version: 66.08
glider: 169
mission: 2
dive: 142
start: 10 2 110 8 33 22
data:
$ID,169
$MISSION,2
$DIVE,142
$N_DIVES,155
$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,-6860.3086
$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
$GPS1,021010,082831,2419.140,12612.154,41,1.1,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.1
$GPS2,021010,083255,2419.167,12612.145,14,1.1,14,-3.7
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$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,186.2,35499,-21.0,-15.152
$D_GRID,1663
$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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.97,0.000,2,0.000,0.000,149,1999,3127,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.7,-5.7,12,150,9.48,1.75,-13.62,0.000,4,0.239,0.070,2488,882,3928,0,0,0,0,0,0
$GC,292,-0.71,-204.4,82.9,-28.6,40,301,0.00,1.80,0.00,0.000,6,0.000,0.050,2488,2036,3930,0,0,0,0,0,0
$GC,655,-0.70,-204.4,170.9,-21.1,101,662,0.00,1.75,0.00,0.000,4,0.000,0.051,2488,865,3933,0,0,0,0,0,0
$GC,709,-0.70,-204.4,183.0,-20.4,110,719,0.00,1.83,0.00,0.000,6,0.000,0.050,2488,2044,3933,0,0,0,0,0,0
$GC,1070,-0.70,-204.4,258.6,-17.4,171,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2043,3933,0,0,0,0,0,0
$GC,1419,-0.70,-204.4,321.7,-18.5,222,1423,0.00,1.70,0.00,0.000,4,0.000,0.060,2488,3167,3933,0,0,0,0,0,0
$GC,1443,-0.70,-204.4,326.2,-18.1,224,1447,0.00,1.77,0.00,0.000,6,0.000,0.046,2488,1998,3933,0,0,0,0,0,0
$GC,1776,-0.71,-204.4,385.0,-17.1,255,1780,0.00,1.70,0.00,0.000,4,0.000,0.054,2488,882,3931,0,0,0,0,0,0
$GC,1925,-0.72,-204.4,408.1,-14.3,268,1928,0.00,1.73,0.00,0.000,6,0.000,0.049,2488,2041,3931,0,0,0,0,0,0
$GC,2258,-0.72,-204.4,458.4,-15.2,299,2261,0.00,1.73,0.00,0.000,4,0.000,0.060,2488,3168,3929,0,0,0,0,0,0
$GC,2285,-0.73,-204.4,463.2,-15.4,301,2292,0.00,1.77,0.00,0.000,6,0.000,0.046,2488,2004,3929,0,0,0,0,0,0
$STATE,2545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2545,begin apogee
$GC,2550,-0.18,0.0,500.1,13.5,326,2713,0.57,0.05,156.30,0.857,6,0.157,0.067,2666,2093,3090,0,0,0,0,0,0
$STATE,2714,end apogee,CONTROL_FINISHED_OK
$STATE,2714,begin climb
$GC,2715,0.72,204.4,506.5,0.0,339,2890,0.80,1.75,167.40,0.845,4,0.076,0.041,2953,3278,2256,0,0,0,0,0,0
$GC,3049,0.71,204.4,472.3,15.9,368,3052,0.00,1.80,0.00,0.000,6,0.000,0.031,2962,2074,2245,0,0,0,0,0,0
$GC,3381,0.71,208.5,423.3,14.9,399,3385,0.00,1.62,0.00,0.000,4,0.000,0.041,2970,950,2241,0,0,0,0,0,0
$GC,3639,0.74,244.6,387.5,13.4,422,3678,0.00,1.77,31.88,0.775,6,0.000,0.036,2967,2156,2093,0,0,0,0,0,0
$GC,3995,0.74,247.2,335.5,15.0,455,3996,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2156,2083,0,0,0,0,0,0
$GC,4317,0.76,261.8,287.8,14.4,492,4339,0.00,1.70,13.70,0.686,4,0.000,0.041,2967,3271,2021,0,0,0,0,0,0
$GC,4437,0.75,261.8,269.2,16.5,512,4446,0.00,1.77,0.00,0.000,6,0.000,0.032,2976,2087,2016,0,0,0,0,0,0
$GC,4788,0.77,282.1,214.8,14.1,573,4810,0.00,1.85,16.95,0.658,4,0.000,0.042,2974,3272,1940,0,0,0,0,0,0
$GC,4830,0.81,316.6,209.0,13.4,579,4866,0.00,1.75,29.12,0.661,6,0.000,0.032,2983,2074,1799,0,0,0,0,0,0
$GC,5205,0.83,331.9,151.0,14.4,644,5227,0.00,1.67,12.40,0.587,4,0.000,0.040,2991,965,1736,0,0,0,0,0,0
$GC,5259,0.86,357.1,143.7,13.9,652,5293,0.00,1.77,21.65,0.604,6,0.000,0.035,2992,2149,1632,0,0,0,0,0,0
$GC,5643,0.87,360.1,84.2,15.0,716,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2149,1625,0,0,0,0,0,0
$GC,6007,1.03,477.6,45.5,9.3,777,6106,0.17,1.88,91.93,0.548,4,0.066,0.039,3099,963,1142,0,0,0,0,0,0
$GC,6134,1.02,477.6,24.9,19.5,793,6143,0.10,1.83,0.00,0.000,6,0.148,0.035,3065,2156,1140,0,0,0,0,0,0
$STATE,6256,end climb,SURFACE_DEPTH_REACHED
$STATE,6256,begin surface coast
$FINISH,0.0,1.021551
$STATE,6277,end surface coast,CONTROL_FINISHED_OK
$STATE,6277,begin surface
$SM_CCo,6292,111.15,0.055,0,0,481,640.23
$SM_GC,0.80,0.00,0.00,111.15,0.000,0.000,0.055,148,1986,481,-8.07,-1.10,640.23
$IRIDIUM_FIX,2408.65,12612.94,021010,060656
$TT8_MAMPS,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,20.342
$10V_AH,10.5,16.879
$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,19.350,39.225,541.325,111.150,0.000,22.940,48.919,102.586,0.000,0.000,15.051,1906.517,1503.995,611.478,2535.027,117.048,0.000,1442.734,0.000,2361.373,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,73.440,856.800,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.217,0.000,1712.267,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50389,816
$CAP_FILE_SIZE,82904,0
$CFSIZE,260165632,246902784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,149.6,1
$GPS,021010,102044,2418.089,12612.314,13,1.8,13,-3.7