version: 66.08
glider: 169
mission: 2
dive: 182
start: 10 5 110 12 32 22
data:
$ID,169
$MISSION,2
$DIVE,182
$N_DIVES,190
$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,-6911.4907
$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
$GPS1,051010,122730,2418.269,12612.010,37,0.9,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.7
$GPS2,051010,123156,2418.263,12612.002,12,1.5,12,-3.7
$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,358.0,3218,-21.0,-15.152
$D_GRID,1702
$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,-97.25,0.000,2,0.000,0.000,139,1993,3148,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.9,-6.4,12,150,9.57,1.77,-13.10,0.000,4,0.239,0.067,2486,866,3928,0,0,0,0,0,0
$GC,182,-0.68,-204.4,39.2,-50.6,21,190,0.00,1.88,0.00,0.000,6,0.000,0.060,2486,2034,3929,0,0,0,0,0,0
$GC,545,-0.67,-204.4,150.5,-23.4,82,555,0.00,1.75,0.00,0.000,4,0.000,0.060,2486,3159,3931,0,0,0,0,0,0
$GC,573,-0.67,-204.4,157.3,-22.8,86,582,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2005,3931,0,0,0,0,0,0
$GC,934,-0.66,-204.4,238.4,-20.8,147,941,0.00,1.67,0.00,0.000,4,0.000,0.050,2486,865,3933,0,0,0,0,0,0
$GC,1058,-0.67,-204.4,262.2,-16.6,168,1066,0.00,1.83,0.00,0.000,6,0.000,0.050,2486,2046,3933,0,0,0,0,0,0
$GC,1404,-0.67,-204.4,323.2,-16.9,217,1407,0.00,1.73,0.00,0.000,4,0.000,0.060,2486,3168,3932,0,0,0,0,0,0
$GC,1485,-0.67,-204.4,336.1,-14.1,224,1489,0.00,1.75,0.00,0.000,6,0.000,0.044,2486,1997,3932,0,0,0,0,0,0
$GC,1818,-0.68,-204.4,393.5,-16.2,255,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1995,3930,0,0,0,0,0,0
$GC,2137,-0.68,-204.4,442.5,-15.3,285,2140,0.00,1.85,0.00,0.000,4,0.000,0.059,2486,3168,3928,0,0,0,0,0,0
$GC,2194,-0.69,-204.4,451.2,-13.6,290,2198,0.00,1.73,0.00,0.000,6,0.000,0.044,2486,2003,3928,0,0,0,0,0,0
$GC,2527,-0.70,-204.4,499.3,-13.9,321,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2001,3926,0,0,0,0,0,0
$STATE,2533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2533,begin apogee
$GC,2537,-0.18,0.0,500.6,13.8,322,2701,0.57,0.08,156.38,0.860,6,0.149,0.109,2666,2089,3091,0,0,0,0,0,0
$STATE,2702,end apogee,CONTROL_FINISHED_OK
$STATE,2702,begin climb
$GC,2703,0.72,204.4,508.8,0.0,335,2878,0.82,1.73,167.75,0.850,4,0.076,0.037,2969,965,2256,0,0,0,0,0,0
$GC,2905,0.71,204.4,498.3,16.3,352,2914,0.00,1.83,0.00,0.000,6,0.000,0.034,2967,2150,2250,0,0,0,0,0,0
$GC,3233,0.70,204.4,441.7,16.7,383,3236,0.00,1.67,0.00,0.000,4,0.000,0.041,2967,3274,2243,0,0,0,0,0,0
$GC,3294,0.69,204.4,430.9,16.1,388,3303,0.00,1.80,0.00,0.000,6,0.000,0.031,2976,2075,2242,0,0,0,0,0,0
$GC,3621,0.71,227.4,382.5,14.0,419,3647,0.00,1.85,17.90,0.754,4,0.000,0.042,2974,3265,2162,0,0,0,0,0,0
$GC,3808,0.73,255.4,354.1,13.8,435,3837,0.00,1.73,23.88,0.748,6,0.000,0.032,2983,2083,2048,0,0,0,0,0,0
$GC,4163,0.75,273.4,300.9,14.3,468,4183,0.00,1.88,14.62,0.694,4,0.000,0.041,2976,3275,1975,0,0,0,0,0,0
$GC,4282,0.75,274.3,282.5,15.1,487,4289,0.00,1.75,0.00,0.000,6,0.000,0.031,2984,2082,1970,0,0,1,0,0,0
$GC,4629,0.74,274.3,225.5,16.4,548,4638,0.00,1.83,0.00,0.000,4,0.000,0.041,2980,3278,1967,0,0,0,0,0,0
$GC,4675,0.74,274.3,218.3,16.0,555,4682,0.00,1.77,0.00,0.000,6,0.000,0.031,2989,2069,1966,0,0,0,0,0,0
$GC,5023,0.74,279.7,162.5,14.9,616,5033,0.00,1.67,5.20,0.489,4,0.000,0.038,2998,958,1950,0,0,0,0,0,0
$GC,5070,0.74,285.6,155.6,14.9,623,5086,0.00,1.73,6.68,0.529,6,0.000,0.033,2997,2156,1925,0,0,0,0,0,0
$GC,5441,0.81,336.5,98.7,12.6,685,5489,0.00,0.00,41.65,0.598,6,0.000,0.000,2997,2156,1718,0,0,0,0,0,0
$GC,5839,1.06,535.8,52.9,5.2,751,6002,0.20,1.88,152.05,0.554,4,0.059,0.040,3113,972,905,0,0,0,0,0,0
$GC,6018,1.06,535.8,21.3,24.6,773,6027,0.12,1.83,0.00,0.000,6,0.152,0.033,3073,2160,903,0,0,0,0,0,0
$STATE,6111,end climb,SURFACE_DEPTH_REACHED
$STATE,6111,begin surface coast
$FINISH,0.0,1.012464
$STATE,6125,end surface coast,CONTROL_FINISHED_OK
$STATE,6125,begin surface
$SM_CCo,6141,75.95,0.443,1,0,480,640.23
$SM_GC,0.82,0.00,0.00,75.95,0.000,0.000,0.443,151,1984,480,-8.06,-1.16,640.23
$IRIDIUM_FIX,2406.29,12614.85,051010,101045
$TT8_MAMPS,0.026215
$HUMID,45.23
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.3,25.726
$10V_AH,10.3,21.452
$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,19.575,43.200,586.100,75.950,0.000,27.794,19.825,122.021,0.000,0.000,13.014,1824.432,1497.217,607.445,2434.504,127.111,0.000,1445.592,0.000,2270.163,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,108.630,859.860,442.935,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.411,0.000,1654.620,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,47031,790
$CAP_FILE_SIZE,82983,0
$CFSIZE,260165632,244891648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.072,156.2,1
$GPS,051010,141644,2418.990,12611.889,14,1.4,14,-3.7