version: 66.08
glider: 169
mission: 2
dive: 138
start: 10 2 110 1 22 45
data:
$ID,169
$MISSION,2
$DIVE,138
$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,-6855.0068
$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
$GPS1,021010,011714,2417.251,12611.561,8,1.6,8,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.3
$GPS2,021010,012219,2417.288,12611.581,14,1.7,31,-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,4.3,5073,-21.0,-15.152
$D_GRID,1664
$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,-204.4,0.0,0.0,0,110,0.00,0.00,-93.50,0.000,2,0.000,0.000,135,2054,3015,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.1,-4.3,12,147,9.75,1.77,-16.58,0.000,4,0.247,0.076,2486,3167,3929,0,0,0,0,0,0
$GC,255,-0.70,-204.4,66.3,-34.8,34,263,0.00,1.80,0.00,0.000,6,0.000,0.048,2486,2010,3930,0,0,0,0,0,0
$GC,614,-0.69,-204.4,180.9,-25.7,95,621,0.00,1.70,0.00,0.000,4,0.000,0.054,2486,865,3932,0,0,0,0,0,0
$GC,741,-0.69,-204.4,208.6,-20.4,117,749,0.00,1.77,0.00,0.000,6,0.000,0.052,2486,2041,3932,0,0,0,0,0,0
$GC,1090,-0.69,-204.4,281.2,-19.8,178,1098,0.00,1.75,0.00,0.000,4,0.000,0.063,2486,3166,3932,0,0,0,0,0,0
$GC,1162,-0.69,-204.4,292.9,-14.8,190,1171,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2003,3932,0,0,0,0,0,0
$GC,1491,-0.69,-204.4,353.7,-18.5,224,1495,0.00,1.77,0.00,0.000,4,0.000,0.059,2486,3167,3932,0,0,0,0,0,0
$GC,1506,-0.69,-204.4,356.7,-18.7,225,1515,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2002,3932,0,0,0,0,0,0
$GC,1833,-0.70,-204.4,409.5,-15.9,256,1837,0.00,1.67,0.00,0.000,4,0.000,0.051,2486,877,3930,0,0,0,0,0,0
$GC,1914,-0.70,-204.4,422.1,-15.7,263,1917,0.00,1.75,0.00,0.000,6,0.000,0.051,2486,2048,3929,0,0,0,0,0,0
$GC,2246,-0.71,-204.4,475.8,-14.9,294,2250,0.00,1.70,0.00,0.000,4,0.000,0.059,2486,3175,3928,0,0,0,0,0,0
$GC,2375,-0.72,-204.4,492.8,-11.5,305,2383,0.00,1.75,0.00,0.000,6,0.000,0.047,2486,2003,3927,0,0,0,0,0,0
$STATE,2435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2435,begin apogee
$GC,2439,-0.18,0.0,500.4,13.5,311,2601,0.57,0.08,156.18,0.851,6,0.149,0.110,2667,2090,3091,0,0,0,0,0,0
$STATE,2601,end apogee,CONTROL_FINISHED_OK
$STATE,2602,begin climb
$GC,2603,0.72,204.4,507.5,0.0,324,2778,0.80,1.92,166.90,0.839,4,0.069,0.039,2959,3275,2255,0,0,0,0,0,0
$GC,2839,0.71,204.4,489.8,19.3,343,2843,0.00,1.75,0.00,0.000,6,0.000,0.031,2968,2084,2248,0,0,1,0,0,0
$GC,3170,0.74,234.9,437.2,13.6,374,3199,0.00,1.88,24.85,0.776,4,0.000,0.041,2964,3272,2132,0,0,0,0,0,0
$GC,3314,0.73,234.9,414.5,16.8,386,3317,0.00,1.75,0.00,0.000,6,0.000,0.032,2972,2084,2124,0,0,0,0,0,0
$GC,3646,0.73,237.7,363.3,15.0,417,3650,0.00,1.67,0.00,0.000,4,0.000,0.042,2981,960,2120,0,0,0,0,0,0
$GC,3728,0.74,253.3,351.1,14.4,424,3749,0.00,1.77,15.00,0.719,6,0.000,0.036,2980,2151,2057,0,0,0,0,0,0
$GC,4068,0.73,253.3,296.8,16.1,457,4076,0.00,1.65,0.00,0.000,4,0.000,0.043,2980,3277,2047,0,0,0,0,0,0
$GC,4106,0.72,253.3,290.3,17.9,463,4113,0.00,1.75,0.00,0.000,6,0.000,0.033,2989,2073,2046,0,0,0,0,0,0
$GC,4451,0.72,253.3,233.5,16.5,524,4460,0.00,1.83,0.00,0.000,4,0.000,0.042,2989,3275,2043,0,0,0,0,0,0
$GC,4609,0.71,253.3,207.8,17.3,551,4616,0.10,1.77,0.00,0.000,6,0.160,0.033,2965,2081,2042,0,0,0,0,0,0
$GC,4956,0.78,311.6,161.5,12.2,612,5007,0.00,1.73,45.62,0.637,4,0.000,0.041,2973,965,1818,0,0,0,0,0,0
$GC,5074,0.88,389.2,147.7,11.3,630,5141,0.10,1.77,61.28,0.616,6,0.044,0.035,3040,2144,1503,0,0,0,0,0,0
$GC,5491,0.88,393.0,64.3,15.0,698,5499,0.00,1.77,0.00,0.000,4,0.000,0.041,3043,968,1493,0,0,0,0,0,0
$GC,5578,0.93,421.9,52.5,13.7,712,5612,0.00,1.75,25.52,0.539,6,0.000,0.034,3043,2149,1369,0,0,0,0,0,0
$STATE,5939,end climb,SURFACE_DEPTH_REACHED
$STATE,5939,begin surface coast
$FINISH,0.2,1.013240
$STATE,5965,end surface coast,CONTROL_FINISHED_OK
$STATE,5965,begin surface
$SM_CCo,5980,143.10,0.055,0,0,481,640.23
$SM_GC,0.97,0.00,0.00,143.10,0.000,0.000,0.055,151,1971,481,-8.06,-1.50,640.23
$IRIDIUM_FIX,2408.65,12612.94,011010,232313
$TT8_MAMPS,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,19.824
$10V_AH,10.4,16.441
$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,19.325,46.300,495.350,143.100,0.000,31.346,36.667,125.508,0.000,0.000,32.382,1825.987,1442.344,613.922,2430.129,118.831,0.000,1403.212,0.000,2227.860,0.000,0.545,0.000
$DEVICE_MAMPS,247.095,110.160,850.680,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.054,0.000,1606.649,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,46929,777
$CAP_FILE_SIZE,81476,0
$CFSIZE,260165632,247099392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.074, 38.1,1
$GPS,021010,030554,2418.333,12611.677,23,1.0,41,-3.7