version: 66.08
glider: 169
mission: 2
dive: 150
start: 10 2 110 23 36 30
data:
$ID,169
$MISSION,2
$DIVE,150
$N_DIVES,160
$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,-6870.4585
$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
$GPS1,021010,233137,2412.466,12612.604,38,1.7,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.0
$GPS2,021010,233604,2412.505,12612.634,12,2.7,31,-3.6
$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,203.0,23184,-21.0,-15.152
$D_GRID,1671
$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,-204.4,0.0,0.0,0,115,0.00,0.00,-97.38,0.000,2,0.000,0.000,149,1994,3150,0,0,0,0,0,0
$GC,117,-0.72,-204.4,3.9,-6.7,12,144,9.38,1.77,-13.12,0.000,4,0.236,0.068,2494,865,3928,0,0,0,0,0,0
$GC,320,-0.71,-204.4,81.3,-22.7,45,329,0.00,1.83,0.00,0.000,6,0.000,0.052,2493,2033,3929,0,0,0,0,0,0
$GC,681,-0.70,-204.4,175.9,-23.6,106,691,0.00,1.75,0.00,0.000,4,0.000,0.058,2493,3161,3932,0,0,0,0,0,0
$GC,698,-0.70,-204.4,179.6,-22.5,108,706,0.00,1.77,0.00,0.000,6,0.000,0.044,2493,2002,3932,0,0,0,0,0,0
$GC,1057,-0.69,-204.4,256.3,-20.6,169,1063,0.00,1.67,0.00,0.000,4,0.000,0.051,2493,877,3933,0,0,0,0,0,0
$GC,1083,-0.69,-204.4,261.9,-20.8,173,1090,0.00,1.77,0.00,0.000,6,0.000,0.051,2492,2046,3933,0,0,0,0,0,0
$GC,1427,-0.69,-204.4,325.8,-17.6,221,1431,0.00,1.73,0.00,0.000,4,0.000,0.060,2492,3169,3932,0,0,0,0,0,0
$GC,1500,-0.70,-204.4,337.1,-14.3,227,1503,0.00,1.75,0.00,0.000,6,0.000,0.046,2493,2000,3932,0,0,0,0,0,0
$GC,1832,-0.71,-204.4,390.5,-14.9,258,1835,0.00,1.67,0.00,0.000,4,0.000,0.052,2493,865,3931,0,0,0,0,0,0
$GC,1901,-0.72,-204.4,400.1,-12.8,264,1905,0.00,1.77,0.00,0.000,6,0.000,0.048,2493,2041,3930,0,0,0,0,0,0
$GC,2234,-0.72,-204.4,449.8,-15.5,295,2237,0.00,1.73,0.00,0.000,4,0.000,0.060,2493,3167,3929,0,0,0,0,0,0
$GC,2282,-0.73,-204.4,456.6,-13.7,299,2286,0.00,1.75,0.00,0.000,6,0.000,0.044,2493,2003,3929,0,0,0,0,0,0
$STATE,2611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2611,begin apogee
$GC,2615,-0.18,0.0,500.3,12.6,330,2778,0.55,0.08,156.10,0.853,6,0.160,0.109,2662,2089,3090,0,0,0,0,0,0
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin climb
$GC,2781,0.72,204.4,506.8,0.0,343,2960,0.80,1.77,167.27,0.844,4,0.067,0.037,2967,964,2254,0,0,0,0,0,0
$GC,2995,0.72,208.8,495.8,14.9,362,3009,0.00,1.77,4.35,0.522,6,0.000,0.034,2964,2152,2238,0,0,0,0,0,0
$GC,3327,0.71,210.8,448.4,15.1,393,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2152,2231,0,0,0,0,0,0
$GC,3645,0.70,210.8,399.3,15.6,423,3649,0.00,1.67,0.00,0.000,4,0.000,0.041,2964,3281,2228,0,0,0,0,0,0
$GC,3905,0.69,210.8,357.9,15.2,446,3908,0.00,1.75,0.00,0.000,6,0.000,0.031,2973,2071,2225,0,0,0,0,0,0
$GC,4237,0.75,258.4,311.8,12.8,477,4287,0.00,1.88,39.33,0.744,4,0.000,0.041,2973,3270,2034,0,0,0,0,0,0
$GC,4303,0.78,293.3,303.2,13.4,482,4338,0.00,1.77,28.98,0.715,6,0.000,0.031,2982,2087,1894,0,0,1,0,0,0
$GC,4676,0.78,293.3,244.0,17.1,545,4683,0.00,1.80,0.00,0.000,4,0.000,0.042,2978,3278,1881,0,0,0,0,0,0
$GC,4740,0.78,293.3,232.8,16.9,556,4748,0.00,1.80,0.00,0.000,6,0.000,0.032,2987,2077,1881,0,0,0,0,0,0
$GC,5089,0.78,297.7,174.9,14.9,617,5096,0.00,1.65,0.00,0.000,4,0.000,0.041,2996,950,1880,0,0,0,0,0,0
$GC,5115,0.78,298.7,170.8,15.1,621,5122,0.00,1.77,0.00,0.000,6,0.000,0.035,2996,2160,1880,0,0,0,0,0,0
$GC,5471,0.83,341.1,117.3,13.0,682,5511,0.00,0.00,36.83,0.605,6,0.000,0.000,2996,2160,1699,0,0,0,0,0,0
$GC,5862,0.89,383.1,62.7,13.1,747,5904,0.00,1.83,32.90,0.558,4,0.000,0.040,3005,974,1526,0,0,0,0,0,0
$GC,5966,1.04,496.5,51.2,9.5,762,6064,0.12,1.77,87.70,0.545,6,0.041,0.034,3093,2153,1065,0,0,0,0,0,0
$STATE,6217,end climb,SURFACE_DEPTH_REACHED
$STATE,6217,begin surface coast
$FINISH,-0.0,1.008352
$STATE,6230,end surface coast,CONTROL_FINISHED_OK
$STATE,6230,begin surface
$SM_CCo,6245,99.22,0.460,1,0,481,640.23
$SM_GC,0.86,0.00,0.00,99.22,0.000,0.000,0.460,147,2000,481,-8.07,-0.71,640.23
$IRIDIUM_FIX,2406.29,12611.55,021010,212131
$TT8_MAMPS,0.026964
$HUMID,44.21
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,21.433
$10V_AH,10.4,17.792
$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,19.150,42.750,553.450,99.225,0.000,23.090,17.485,113.415,0.000,0.000,33.291,1879.091,1542.419,609.432,2475.333,114.039,0.000,1435.399,0.000,2304.331,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,109.395,852.975,459.765,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.535,0.000,1677.058,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47036,802
$CAP_FILE_SIZE,83158,0
$CFSIZE,260165632,246501376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.076, 70.3,1
$GPS,031010,012256,2411.612,12612.755,10,1.3,10,-3.6