version: 66.08
glider: 169
mission: 2
dive: 152
start: 10 3 110 3 21 15
data:
$ID,169
$MISSION,2
$DIVE,152
$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,-6873.0649
$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
$GPS1,031010,031637,2410.849,12612.762,27,1.2,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.9
$GPS2,031010,032049,2410.867,12612.772,9,1.4,15,-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,198.0,20169,-21.0,-15.152
$D_GRID,1662
$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,-95.80,0.000,2,0.000,0.000,148,1982,3095,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.5,-5.5,12,150,9.15,1.75,-14.55,0.000,4,0.226,0.074,2488,878,3929,0,0,0,0,0,0
$GC,319,-0.71,-204.4,79.2,-21.6,45,328,0.00,1.80,0.00,0.000,6,0.000,0.052,2488,2033,3930,0,0,0,0,0,0
$GC,681,-0.70,-204.4,177.1,-25.3,106,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2033,3932,0,0,0,0,0,0
$GC,1040,-0.70,-204.4,254.8,-20.5,167,1047,0.00,1.73,0.00,0.000,4,0.000,0.059,2488,3167,3933,0,0,0,0,0,0
$GC,1125,-0.71,-204.4,271.3,-16.2,181,1132,0.00,1.75,0.00,0.000,6,0.000,0.046,2488,2003,3933,0,0,0,0,0,0
$GC,1463,-0.71,-204.4,334.6,-17.7,224,1466,0.00,1.67,0.00,0.000,4,0.000,0.052,2488,865,3932,0,0,0,0,0,0
$GC,1509,-0.71,-204.4,341.9,-15.2,228,1512,0.00,1.77,0.00,0.000,6,0.000,0.050,2488,2040,3932,0,0,0,0,0,0
$GC,1842,-0.72,-204.4,396.1,-15.8,259,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2040,3930,0,0,0,0,0,0
$GC,2160,-0.72,-204.4,443.6,-16.2,289,2164,0.00,1.73,0.00,0.000,4,0.000,0.060,2488,3167,3929,0,0,0,0,0,0
$GC,2232,-0.73,-204.4,454.4,-13.7,295,2236,0.00,1.77,0.00,0.000,6,0.000,0.043,2488,2003,3928,0,0,0,0,0,0
$STATE,2552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2552,begin apogee
$GC,2557,-0.18,0.0,500.6,13.0,325,2717,0.57,0.08,155.50,0.858,6,0.156,0.109,2665,2090,3091,0,0,0,0,0,0
$STATE,2718,end apogee,CONTROL_FINISHED_OK
$STATE,2718,begin climb
$GC,2720,0.72,204.4,507.2,0.0,338,2898,0.82,1.90,166.80,0.845,4,0.077,0.038,2960,3269,2255,0,0,0,0,0,0
$GC,2937,0.71,209.4,495.8,14.9,356,2947,0.00,1.80,4.70,0.548,6,0.000,0.031,2969,2076,2237,0,0,1,0,0,0
$GC,3264,0.73,228.3,449.6,14.2,387,3289,0.00,1.70,16.52,0.762,4,0.000,0.039,2978,958,2159,0,0,0,0,0,0
$GC,3305,0.72,228.3,442.7,15.5,390,3315,0.00,1.80,0.00,0.000,6,0.000,0.035,2975,2146,2157,0,0,0,0,0,0
$GC,3632,0.71,228.3,388.0,16.1,421,3636,0.00,1.70,0.00,0.000,4,0.000,0.043,2975,3271,2150,0,0,0,0,0,0
$GC,3795,0.70,228.3,359.6,18.3,435,3798,0.00,1.77,0.00,0.000,6,0.000,0.033,2984,2087,2148,0,0,0,0,0,0
$GC,4125,0.69,228.3,305.5,15.5,466,4129,0.12,1.62,0.00,0.000,4,0.191,0.041,2960,963,2146,0,0,0,0,0,0
$GC,4213,0.75,280.7,294.3,12.5,477,4263,0.00,1.73,41.80,0.734,6,0.000,0.037,2960,2152,1944,0,0,0,0,0,0
$GC,4611,0.77,293.4,235.4,14.5,544,4626,0.00,1.83,9.95,0.623,4,0.000,0.040,2969,964,1893,0,0,0,0,0,0
$GC,4662,0.78,302.5,227.7,14.7,552,4677,0.00,1.77,8.85,0.601,6,0.000,0.036,2969,2146,1857,0,0,0,0,0,0
$GC,5026,0.78,302.5,173.2,15.6,614,5036,0.00,1.70,0.00,0.000,4,0.000,0.042,2968,3276,1850,0,0,0,0,0,0
$GC,5135,0.78,302.5,155.7,16.1,632,5143,0.00,1.77,0.00,0.000,6,0.000,0.031,2978,2082,1849,0,0,0,0,0,0
$GC,5491,0.86,363.1,106.4,12.1,693,5550,0.00,1.85,47.80,0.601,4,0.000,0.041,2977,3265,1608,0,0,0,0,0,0
$GC,5605,0.90,393.3,91.4,13.7,709,5638,0.00,1.77,24.27,0.568,6,0.000,0.031,2986,2092,1486,0,0,0,0,0,0
$GC,5989,1.09,535.5,52.2,8.1,773,6104,0.25,1.77,108.95,0.545,4,0.049,0.039,3137,961,906,0,0,0,0,0,0
$GC,6189,1.08,535.5,4.1,26.3,801,6198,0.17,1.80,0.00,0.000,6,0.164,0.034,3083,2153,902,0,0,0,0,0,0
$STATE,6205,end climb,SURFACE_DEPTH_REACHED
$STATE,6206,begin surface coast
$FINISH,0.0,1.001015
$STATE,6219,end surface coast,CONTROL_FINISHED_OK
$STATE,6219,begin surface
$SM_CCo,6234,73.75,0.438,1,0,479,640.23
$SM_GC,0.83,0.00,0.00,73.75,0.000,0.000,0.438,148,1994,479,-8.07,-0.88,640.23
$IRIDIUM_FIX,2401.56,12610.15,031010,010108
$TT8_MAMPS,0.026215
$HUMID,44.13
$INTERNAL_PRESSURE,9.30079
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,21.707
$10V_AH,10.4,18.020
$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,19.425,42.800,585.150,73.750,0.000,28.263,18.111,109.563,0.000,0.000,16.010,1861.051,1534.986,598.795,2453.438,120.434,0.000,1441.318,0.000,2302.299,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,108.630,857.565,438.345,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.804,0.000,1696.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,46880,805
$CAP_FILE_SIZE,83033,0
$CFSIZE,260165632,246407168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.046, 90.8,1
$GPS,031010,050728,2409.883,12612.679,14,4.7,33,-3.6