version: 66.08
glider: 169
mission: 2
dive: 237
start: 10 9 110 20 7 32
data:
$ID,169
$MISSION,2
$DIVE,237
$N_DIVES,248
$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,-6980.8438
$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
$GPS1,091010,200136,2408.890,12611.954,13,1.1,29,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-71.3
$GPS2,091010,200706,2408.963,12611.916,11,1.5,28,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$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,198.8,16600,-21.0,-15.152
$D_GRID,1710
$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,14,begin dive
$GC,16,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-95.10,0.000,2,0.000,0.000,139,1994,3051,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.3,-5.4,12,150,9.68,1.77,-15.48,0.000,4,0.239,0.070,2488,873,3927,0,0,0,0,0,0
$GC,263,-0.71,-204.4,58.6,-30.9,35,271,0.00,1.85,0.00,0.000,6,0.000,0.057,2488,2034,3928,0,0,0,0,0,0
$GC,625,-0.70,-204.4,161.1,-25.3,96,634,0.00,1.77,0.00,0.000,4,0.000,0.060,2488,3166,3929,0,0,0,0,0,0
$GC,672,-0.69,-204.4,171.8,-23.4,103,679,0.00,1.75,0.00,0.000,6,0.000,0.044,2488,2002,3930,0,0,0,0,0,0
$GC,1027,-0.69,-204.4,251.9,-21.0,164,1036,0.00,1.73,0.00,0.000,4,0.000,0.051,2488,871,3931,0,0,0,0,0,0
$GC,1124,-0.70,-204.4,268.5,-15.2,180,1133,0.00,1.83,0.00,0.000,6,0.000,0.051,2488,2045,3930,0,0,0,0,0,0
$GC,1467,-0.70,-204.4,332.9,-19.2,225,1471,0.00,1.75,0.00,0.000,4,0.000,0.059,2488,3166,3930,0,0,0,0,0,0
$GC,1528,-0.70,-204.4,343.9,-15.6,230,1538,0.00,1.77,0.00,0.000,6,0.000,0.045,2488,2008,3930,0,0,0,0,0,0
$GC,1855,-0.71,-204.4,394.0,-15.6,261,1859,0.00,1.75,0.00,0.000,4,0.000,0.054,2488,870,3928,0,0,0,0,0,0
$GC,1881,-0.71,-204.4,397.7,-15.0,263,1885,0.00,1.83,0.00,0.000,6,0.000,0.050,2488,2047,3928,0,0,0,0,0,0
$GC,2211,-0.72,-204.4,451.0,-16.9,294,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2047,3927,0,0,0,0,0,0
$STATE,2529,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2529,begin apogee
$GC,2534,-0.18,0.0,500.2,13.6,324,2697,0.55,0.08,157.60,0.858,6,0.144,0.109,2661,2091,3091,0,0,0,0,0,0
$STATE,2698,end apogee,CONTROL_FINISHED_OK
$STATE,2698,begin climb
$GC,2700,0.72,204.4,508.6,0.0,337,2875,0.82,1.80,168.48,0.849,4,0.076,0.040,2964,964,2256,0,0,0,0,0,0
$GC,3016,0.72,210.5,481.0,14.8,363,3028,0.00,1.80,5.18,0.579,6,0.000,0.035,2962,2163,2232,0,0,0,0,0,0
$GC,3347,0.72,214.1,429.3,15.0,394,3350,0.00,1.67,0.00,0.000,4,0.000,0.041,2961,3273,2225,0,0,0,0,0,0
$GC,3405,0.71,214.1,420.0,16.3,399,3408,0.00,1.75,0.00,0.000,6,0.000,0.031,2970,2077,2224,0,0,0,0,0,0
$GC,3738,0.72,232.4,374.3,14.2,430,3758,0.00,0.00,18.67,0.752,6,0.000,0.000,2970,2076,2142,0,0,0,0,0,0
$GC,4074,0.72,232.4,321.4,15.9,462,4077,0.00,1.67,0.00,0.000,4,0.000,0.043,2978,967,2133,0,0,0,0,0,0
$GC,4133,0.71,232.4,312.4,16.0,467,4136,0.00,1.75,0.00,0.000,6,0.000,0.036,2978,2159,2133,0,0,0,0,0,0
$GC,4473,0.76,271.6,262.0,13.2,520,4510,0.00,1.75,31.58,0.709,4,0.000,0.042,2978,3273,1982,0,0,0,0,0,0
$GC,4563,0.76,278.9,248.8,14.8,534,4578,0.00,1.80,7.07,0.572,6,0.000,0.032,2987,2091,1952,0,0,0,0,0,0
$GC,4920,0.76,278.9,198.1,15.7,596,4929,0.00,1.70,0.00,0.000,4,0.000,0.041,2996,961,1946,0,0,0,0,0,0
$GC,5044,0.80,314.0,180.6,13.4,617,5080,0.00,1.75,28.92,0.647,6,0.000,0.035,2996,2160,1809,0,0,0,0,0,0
$GC,5429,0.80,314.0,118.9,16.5,682,5437,0.00,1.70,0.00,0.000,4,0.000,0.041,2996,3278,1801,0,0,0,0,0,0
$GC,5491,0.80,314.0,108.7,16.1,692,5500,0.00,1.80,0.00,0.000,6,0.000,0.032,3005,2084,1800,0,0,0,0,0,0
$GC,5857,0.90,394.9,59.5,11.1,753,5932,0.00,1.90,62.42,0.568,4,0.000,0.041,3005,3272,1477,0,0,0,0,0,0
$GC,5952,1.07,524.0,51.0,8.7,765,6060,0.12,1.83,100.32,0.549,6,0.035,0.031,3102,2080,953,0,0,0,0,0,0
$STATE,6201,end climb,SURFACE_DEPTH_REACHED
$STATE,6201,begin surface coast
$FINISH,0.1,1.021869
$STATE,6214,end surface coast,CONTROL_FINISHED_OK
$STATE,6214,begin surface
$SM_CCo,6230,82.32,0.055,0,0,481,640.23
$SM_GC,0.79,0.00,0.00,82.32,0.000,0.000,0.055,149,1993,481,-8.07,-0.90,640.23
$IRIDIUM_FIX,2359.20,12612.06,091010,181856
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.60
$XPDR_PINGS,2
$24V_AH,24.3,33.171
$10V_AH,10.4,27.687
$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,19.525,42.775,580.250,82.325,0.000,27.171,38.569,149.187,0.500,0.000,28.839,1861.369,1529.852,601.615,2508.697,142.783,0.000,1434.898,0.000,2294.031,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,108.630,857.565,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,536.333,0.000,1673.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,47073,804
$CAP_FILE_SIZE,82998,0
$CFSIZE,260165632,242171904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.068, 52.0,1
$GPS,091010,215336,2408.134,12611.822,15,2.0,25,-3.6