version: 66.08
glider: 169
mission: 2
dive: 166
start: 10 4 110 5 22 46
data:
$ID,169
$MISSION,2
$DIVE,166
$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,-6891.3979
$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
$GPS1,041010,051801,2401.203,12611.963,39,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.7
$GPS2,041010,052220,2401.208,12611.928,13,1.3,13,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12612.000
$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,358.9,34804,-21.0,-15.152
$D_GRID,1884
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-96.93,0.000,2,0.000,0.000,136,1983,3121,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.6,-5.6,12,150,9.73,1.75,-13.60,0.000,4,0.245,0.074,2493,872,3928,0,0,0,0,0,0
$GC,362,-0.71,-204.4,91.0,-23.9,52,370,0.00,1.83,0.00,0.000,6,0.000,0.055,2493,2035,3930,0,0,0,0,0,0
$GC,721,-0.71,-204.4,171.1,-19.4,113,729,0.00,1.75,0.00,0.000,4,0.000,0.060,2493,3173,3932,0,0,0,0,0,0
$GC,771,-0.71,-204.4,181.2,-19.3,121,778,0.00,1.75,0.00,0.000,6,0.000,0.047,2493,2004,3933,0,0,0,0,0,0
$GC,1118,-0.71,-204.4,251.0,-19.8,182,1126,0.00,1.73,0.00,0.000,4,0.000,0.053,2493,868,3933,0,0,0,0,0,0
$GC,1209,-0.71,-204.4,267.2,-18.2,197,1216,0.00,1.80,0.00,0.000,6,0.000,0.050,2493,2051,3933,0,0,0,0,0,0
$GC,1546,-0.72,-204.4,324.7,-15.6,244,1549,0.00,1.70,0.00,0.000,4,0.000,0.058,2493,3167,3932,0,0,0,0,0,0
$GC,1584,-0.72,-204.4,331.3,-15.4,247,1591,0.00,1.77,0.00,0.000,6,0.000,0.044,2493,2002,3932,0,0,0,0,0,0
$GC,1910,-0.73,-204.4,383.4,-15.6,278,1913,0.00,1.80,0.00,0.000,4,0.000,0.058,2493,3167,3931,0,0,0,0,0,0
$GC,1971,-0.74,-204.4,392.8,-13.3,283,1978,0.00,1.73,0.00,0.000,6,0.000,0.044,2493,2003,3930,0,0,0,0,0,0
$GC,2297,-0.75,-204.4,443.3,-15.3,314,2300,0.00,1.67,0.00,0.000,4,0.000,0.052,2493,866,3929,0,0,0,0,0,0
$GC,2369,-0.76,-204.4,453.8,-13.6,320,2378,0.00,1.80,0.00,0.000,6,0.000,0.050,2493,2036,3929,0,0,0,0,0,0
$GC,2696,-0.77,-204.4,496.9,-13.6,351,2700,0.00,1.75,0.00,0.000,4,0.000,0.057,2492,3166,3926,0,0,0,0,0,0
$STATE,2719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2719,begin apogee
$GC,2725,-0.18,0.0,500.4,13.9,353,2887,0.55,0.08,156.68,0.862,6,0.149,0.119,2666,2149,3091,0,0,0,0,0,0
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2889,0.72,204.4,509.5,0.0,366,3069,0.85,1.80,167.65,0.853,4,0.074,0.039,2964,3274,2254,0,0,0,0,0,0
$GC,3095,0.71,204.4,500.3,15.8,383,3099,0.00,1.77,0.00,0.000,6,0.000,0.032,2972,2081,2249,0,0,1,0,0,0
$GC,3427,0.70,204.4,442.3,16.5,414,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2079,2243,0,0,0,0,0,0
$GC,3747,0.72,233.0,393.7,13.7,444,3774,0.00,1.70,22.45,0.766,4,0.000,0.043,2981,970,2140,0,0,0,0,0,0
$GC,3793,0.71,233.0,386.1,16.3,448,3796,0.00,1.75,0.00,0.000,6,0.000,0.036,2977,2153,2138,0,0,0,0,0,0
$GC,4125,0.70,233.0,336.2,15.2,479,4129,0.00,1.65,0.00,0.000,4,0.000,0.042,2977,3277,2131,0,0,0,0,0,0
$GC,4265,0.69,233.0,312.4,16.7,491,4270,0.12,1.73,0.00,0.000,6,0.187,0.032,2954,2077,2129,0,0,1,0,0,0
$GC,4612,0.78,302.2,265.2,11.7,544,4676,0.00,1.90,54.72,0.715,4,0.000,0.043,2950,3272,1856,0,0,0,0,0,0
$GC,4714,0.81,327.9,252.3,13.9,559,4744,0.00,1.75,21.65,0.672,6,0.000,0.033,2959,2085,1753,0,0,1,0,0,0
$GC,5095,0.81,329.0,199.6,15.1,623,5102,0.00,1.65,0.00,0.000,4,0.000,0.042,2967,955,1744,0,0,0,0,0,0
$GC,5137,0.86,360.2,193.1,13.6,630,5175,0.08,1.80,25.88,0.646,6,0.050,0.036,3021,2154,1619,0,0,0,0,0,0
$GC,5524,0.85,360.2,117.1,19.1,695,5533,0.00,1.67,0.00,0.000,4,0.000,0.041,3019,3269,1612,0,0,0,0,0,0
$GC,5666,0.85,360.2,89.0,19.1,718,5675,0.00,1.77,0.00,0.000,6,0.000,0.033,3028,2082,1611,0,0,0,0,0,0
$GC,6024,0.98,462.1,36.7,10.1,779,6105,0.00,0.00,77.82,0.549,6,0.000,0.000,3028,2081,1206,0,0,0,0,0,0
$STATE,6296,end climb,SURFACE_DEPTH_REACHED
$STATE,6296,begin surface coast
$FINISH,-0.0,1.004127
$STATE,6321,end surface coast,CONTROL_FINISHED_OK
$STATE,6321,begin surface
$SM_CCo,6336,117.53,0.055,0,0,481,640.23
$SM_GC,0.93,0.00,0.00,117.53,0.000,0.000,0.055,144,1991,481,-8.07,-0.96,640.23
$IRIDIUM_FIX,2349.77,12612.57,041010,030334
$TT8_MAMPS,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,23.595
$10V_AH,10.4,19.595
$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,19.450,45.600,526.850,117.525,0.000,29.958,15.711,116.419,0.000,0.000,14.254,1921.716,1546.482,615.622,2506.451,124.888,0.000,1442.113,0.000,2352.663,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,119.340,862.155,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.045,0.000,1728.293,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,50317,826
$CAP_FILE_SIZE,84176,0
$CFSIZE,260165632,245735424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.029, 41.6,1
$GPS,041010,071056,2402.267,12611.785,10,1.9,10,-3.6