version: 66.08
glider: 169
mission: 2
dive: 139
start: 10 2 110 3 10 28
data:
$ID,169
$MISSION,2
$DIVE,139
$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,-6856.353
$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
$GPS1,021010,030554,2418.333,12611.677,23,1.0,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.4
$GPS2,021010,031002,2418.357,12611.688,9,1.9,9,-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,7.7,3088,-21.0,-15.152
$D_GRID,1702
$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,-96.15,0.000,2,0.000,0.000,150,1972,3103,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.7,-5.7,12,150,9.62,1.90,-14.25,0.000,4,0.246,0.075,2477,3161,3929,0,0,0,0,0,0
$GC,228,-0.70,-204.4,60.1,-39.1,29,237,0.00,1.83,0.00,0.000,6,0.000,0.051,2477,2004,3931,0,0,0,0,0,0
$GC,589,-0.68,-204.4,178.4,-29.8,90,599,0.12,1.75,0.00,0.000,4,0.206,0.054,2507,868,3932,0,0,0,0,0,0
$GC,730,-0.69,-204.4,206.5,-18.5,113,737,0.00,1.80,0.00,0.000,6,0.000,0.050,2507,2050,3934,0,0,0,0,0,0
$GC,1086,-0.69,-204.4,279.6,-18.5,174,1095,0.00,1.73,0.00,0.000,4,0.000,0.060,2507,3165,3934,0,0,0,0,0,0
$GC,1195,-0.69,-204.4,296.0,-13.7,192,1203,0.00,1.77,0.00,0.000,6,0.000,0.044,2507,2002,3934,0,0,0,0,0,0
$GC,1526,-0.70,-204.4,352.9,-17.1,225,1530,0.00,1.67,0.00,0.000,4,0.000,0.052,2507,878,3933,0,0,0,0,0,0
$GC,1607,-0.71,-204.4,365.9,-13.7,232,1611,0.00,1.75,0.00,0.000,6,0.000,0.049,2507,2050,3932,0,0,0,0,0,0
$GC,1941,-0.71,-204.4,414.3,-13.4,263,1944,0.00,1.75,0.00,0.000,4,0.000,0.050,2507,871,3931,0,0,0,0,0,0
$GC,1976,-0.72,-204.4,419.2,-13.1,266,1979,0.00,1.77,0.00,0.000,6,0.000,0.049,2507,2046,3931,0,0,0,0,0,0
$GC,2308,-0.73,-204.4,461.1,-11.5,297,2312,0.00,1.70,0.00,0.000,4,0.000,0.059,2507,3173,3929,0,0,0,0,0,0
$GC,2449,-0.75,-204.4,475.7,-10.6,309,2452,0.00,1.75,0.00,0.000,6,0.000,0.047,2507,2002,3929,0,0,0,0,0,0
$STATE,2662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2662,begin apogee
$GC,2666,-0.18,0.0,500.7,11.6,329,2835,0.50,0.08,156.27,0.857,6,0.158,0.110,2662,2090,3090,0,0,0,0,0,0
$STATE,2836,end apogee,CONTROL_FINISHED_OK
$STATE,2836,begin climb
$GC,2838,0.72,204.4,509.4,0.0,343,3011,0.82,0.00,167.57,0.847,6,0.072,0.000,2960,2090,2256,0,0,0,0,0,0
$GC,3327,0.72,210.2,457.9,14.9,388,3341,0.00,1.83,3.90,0.487,4,0.000,0.041,2960,3268,2234,0,0,0,0,0,0
$GC,3367,0.71,210.2,451.5,16.3,391,3370,0.00,1.75,0.00,0.000,6,0.000,0.033,2969,2080,2232,0,0,0,0,0,0
$GC,3698,0.70,210.2,396.8,17.8,422,3702,0.00,1.77,0.00,0.000,4,0.000,0.042,2966,3274,2230,0,0,0,0,0,0
$GC,3928,0.69,210.2,354.6,16.3,442,3937,0.00,1.77,0.00,0.000,6,0.000,0.033,2975,2089,2227,0,0,0,0,0,0
$GC,4256,0.70,229.7,308.8,14.2,473,4280,0.00,1.70,17.12,0.709,4,0.000,0.041,2984,963,2152,0,0,0,0,0,0
$GC,4327,0.71,243.2,298.4,14.5,480,4349,0.00,1.77,12.48,0.674,6,0.000,0.036,2984,2147,2097,0,0,0,0,0,0
$GC,4693,0.71,246.3,242.8,15.0,543,4700,0.00,1.70,0.00,0.000,4,0.000,0.042,2984,3277,2089,0,0,0,0,0,0
$GC,4837,0.70,246.3,218.4,15.8,568,4847,0.10,1.77,0.00,0.000,6,0.158,0.033,2960,2090,2087,0,0,0,0,0,0
$GC,5185,0.76,291.7,173.4,12.9,629,5228,0.00,1.75,38.12,0.646,4,0.000,0.041,2968,960,1901,0,0,0,0,0,0
$GC,5298,0.78,308.6,158.5,14.3,647,5320,0.00,1.77,14.85,0.594,6,0.000,0.035,2963,2153,1832,0,0,0,0,0,0
$GC,5668,0.85,356.0,108.9,12.8,710,5719,0.10,1.73,37.95,0.592,4,0.096,0.041,3024,3268,1636,0,0,0,0,0,0
$GC,5739,0.84,356.0,96.7,18.7,719,5749,0.08,1.80,0.00,0.000,6,0.161,0.031,3008,2080,1634,0,0,0,0,0,0
$GC,6105,0.97,460.8,49.6,9.9,780,6194,0.10,1.73,80.40,0.549,4,0.094,0.040,3081,968,1211,0,0,0,0,0,0
$GC,6329,0.97,460.8,12.0,17.6,814,6339,0.10,1.77,0.00,0.000,6,0.148,0.034,3048,2153,1206,0,0,0,0,0,0
$STATE,6387,end climb,SURFACE_DEPTH_REACHED
$STATE,6387,begin surface coast
$FINISH,-0.0,1.021538
$STATE,6406,end surface coast,CONTROL_FINISHED_OK
$STATE,6406,begin surface
$SM_CCo,6421,119.57,0.469,1,0,480,640.23
$SM_GC,0.89,0.00,0.00,119.57,0.000,0.000,0.469,143,1995,480,-8.08,-0.82,640.23
$IRIDIUM_FIX,2408.65,12609.64,021010,010136
$TT8_MAMPS,0.026215
$HUMID,43.26
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,19.960
$10V_AH,10.4,16.556
$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,19.700,46.325,528.675,119.575,0.000,30.632,17.889,109.029,0.000,0.000,10.671,1929.041,1600.351,631.797,2524.689,114.070,0.000,1477.693,0.000,2366.349,0.000,0.544,0.000
$DEVICE_MAMPS,245.565,110.160,856.800,468.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.626,0.000,1712.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,50139,826
$CAP_FILE_SIZE,86085,0
$CFSIZE,260165632,247037952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045, 59.8,1
$GPS,021010,050034,2419.306,12611.830,14,5.5,33,-3.7