038,3042,974,1262,0,0,0,0,0,0
$STATE,6383,end climb,SURFACE_DEPTH_REACHED
$STATE,6383,begin surface coast
$FINISH,0.2,1.021734
$STATE,6409,end surface coast,CONTROL_FINISHED_OK
$STATE,6409,begin surface
$SM_CCo,6425,128.20,0.055,0,0,481,640.23
$SM_GC,0.97,0.00,0.00,128.20,0.000,0.000,0.055,141,2053,481,-8.07,0.79,640.23
$IRIDIUM_FIX,2406.29,12614.85,011010,212118
$TT8_MAMPS,0.026215
$HUMID,43.22
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.4,19.703
$10V_AH,10.4,16.333
$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,19.275,46.000,516.225,128.200,0.000,24.923,22.452,136.496,0.000,0.000,31.513,1940.419,1581.238,619.401,2599.228,117.989,0.000,1468.632,0.000,2394.322,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,81.855,850.680,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.234,0.000,1721.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,50266,828
$CAP_FILE_SIZE,84853,0
$CFSIZE,260165632,247144448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.095, 36.1,1
$GPS,021010,011714,2417.251,12611.561,8,1.6,8,-3.7