version: 66.08
glider: 169
mission: 2
dive: 157
start: 10 3 110 12 35 40
data:
$ID,169
$MISSION,2
$DIVE,157
$N_DIVES,165
$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,-6879.7168
$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
$GPS1,031010,123031,2405.560,12612.059,40,1.0,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.4
$GPS2,031010,123514,2405.591,12612.024,15,1.2,15,-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,174.0,10354,-21.0,-15.152
$D_GRID,1793
$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,-96.90,0.000,2,0.000,0.000,145,1997,3147,0,0,0,0,0,0
$GC,116,-0.72,-204.4,4.0,-6.9,12,143,9.10,1.77,-13.23,0.000,4,0.224,0.068,2488,868,3928,0,0,0,0,0,0
$GC,255,-0.70,-204.4,67.8,-36.0,34,264,0.00,1.83,0.00,0.000,6,0.000,0.052,2488,2033,3929,0,0,0,0,0,0
$GC,620,-0.70,-204.4,166.7,-25.5,95,626,0.00,1.75,0.00,0.000,4,0.000,0.050,2489,878,3932,0,0,0,0,0,0
$GC,670,-0.69,-204.4,179.0,-22.5,103,676,0.00,1.75,0.00,0.000,6,0.000,0.050,2489,2042,3932,0,0,0,0,0,0
$GC,1025,-0.69,-204.4,255.9,-19.5,164,1033,0.00,1.77,0.00,0.000,4,0.000,0.050,2489,885,3933,0,0,0,0,0,0
$GC,1071,-0.70,-204.4,263.8,-17.8,171,1078,0.00,1.73,0.00,0.000,6,0.000,0.049,2489,2039,3933,0,0,0,0,0,0
$GC,1415,-0.70,-204.4,326.5,-18.2,219,1416,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2039,3932,0,0,0,0,0,0
$GC,1734,-0.70,-204.4,379.0,-16.5,249,1737,0.00,1.73,0.00,0.000,4,0.000,0.060,2489,3167,3931,0,0,0,0,0,0
$GC,1795,-0.71,-204.4,388.7,-13.3,254,1805,0.00,1.77,0.00,0.000,6,0.000,0.043,2488,2002,3931,0,0,0,0,0,0
$GC,2122,-0.72,-204.4,437.1,-14.5,285,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2002,3929,0,0,0,0,0,0
$GC,2441,-0.72,-204.4,481.6,-14.0,315,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2002,3927,0,0,0,0,0,0
$STATE,2573,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2573,begin apogee
$GC,2578,-0.18,0.0,501.0,13.8,328,2740,0.57,0.08,155.98,0.861,6,0.152,0.109,2668,2090,3091,0,0,0,0,0,0
$STATE,2741,end apogee,CONTROL_FINISHED_OK
$STATE,2741,begin climb
$GC,2742,0.72,204.4,509.2,0.0,341,2918,0.80,1.80,167.07,0.849,4,0.070,0.041,2967,961,2255,0,0,0,0,0,0
$GC,3142,0.71,204.4,467.1,16.9,375,3150,0.00,1.80,0.00,0.000,6,0.000,0.034,2967,2154,2245,0,0,0,0,0,0
$GC,3469,0.70,204.6,416.1,15.1,406,3473,0.00,1.75,0.00,0.000,4,0.000,0.041,2976,961,2241,0,0,0,0,0,0
$GC,3506,0.70,208.7,410.8,14.9,409,3509,0.00,1.77,0.00,0.000,6,0.000,0.035,2974,2152,2241,0,0,0,0,0,0
$GC,3836,0.73,241.3,366.5,13.5,440,3869,0.00,0.00,29.00,0.767,6,0.000,0.000,2974,2152,2106,0,0,0,0,0,0
$GC,4186,0.72,241.3,312.6,15.6,473,4190,0.00,1.65,0.00,0.000,4,0.000,0.042,2974,3272,2096,0,0,0,0,0,0
$GC,4390,0.72,241.3,277.5,17.6,502,4399,0.00,1.77,0.00,0.000,6,0.000,0.033,2984,2091,2093,0,0,0,0,0,0
$GC,4740,0.74,262.1,223.0,14.1,563,4761,0.00,0.00,16.12,0.659,6,0.000,0.000,2984,2090,2021,0,0,0,0,0,0
$GC,5099,0.80,319.6,173.9,12.3,626,5156,0.00,1.90,46.38,0.648,4,0.000,0.041,2984,3279,1784,0,0,0,0,0,0
$GC,5168,0.82,337.0,164.7,14.3,636,5192,0.00,1.80,14.95,0.592,6,0.000,0.033,2992,2092,1716,0,0,1,0,0,0
$GC,5546,0.84,352.9,102.9,14.4,699,5564,0.00,1.67,12.98,0.555,4,0.000,0.042,3001,966,1651,0,0,0,0,0,0
$GC,5649,0.88,380.5,88.6,13.8,715,5682,0.00,1.77,23.02,0.567,6,0.000,0.035,3001,2148,1536,0,0,0,0,0,0
$GC,6033,1.08,534.1,44.6,7.5,779,6156,0.20,1.80,117.28,0.545,4,0.059,0.039,3109,3275,912,0,0,0,0,0,0
$GC,6188,1.08,534.1,13.6,25.3,799,6197,0.12,1.83,0.00,0.000,6,0.151,0.033,3077,2082,910,0,0,1,0,0,0
$STATE,6240,end climb,SURFACE_DEPTH_REACHED
$STATE,6240,begin surface coast
$FINISH,-0.1,1.008629
$STATE,6253,end surface coast,CONTROL_FINISHED_OK
$STATE,6253,begin surface
$SM_CCo,6268,76.55,0.446,1,0,480,640.23
$SM_GC,0.85,0.00,0.00,76.55,0.000,0.000,0.446,146,1998,480,-8.08,-0.76,640.23
$IRIDIUM_FIX,2359.20,12613.96,031010,101006
$TT8_MAMPS,0.026215
$HUMID,44.52
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,22.403
$10V_AH,10.5,18.578
$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,19.100,35.825,582.775,76.550,0.000,28.764,43.699,113.180,0.000,0.000,16.713,1867.261,1560.269,603.434,2488.750,116.775,0.000,1430.533,0.000,2304.978,0.000,0.545,0.000
$DEVICE_MAMPS,224.145,109.395,860.625,445.995,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.930,0.000,1683.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,46995,809
$CAP_FILE_SIZE,81881,0
$CFSIZE,260165632,246181888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.085,346.4,1
$GPS,031010,142228,2404.857,12612.224,12,2.1,31,-3.6