version: 66.08
glider: 169
mission: 2
dive: 145
start: 10 2 110 14 11 54
data:
$ID,169
$MISSION,2
$DIVE,145
$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,-6864.0776
$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
$GPS1,021010,140655,2416.354,12612.172,9,1.8,14,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.8
$GPS2,021010,141128,2416.363,12612.135,11,2.8,30,-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,173.8,30306,-21.0,-15.152
$D_GRID,1635
$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,-97.15,0.000,2,0.000,0.000,147,2053,3142,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.8,-6.3,12,151,9.55,1.88,-13.25,0.000,4,0.241,0.067,2488,866,3929,0,0,0,0,0,0
$GC,286,-0.71,-204.4,75.6,-30.9,39,295,0.00,1.85,0.00,0.000,6,0.000,0.055,2488,2037,3930,0,0,0,0,0,0
$GC,645,-0.70,-204.4,177.9,-25.4,100,653,0.00,1.77,0.00,0.000,4,0.000,0.062,2488,3168,3932,0,0,0,0,0,0
$GC,667,-0.69,-204.4,183.2,-25.0,103,674,0.00,1.77,0.00,0.000,6,0.000,0.044,2488,2001,3932,0,0,0,0,0,0
$GC,1011,-0.69,-204.4,257.7,-18.4,164,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1999,3933,0,0,0,0,0,0
$GC,1358,-0.69,-204.4,322.0,-18.0,215,1362,0.00,1.80,0.00,0.000,4,0.000,0.057,2488,3167,3933,0,0,0,0,0,0
$GC,1473,-0.70,-204.4,340.7,-14.8,225,1476,0.00,1.73,0.00,0.000,6,0.000,0.042,2488,2002,3933,0,0,0,0,0,0
$GC,1804,-0.70,-204.4,398.2,-15.9,256,1808,0.00,1.67,0.00,0.000,4,0.000,0.050,2488,874,3931,0,0,0,0,0,0
$GC,1886,-0.71,-204.4,410.1,-13.2,263,1889,0.00,1.75,0.00,0.000,6,0.000,0.049,2488,2049,3931,0,0,0,0,0,0
$GC,2218,-0.72,-204.4,458.1,-14.3,294,2222,0.00,1.73,0.00,0.000,4,0.000,0.059,2488,3172,3929,0,0,0,0,0,0
$GC,2324,-0.73,-204.4,472.5,-11.9,303,2331,0.00,1.77,0.00,0.000,6,0.000,0.044,2488,2004,3928,0,0,0,0,0,0
$STATE,2532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2532,begin apogee
$GC,2537,-0.18,0.0,501.3,14.2,323,2700,0.57,0.08,156.07,0.863,6,0.160,0.109,2664,2091,3091,0,0,0,0,0,0
$STATE,2700,end apogee,CONTROL_FINISHED_OK
$STATE,2701,begin climb
$GC,2702,0.72,204.4,509.7,0.0,336,2877,0.82,1.85,167.52,0.846,4,0.073,0.037,2961,3275,2256,0,0,0,0,0,0
$GC,2933,0.71,204.4,493.3,16.2,356,2943,0.00,1.80,0.00,0.000,6,0.000,0.029,2970,2087,2248,0,0,1,0,0,0
$GC,3260,0.73,231.9,442.3,13.8,387,3289,0.00,1.88,22.42,0.777,4,0.000,0.041,2970,3272,2144,0,0,0,0,0,0
$GC,3392,0.72,231.9,419.3,18.5,398,3400,0.00,1.80,0.00,0.000,6,0.000,0.031,2978,2083,2137,0,0,0,0,0,0
$GC,3719,0.71,231.9,365.6,15.3,429,3723,0.00,1.67,0.00,0.000,4,0.000,0.041,2987,958,2133,0,0,0,0,0,0
$GC,3811,0.71,236.4,351.5,14.9,437,3815,0.00,1.75,0.00,0.000,6,0.000,0.036,2987,2160,2131,0,0,0,0,0,0
$GC,4138,0.70,236.4,297.3,16.6,468,4148,0.10,1.80,0.00,0.000,4,0.198,0.040,2970,964,2129,0,0,0,0,0,0
$GC,4197,0.74,269.4,288.7,13.5,477,4233,0.00,1.73,29.58,0.722,6,0.000,0.036,2967,2155,1991,0,0,0,0,0,0
$GC,4583,0.74,269.4,231.5,16.0,542,4591,0.00,1.70,0.00,0.000,4,0.000,0.044,2967,3276,1981,0,0,0,0,0,0
$GC,4780,0.74,272.4,201.2,15.0,575,4786,0.00,1.75,0.00,0.000,6,0.000,0.032,2976,2071,1979,0,0,1,0,0,0
$GC,5135,0.82,334.2,150.8,12.1,636,5191,0.00,1.65,50.70,0.634,4,0.000,0.041,2984,965,1727,0,0,0,0,0,0
$GC,5300,0.86,365.4,129.2,13.6,661,5333,0.00,1.80,25.50,0.596,6,0.000,0.036,2984,2154,1599,0,0,0,0,0,0
$GC,5683,0.90,393.2,69.4,13.8,725,5718,0.10,1.83,21.92,0.552,4,0.096,0.040,3056,965,1486,0,0,0,0,0,0
$GC,5755,0.90,393.2,57.3,16.6,735,5764,0.10,1.80,0.00,0.000,6,0.141,0.036,3022,2159,1484,0,0,0,0,0,0
$GC,6121,1.02,482.2,13.8,10.7,796,6197,0.10,1.88,68.50,0.522,4,0.096,0.041,3093,965,1123,0,0,0,0,0,0
$STATE,6204,end climb,SURFACE_DEPTH_REACHED
$STATE,6204,begin surface coast
$FINISH,0.0,1.008855
$STATE,6225,end surface coast,CONTROL_FINISHED_OK
$STATE,6225,begin surface
$SM_CCo,6242,107.62,0.466,1,0,480,640.23
$SM_GC,0.96,0.00,0.00,107.62,0.000,0.000,0.466,145,2052,480,-8.08,0.76,640.23
$IRIDIUM_FIX,2408.65,12609.64,021010,121245
$TT8_MAMPS,0.026215
$HUMID,43.69
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,20.747
$10V_AH,10.4,17.222
$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,19.800,46.375,542.225,107.625,0.000,30.296,15.893,114.454,0.000,0.000,32.566,1896.505,1492.800,616.742,2508.273,116.197,0.000,1453.292,0.000,2331.705,0.000,0.545,0.000
$DEVICE_MAMPS,240.975,109.395,862.920,465.885,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.410,0.000,1699.444,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,46912,809
$CAP_FILE_SIZE,84227,0
$CFSIZE,260165632,246755328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.086,318.2,1
$GPS,021010,155846,2415.649,12612.004,12,3.8,31,-3.7