version: 66.08
glider: 169
mission: 2
dive: 162
start: 10 3 110 21 53 22
data:
$ID,169
$MISSION,2
$DIVE,162
$N_DIVES,170
$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,-6886.2759
$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
$GPS1,031010,214844,2401.929,12612.866,13,1.7,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.4
$GPS2,031010,215255,2401.923,12612.888,10,1.7,15,-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,221.8,3865,-21.0,-15.152
$D_GRID,2058
$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,13,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,114,0.00,0.00,-96.65,0.000,2,0.000,0.000,145,1977,3146,0,0,0,0,0,0
$GC,116,-0.72,-204.4,4.2,-7.3,12,143,9.40,1.75,-13.10,0.000,4,0.235,0.070,2486,872,3929,0,0,0,0,0,0
$GC,393,-0.71,-204.4,99.4,-22.3,58,402,0.00,1.83,0.00,0.000,6,0.000,0.054,2486,2036,3932,0,0,0,0,0,0
$GC,752,-0.70,-204.4,191.0,-25.7,119,758,0.00,1.75,0.00,0.000,4,0.000,0.059,2486,3172,3934,0,0,0,0,0,0
$GC,782,-0.70,-204.4,198.3,-21.2,124,790,0.00,1.80,0.00,0.000,6,0.000,0.048,2486,2008,3934,0,0,0,0,0,0
$GC,1132,-0.70,-204.4,273.1,-21.1,185,1140,0.00,1.70,0.00,0.000,4,0.000,0.054,2486,880,3934,0,0,0,0,0,0
$GC,1226,-0.71,-204.4,289.9,-17.3,201,1233,0.00,1.77,0.00,0.000,6,0.000,0.050,2487,2049,3934,0,0,0,0,0,0
$GC,1562,-0.71,-204.4,350.3,-17.4,237,1566,0.00,1.73,0.00,0.000,4,0.000,0.060,2486,3171,3933,0,0,0,0,0,0
$GC,1587,-0.71,-204.4,354.5,-17.3,239,1591,0.00,1.77,0.00,0.000,6,0.000,0.047,2487,2002,3933,0,0,0,0,0,0
$GC,1918,-0.71,-204.4,409.0,-15.9,270,1922,0.00,1.80,0.00,0.000,4,0.000,0.058,2486,3172,3932,0,0,0,0,0,0
$GC,1979,-0.72,-204.4,417.7,-12.2,275,1987,0.00,1.77,0.00,0.000,6,0.000,0.046,2487,2002,3932,0,0,0,0,0,0
$GC,2305,-0.73,-204.4,463.2,-14.8,306,2309,0.00,1.67,0.00,0.000,4,0.000,0.053,2486,868,3930,0,0,0,0,0,0
$GC,2409,-0.74,-204.4,477.2,-13.0,315,2413,0.00,1.80,0.00,0.000,6,0.000,0.049,2487,2052,3929,0,0,0,0,0,0
$STATE,2569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2569,begin apogee
$GC,2573,-0.18,0.0,500.4,14.2,330,2735,0.57,0.08,157.30,0.856,6,0.153,0.110,2666,2090,3091,0,0,0,0,0,0
$STATE,2736,end apogee,CONTROL_FINISHED_OK
$STATE,2736,begin climb
$GC,2738,0.72,204.4,507.9,0.0,343,2920,0.80,1.90,167.88,0.848,4,0.067,0.040,2960,3267,2254,0,0,0,0,0,0
$GC,3067,0.71,204.4,479.0,16.5,372,3070,0.00,1.77,0.00,0.000,6,0.000,0.032,2968,2084,2246,0,0,0,0,0,0
$GC,3399,0.70,207.3,429.3,15.0,403,3403,0.00,1.67,0.00,0.000,4,0.000,0.042,2977,965,2243,0,0,0,0,0,0
$GC,3482,0.72,228.7,416.4,14.1,410,3506,0.00,1.77,19.60,0.760,6,0.000,0.035,2974,2155,2158,0,0,0,0,0,0
$GC,3834,0.71,229.9,363.8,15.1,443,3838,0.00,1.65,0.00,0.000,4,0.000,0.041,2974,3280,2149,0,0,0,0,0,0
$GC,3948,0.70,229.9,345.3,16.3,453,3952,0.00,1.77,0.00,0.000,6,0.000,0.032,2983,2074,2147,0,0,0,0,0,0
$GC,4275,0.69,229.9,294.5,16.0,486,4283,0.00,1.83,0.00,0.000,4,0.000,0.043,2983,3271,2145,0,0,0,0,0,0
$GC,4444,0.68,229.9,267.4,15.5,515,4452,0.15,1.75,0.00,0.000,6,0.180,0.034,2953,2076,2144,0,0,0,0,0,0
$GC,4789,0.80,328.9,224.7,10.2,576,4874,0.10,1.75,78.65,0.684,4,0.100,0.041,3018,965,1748,0,0,0,0,0,0
$GC,4971,0.80,328.9,194.3,17.9,605,4978,0.12,1.80,0.00,0.000,6,0.181,0.037,2987,2160,1742,0,0,0,0,0,0
$GC,5320,0.80,328.9,138.4,17.1,666,5328,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2160,1738,0,0,0,0,0,0
$GC,5684,0.84,361.0,84.9,13.5,727,5717,0.00,1.83,24.58,0.570,4,0.000,0.040,2995,967,1617,0,0,0,0,0,0
$GC,5734,0.88,385.6,78.2,13.9,733,5760,0.00,1.77,20.27,0.552,6,0.000,0.035,2995,2146,1518,0,0,0,0,0,0
$GC,6111,1.07,532.0,41.0,7.9,796,6232,0.20,1.85,111.97,0.540,4,0.060,0.039,3111,970,920,0,0,0,0,0,0
$GC,6288,1.07,532.0,7.0,21.3,820,6297,0.10,1.80,0.00,0.000,6,0.155,0.033,3078,2157,918,0,0,0,0,0,0
$STATE,6304,end climb,SURFACE_DEPTH_REACHED
$STATE,6304,begin surface coast
$FINISH,0.6,1.021688
$STATE,6318,end surface coast,CONTROL_FINISHED_OK
$STATE,6318,begin surface
$SM_CCo,6333,77.82,0.444,1,0,480,640.23
$SM_GC,0.93,0.00,0.00,77.82,0.000,0.000,0.444,140,1977,480,-8.09,-1.36,640.23
$IRIDIUM_FIX,2356.84,12620.56,031010,191911
$TT8_MAMPS,0.026215
$HUMID,44.09
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.4,23.095
$10V_AH,10.4,19.142
$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,19.875,46.525,580.250,77.825,0.000,27.465,22.639,105.516,0.250,0.000,16.533,1916.085,1502.516,608.034,2526.790,119.808,0.000,1457.088,0.000,2370.666,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,110.160,856.035,444.465,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.737,0.000,1734.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50222,824
$CAP_FILE_SIZE,85142,0
$CFSIZE,260165632,245936128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.129, 80.6,1
$GPS,031010,234124,2401.192,12612.838,40,0.9,40,-3.6