version: 66.08
glider: 169
mission: 2
dive: 140
start: 10 2 110 5 9 34
data:
$ID,169
$MISSION,2
$DIVE,140
$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,-6857.6084
$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
$GPS1,021010,050034,2419.306,12611.830,14,5.5,33,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.4
$GPS2,021010,050907,2419.363,12611.818,14,1.1,14,-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,11.2,1218,-27.8,-15.152
$D_GRID,1732
$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,-0.76,-117.1,0.0,0.0,0,110,0.00,0.00,-93.88,0.000,2,0.000,0.000,139,1996,3024,0,0,0,0,0,0
$GC,113,-0.87,-204.4,3.1,-4.2,12,147,9.50,1.88,-16.42,0.000,4,0.245,0.073,2433,3165,3927,0,0,0,0,0,0
$GC,259,-0.86,-204.4,71.2,-37.1,35,268,0.00,1.80,0.00,0.000,6,0.000,0.050,2433,2011,3928,0,0,0,0,0,0
$GC,620,-0.85,-204.4,202.0,-32.4,96,629,0.00,1.73,0.00,0.000,4,0.000,0.054,2433,885,3930,0,0,0,0,0,0
$GC,677,-0.85,-204.4,219.2,-28.7,105,684,0.00,1.75,0.00,0.000,6,0.000,0.054,2432,2037,3930,0,0,0,0,0,0
$GC,1026,-0.85,-204.4,318.5,-27.5,160,1030,0.00,1.75,0.00,0.000,4,0.000,0.061,2432,3161,3930,0,0,0,0,0,0
$GC,1145,-0.86,-204.4,348.4,-22.1,170,1155,0.00,1.77,0.00,0.000,6,0.000,0.046,2433,2003,3930,0,0,0,0,0,0
$GC,1472,-0.87,-204.4,423.9,-22.0,201,1476,0.00,1.73,0.00,0.000,4,0.000,0.054,2433,869,3929,0,0,0,0,0,0
$GC,1529,-0.88,-204.4,437.5,-21.5,206,1533,0.00,1.77,0.00,0.000,6,0.000,0.051,2433,2051,3929,0,0,0,0,0,0
$STATE,1826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1826,begin apogee
$GC,1831,-0.18,0.0,502.1,20.2,234,1992,0.75,0.08,155.90,0.849,6,0.164,0.109,2662,2090,3091,0,0,0,0,0,0
$STATE,1993,end apogee,CONTROL_FINISHED_OK
$STATE,1993,begin climb
$GC,1994,0.87,204.4,510.7,0.0,247,2173,0.95,1.80,166.95,0.840,4,0.073,0.037,3003,3273,2254,0,0,0,0,0,0
$GC,2246,0.86,204.4,490.0,20.6,268,2255,0.00,1.80,0.00,0.000,6,0.000,0.031,3013,2088,2247,0,0,1,0,0,0
$GC,2573,0.86,204.4,431.2,17.4,299,2577,0.00,1.80,0.00,0.000,4,0.000,0.041,3013,3268,2243,0,0,0,0,0,0
$GC,2629,0.85,204.4,420.3,19.5,304,2633,0.00,1.73,0.00,0.000,6,0.000,0.033,3021,2084,2241,0,0,0,0,0,0
$GC,2961,0.85,204.4,359.3,16.4,335,2965,0.00,1.67,0.00,0.000,4,0.000,0.042,3031,957,2238,0,0,0,0,0,0
$GC,3152,0.85,204.4,328.8,16.9,352,3156,0.00,1.77,0.00,0.000,6,0.000,0.036,3030,2152,2236,0,0,0,0,0,0
$GC,3487,0.84,204.4,271.1,17.3,397,3494,0.00,1.67,0.00,0.000,4,0.000,0.043,3030,3280,2235,0,0,0,0,0,0
$GC,3540,0.84,204.4,261.1,18.0,406,3549,0.10,1.77,0.00,0.000,6,0.182,0.033,3007,2086,2234,0,0,0,0,0,0
$GC,3889,0.84,204.4,207.9,15.6,467,3896,0.00,1.77,0.00,0.000,4,0.000,0.041,3007,3275,2231,0,0,0,0,0,0
$GC,4062,0.85,211.6,180.7,14.5,497,4068,0.00,1.73,0.00,0.000,6,0.000,0.034,3016,2081,2230,0,0,0,0,0,0
$GC,4413,0.88,235.9,133.0,13.1,558,4447,0.00,1.67,22.77,0.604,4,0.000,0.042,3025,964,2127,0,0,0,0,0,0
$GC,4478,0.91,260.1,124.3,13.1,567,4504,0.00,1.77,20.45,0.584,6,0.000,0.034,3025,2155,2029,0,0,0,0,0,0
$GC,4854,1.02,338.3,71.4,8.4,630,4920,0.00,1.77,61.15,0.567,4,0.000,0.040,3025,3280,1710,0,0,0,0,0,0
$GC,4975,1.09,388.4,60.3,10.8,647,5026,0.10,1.80,39.10,0.545,6,0.044,0.033,3103,2085,1505,0,0,1,0,0,0
$STATE,5286,end climb,SURFACE_DEPTH_REACHED
$STATE,5286,begin surface coast
$FINISH,-0.0,1.009641
$STATE,5307,end surface coast,CONTROL_FINISHED_OK
$STATE,5307,begin surface
$SM_CCo,5322,162.07,0.054,0,0,481,640.23
$SM_GC,0.99,0.00,0.00,162.07,0.000,0.000,0.054,151,1975,481,-8.06,-1.41,640.23
$IRIDIUM_FIX,2408.65,12609.64,021010,050558
$TT8_MAMPS,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,24.4,20.079
$10V_AH,10.4,16.658
$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,19.700,39.050,466.325,162.075,0.000,55.511,47.952,214.036,0.000,0.000,14.884,1639.951,1255.477,602.027,2397.102,107.243,0.000,1338.560,0.000,2041.917,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,109.395,849.150,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.014,0.000,1497.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,43732,701
$CAP_FILE_SIZE,75393,0
$CFSIZE,260165632,247009280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.035, 38.4,1
$GPS,021010,064138,2420.084,12612.125,14,2.0,14,-3.7