version: 66.08
glider: 169
mission: 2
dive: 212
start: 10 7 110 20 44 34
data:
$ID,169
$MISSION,2
$DIVE,212
$N_DIVES,220
$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,-6949.4365
$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
$GPS1,071010,203907,2406.190,12611.453,26,1.2,26,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.1
$GPS2,071010,204408,2406.231,12611.445,12,1.2,12,-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,9.0,25517,-21.0,-15.152
$D_GRID,1752
$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,-96.45,0.000,2,0.000,0.000,139,2076,3096,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.6,-5.5,12,150,9.40,1.77,-14.48,0.000,4,0.231,0.082,2486,3168,3929,0,0,0,0,0,0
$GC,270,-0.71,-204.4,67.5,-29.7,36,278,0.00,1.83,0.00,0.000,6,0.000,0.049,2486,2009,3930,0,0,0,0,0,0
$GC,633,-0.69,-204.4,170.6,-26.2,97,640,0.00,1.73,0.00,0.000,4,0.000,0.054,2486,877,3931,0,0,0,0,0,0
$GC,719,-0.69,-204.4,189.8,-17.9,111,726,0.00,1.77,0.00,0.000,6,0.000,0.053,2486,2043,3932,0,0,0,0,0,0
$GC,1075,-0.69,-204.4,265.6,-22.2,172,1083,0.00,1.77,0.00,0.000,4,0.000,0.060,2486,3169,3932,0,0,0,0,0,0
$GC,1098,-0.68,-204.4,269.9,-21.0,175,1105,0.00,1.75,0.00,0.000,6,0.000,0.047,2486,2004,3932,0,0,0,0,0,0
$GC,1436,-0.68,-204.4,342.8,-21.7,218,1440,0.00,1.73,0.00,0.000,4,0.000,0.054,2486,866,3932,0,0,0,0,0,0
$GC,1475,-0.68,-204.4,350.1,-21.6,221,1479,0.00,1.77,0.00,0.000,6,0.000,0.051,2486,2038,3932,0,0,0,0,0,0
$GC,1805,-0.68,-204.4,412.2,-17.4,252,1809,0.00,1.75,0.00,0.000,4,0.000,0.062,2486,3167,3931,0,0,0,0,0,0
$GC,1878,-0.69,-204.4,424.1,-14.9,258,1888,0.00,1.80,0.00,0.000,6,0.000,0.045,2486,2002,3931,0,0,0,0,0,0
$GC,2205,-0.69,-204.4,475.1,-15.4,289,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2000,3929,0,0,0,0,0,0
$STATE,2373,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2373,begin apogee
$GC,2378,-0.18,0.0,500.8,14.9,305,2540,0.57,0.08,157.30,0.852,6,0.148,0.108,2666,2091,3091,0,0,0,0,0,0
$STATE,2541,end apogee,CONTROL_FINISHED_OK
$STATE,2541,begin climb
$GC,2543,0.72,204.4,509.1,0.0,318,2721,0.80,1.77,166.98,0.848,4,0.067,0.039,2968,970,2255,0,0,0,0,0,0
$GC,2771,0.71,204.4,494.8,15.3,337,2779,0.00,1.83,0.00,0.000,6,0.000,0.034,2966,2153,2249,0,0,0,0,0,0
$GC,3097,0.70,204.4,443.0,15.8,368,3101,0.00,1.67,0.00,0.000,4,0.000,0.041,2966,3280,2243,0,0,0,0,0,0
$GC,3156,0.69,204.4,433.8,15.9,373,3160,0.00,1.77,0.00,0.000,6,0.000,0.034,2975,2083,2241,0,0,0,0,0,0
$GC,3488,0.69,211.8,385.1,14.8,404,3503,0.00,1.83,4.68,0.542,4,0.000,0.043,2974,3266,2226,0,0,0,0,0,0
$GC,3597,0.70,231.7,368.8,14.2,413,3623,0.00,1.73,18.62,0.741,6,0.000,0.034,2983,2084,2145,0,0,0,0,0,0
$GC,3940,0.69,231.7,317.0,15.3,445,3943,0.00,1.65,0.00,0.000,4,0.000,0.042,2992,953,2137,0,0,0,0,0,0
$GC,4011,0.69,231.7,306.2,15.8,451,4015,0.12,1.75,0.00,0.000,6,0.181,0.035,2957,2153,2135,0,0,0,0,0,0
$GC,4360,0.76,290.9,259.0,12.2,508,4412,0.00,1.88,47.12,0.703,4,0.000,0.042,2966,967,1904,0,0,0,0,0,0
$GC,4442,0.80,329.1,248.2,13.2,520,4478,0.00,1.80,31.80,0.676,6,0.000,0.035,2966,2144,1748,0,0,0,0,0,0
$GC,4828,0.84,360.6,190.7,13.6,585,4859,0.10,1.73,25.02,0.636,4,0.099,0.042,3023,3275,1620,0,0,0,0,0,0
$GC,4877,0.83,360.6,181.1,20.3,592,4887,0.10,1.83,0.00,0.000,6,0.164,0.033,3001,2086,1617,0,0,0,0,0,0
$GC,5239,0.83,360.6,118.5,16.8,653,5247,0.00,1.67,0.00,0.000,4,0.000,0.042,3009,968,1612,0,0,0,0,0,0
$GC,5343,0.83,360.6,101.6,15.9,670,5352,0.00,1.77,0.00,0.000,6,0.000,0.035,3009,2152,1611,0,0,0,0,0,0
$GC,5709,0.99,483.9,52.9,9.0,731,5807,0.12,0.00,94.25,0.558,6,0.082,0.000,3081,2152,1117,0,0,0,0,0,0
$STATE,6004,end climb,SURFACE_DEPTH_REACHED
$STATE,6004,begin surface coast
$FINISH,0.1,1.021859
$STATE,6018,end surface coast,CONTROL_FINISHED_OK
$STATE,6018,begin surface
$SM_CCo,6034,105.10,0.055,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,105.10,0.000,0.000,0.055,144,1977,481,-8.08,-1.36,640.23
$IRIDIUM_FIX,2356.84,12613.96,071010,181853
$TT8_MAMPS,0.026964
$HUMID,45.03
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.3,29.759
$10V_AH,10.4,24.834
$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,19.475,42.875,545.775,105.100,0.000,29.117,37.102,139.255,0.000,0.000,13.670,1809.287,1468.053,602.455,2431.806,131.472,0.000,1404.659,0.000,2238.584,0.000,0.545,0.000
$DEVICE_MAMPS,231.030,107.865,852.210,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,519.869,0.000,1632.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46967,779
$CAP_FILE_SIZE,81285,0
$CFSIZE,260165632,243433472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029, 27.3,1
$GPS,071010,222752,2407.277,12611.668,13,2.2,32,-3.6