version: 66.08
glider: 169
mission: 2
dive: 174
start: 10 4 110 21 9 4
data:
$ID,169
$MISSION,2
$DIVE,174
$N_DIVES,185
$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,-6901.4468
$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
$GPS1,041010,205901,2410.353,12611.337,42,1.4,42,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.9
$GPS2,041010,210838,2410.368,12611.371,15,1.0,15,-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,357.5,17870,-21.0,-15.152
$D_GRID,1688
$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,-204.4,0.0,0.0,0,107,0.00,0.00,-89.80,0.000,2,0.000,0.000,145,1973,2914,0,0,0,0,0,0
$GC,109,-0.72,-204.4,3.0,-4.8,11,144,9.60,1.95,-18.95,0.000,4,0.241,0.076,2487,3168,3928,0,0,0,0,0,0
$GC,198,-0.71,-204.4,38.3,-34.5,24,208,0.00,1.80,0.00,0.000,6,0.000,0.054,2486,2021,3929,0,0,1,0,0,0
$GC,564,-0.70,-204.4,147.3,-22.8,85,573,0.00,1.75,0.00,0.000,4,0.000,0.054,2487,881,3931,0,0,0,0,0,0
$GC,745,-0.70,-204.4,182.5,-17.2,115,752,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2046,3932,0,0,0,0,0,0
$GC,1101,-0.70,-204.4,250.0,-19.9,176,1110,0.00,1.75,0.00,0.000,4,0.000,0.060,2486,3168,3931,0,0,0,0,0,0
$GC,1159,-0.71,-204.4,259.9,-17.0,185,1166,0.00,1.75,0.00,0.000,6,0.000,0.047,2486,2001,3931,0,0,0,0,0,0
$GC,1510,-0.71,-204.4,325.0,-18.8,235,1513,0.00,1.70,0.00,0.000,4,0.000,0.052,2487,865,3930,0,0,0,0,0,0
$GC,1636,-0.72,-204.4,346.0,-15.7,246,1639,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2051,3929,0,0,0,0,0,0
$GC,1969,-0.73,-204.4,400.1,-16.5,277,1972,0.00,1.77,0.00,0.000,4,0.000,0.052,2487,878,3928,0,0,0,0,0,0
$GC,2019,-0.73,-204.4,408.8,-15.9,281,2026,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2047,3928,0,0,0,0,0,0
$GC,2344,-0.74,-204.4,459.2,-15.0,312,2348,0.00,1.70,0.00,0.000,4,0.000,0.060,2486,3168,3926,0,0,0,0,0,0
$GC,2407,-0.76,-204.4,467.8,-12.6,317,2414,0.00,1.75,0.00,0.000,6,0.000,0.044,2486,1998,3925,0,0,0,0,0,0
$STATE,2645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2645,begin apogee
$GC,2649,-0.18,0.0,501.4,13.7,340,2812,0.57,0.08,156.00,0.855,6,0.150,0.107,2667,2091,3091,0,0,0,0,0,0
$STATE,2813,end apogee,CONTROL_FINISHED_OK
$STATE,2813,begin climb
$GC,2815,0.72,204.4,511.0,0.0,353,2990,0.80,1.80,167.18,0.848,4,0.073,0.040,2965,965,2255,0,0,0,0,0,0
$GC,3018,0.73,222.5,503.8,14.3,370,3039,0.00,1.83,15.85,0.763,6,0.000,0.034,2964,2149,2184,0,0,0,0,0,0
$GC,3357,0.76,252.2,453.4,13.7,402,3386,0.00,1.77,24.75,0.782,4,0.000,0.041,2964,3279,2061,0,0,0,0,0,0
$GC,3432,0.76,252.2,442.2,15.6,408,3436,0.00,1.75,0.00,0.000,6,0.000,0.031,2973,2081,2053,0,0,1,0,0,0
$GC,3764,0.76,252.2,389.0,16.3,439,3768,0.00,1.62,0.00,0.000,4,0.000,0.042,2981,960,2048,0,0,0,0,0,0
$GC,3814,0.76,257.8,380.5,14.9,443,3821,0.00,1.77,0.00,0.000,6,0.000,0.035,2980,2152,2047,0,0,0,0,0,0
$GC,4140,0.75,257.8,324.7,18.1,474,4143,0.00,1.65,0.00,0.000,4,0.000,0.041,2980,3274,2044,0,0,0,0,0,0
$GC,4267,0.74,257.8,301.5,16.7,485,4270,0.00,1.73,0.00,0.000,6,0.000,0.031,2989,2083,2043,0,0,0,0,0,0
$GC,4611,0.74,257.8,247.9,15.4,545,4619,0.00,1.62,0.00,0.000,4,0.000,0.041,2998,951,2042,0,0,0,0,0,0
$GC,4705,0.74,262.8,233.8,14.9,561,4722,0.00,1.75,6.95,0.578,6,0.000,0.035,2998,2166,2017,0,0,0,0,0,0
$GC,5064,0.73,262.8,176.4,15.8,623,5071,0.12,1.65,0.00,0.000,4,0.174,0.041,2961,3274,2014,0,0,0,0,0,0
$GC,5229,0.78,298.6,154.2,13.4,652,5265,0.00,1.75,30.02,0.629,6,0.000,0.032,2970,2083,1872,0,0,1,0,0,0
$GC,5616,0.86,364.9,106.8,11.9,717,5674,0.10,0.00,52.38,0.593,6,0.095,0.000,3032,2081,1602,0,0,0,0,0,0
$GC,6023,0.96,439.0,44.0,11.5,784,6089,0.00,1.85,57.45,0.544,4,0.000,0.037,3032,3268,1299,0,0,0,0,0,0
$GC,6098,1.08,529.3,36.3,10.7,793,6173,0.08,1.80,69.85,0.529,6,0.050,0.031,3106,2084,932,0,0,0,0,0,0
$STATE,6261,end climb,SURFACE_DEPTH_REACHED
$STATE,6261,begin surface coast
$FINISH,0.1,1.021757
$STATE,6274,end surface coast,CONTROL_FINISHED_OK
$STATE,6275,begin surface
$SM_CCo,6290,79.05,0.055,0,0,481,640.23
$SM_GC,0.82,0.00,0.00,79.05,0.000,0.000,0.055,148,1978,481,-8.07,-1.33,640.23
$IRIDIUM_FIX,2401.56,12610.15,041010,212121
$TT8_MAMPS,0.026215
$HUMID,45.98
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.4,24.659
$10V_AH,10.3,20.533
$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,19.675,46.100,580.425,79.050,0.000,85.798,78.113,172.265,0.000,0.000,16.388,1903.546,1620.213,597.475,2697.413,130.254,0.000,1439.375,0.000,2345.405,0.000,0.545,0.000
$DEVICE_MAMPS,240.975,107.100,855.270,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.716,0.000,1709.089,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,50243,819
$CAP_FILE_SIZE,88363,0
$CFSIZE,260165632,245309440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.114, 86.8,1
$GPS,041010,225550,2411.340,12611.532,11,1.5,11,-3.6