version: 66.08
glider: 169
mission: 2
dive: 209
start: 10 7 110 15 8 41
data:
$ID,169
$MISSION,2
$DIVE,209
$N_DIVES,225
$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,1
$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,-6945.6685
$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,330
$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
$GPS1,071010,150308,2402.975,12611.625,12,2.0,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.6
$GPS2,071010,150815,2402.941,12611.551,9,1.6,22,-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,1.1,31602,-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,-204.4,0.0,0.0,0,112,0.00,0.00,-95.25,0.000,2,0.000,0.000,148,1981,3063,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.4,-5.1,12,149,9.32,1.92,-15.30,0.000,4,0.230,0.081,2486,3160,3929,0,0,0,0,0,0
$GC,250,-0.71,-204.4,57.7,-26.1,33,259,0.00,1.83,0.00,0.000,6,0.000,0.048,2486,2004,3930,0,0,0,0,0,0
$GC,613,-0.69,-204.4,161.2,-29.1,94,622,0.00,1.73,0.00,0.000,4,0.000,0.054,2486,885,3932,0,0,0,0,0,0
$GC,794,-0.69,-204.4,201.7,-21.0,124,802,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2046,3933,0,0,0,0,0,0
$GC,1152,-0.69,-204.4,280.2,-21.1,185,1159,0.00,1.80,0.00,0.000,4,0.000,0.052,2486,865,3933,0,0,0,0,0,0
$GC,1206,-0.69,-204.4,291.8,-19.3,194,1216,0.00,1.83,0.00,0.000,6,0.000,0.050,2486,2043,3933,0,0,0,0,0,0
$GC,1539,-0.69,-204.4,359.3,-19.7,228,1542,0.00,1.73,0.00,0.000,4,0.000,0.059,2486,3177,3933,0,0,0,0,0,0
$GC,1600,-0.70,-204.4,370.1,-15.5,233,1607,0.00,1.80,0.00,0.000,6,0.000,0.047,2486,2005,3933,0,0,0,0,0,0
$GC,1927,-0.70,-204.4,424.8,-15.4,264,1930,0.00,1.80,0.00,0.000,4,0.000,0.060,2486,3167,3931,0,0,0,0,0,0
$GC,1986,-0.71,-204.4,433.1,-12.9,269,1990,0.00,1.75,0.00,0.000,6,0.000,0.044,2486,2001,3931,0,0,0,0,0,0
$GC,2319,-0.72,-204.4,481.7,-13.9,300,2322,0.00,1.70,0.00,0.000,4,0.000,0.053,2486,878,3929,0,0,0,0,0,0
$GC,2392,-0.73,-204.4,491.4,-12.2,306,2401,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2040,3928,0,0,0,0,0,0
$STATE,2461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2461,begin apogee
$GC,2465,-0.18,0.0,500.6,13.9,313,2633,0.57,0.05,157.18,0.860,6,0.145,0.064,2668,2095,3089,0,0,0,0,0,0
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2634,begin climb
$GC,2636,0.72,204.4,510.1,0.0,327,2811,0.80,1.90,167.95,0.854,4,0.073,0.041,2956,3278,2256,0,0,0,0,0,0
$GC,2864,0.71,204.4,498.5,17.1,348,2867,0.00,1.80,0.00,0.000,6,0.000,0.031,2964,2084,2249,0,0,0,0,0,0
$GC,3196,0.70,206.2,444.6,15.1,379,3200,0.00,1.62,0.00,0.000,4,0.000,0.040,2973,963,2243,0,0,0,0,0,0
$GC,3246,0.69,206.3,436.4,15.1,383,3254,0.00,1.77,0.00,0.000,6,0.000,0.034,2967,2151,2242,0,0,0,0,0,0
$GC,3571,0.71,223.0,386.9,14.3,414,3590,0.00,1.75,14.52,0.739,4,0.000,0.043,2967,3278,2180,0,0,0,0,0,0
$GC,3709,0.70,223.0,365.1,15.9,425,3716,0.00,1.80,0.00,0.000,6,0.000,0.032,2976,2082,2175,0,0,0,0,0,0
$GC,4035,0.70,231.3,316.3,14.7,456,4050,0.00,1.80,7.28,0.630,4,0.000,0.040,2974,3274,2147,0,0,0,0,0,0
$GC,4106,0.69,231.3,304.8,16.1,462,4110,0.00,1.80,0.00,0.000,6,0.000,0.032,2983,2079,2144,0,0,0,0,0,0
$GC,4451,0.73,270.7,253.1,13.2,520,4488,0.00,1.73,32.83,0.705,4,0.000,0.043,2992,966,1986,0,0,0,0,0,0
$GC,4598,0.73,271.7,231.3,15.1,544,4607,0.00,1.80,0.00,0.000,6,0.000,0.036,2990,2151,1980,0,0,0,0,0,0
$GC,4946,0.75,293.0,177.9,14.1,605,4967,0.00,0.00,17.98,0.630,6,0.000,0.000,2990,2151,1896,0,0,0,0,0,0
$GC,5318,0.78,320.0,123.5,13.8,668,5352,0.00,1.83,22.45,0.598,4,0.000,0.041,2999,968,1784,0,0,0,0,0,0
$GC,5417,0.79,329.7,109.4,14.7,683,5435,0.00,1.77,9.12,0.527,6,0.000,0.034,2999,2149,1745,0,0,0,0,0,0
$GC,5789,0.96,459.4,58.0,8.7,745,5896,0.10,1.80,100.22,0.565,4,0.099,0.040,3057,3273,1217,0,0,0,0,0,0
$GC,5982,1.01,502.2,33.7,13.0,772,6023,0.00,1.83,33.85,0.531,6,0.000,0.030,3067,2080,1041,0,0,0,0,0,0
$STATE,6164,end climb,SURFACE_DEPTH_REACHED
$STATE,6164,begin surface coast
$FINISH,0.0,1.012802
$STATE,6183,end surface coast,CONTROL_FINISHED_OK
$STATE,6183,begin surface
$SM_CCo,6199,95.18,0.055,0,0,481,640.23
$SM_GC,0.74,0.00,0.00,95.18,0.000,0.000,0.055,151,1996,481,-8.06,-0.82,640.23
$IRIDIUM_FIX,2352.12,12612.57,071010,131312
$TT8_MAMPS,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,24.3,29.353
$10V_AH,10.4,24.501
$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,19.000,46.775,563.375,95.175,0.000,22.390,37.643,143.739,0.000,0.000,23.225,1867.186,1472.725,613.922,2513.722,136.764,0.000,1447.317,0.000,2311.947,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,95.625,859.860,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.593,0.000,1696.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,46958,804
$CAP_FILE_SIZE,84277,0
$CFSIZE,260165632,243568640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,279.4,1
$GPS,071010,165436,2403.854,12611.309,33,1.0,33,-3.6