version: 66.08
glider: 169
mission: 2
dive: 240
start: 10 10 110 1 47 34
data:
$ID,169
$MISSION,2
$DIVE,240
$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,-6984.6084
$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
$GPS1,101010,014201,2406.058,12611.566,42,1.1,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.0
$GPS2,101010,014708,2406.044,12611.568,12,1.2,12,-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,184.8,11217,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-95.38,0.000,2,0.000,0.000,146,1996,3062,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.4,-5.3,12,150,9.80,1.75,-15.30,0.000,4,0.244,0.064,2485,878,3927,0,0,0,0,0,0
$GC,228,-0.70,-204.4,48.1,-30.7,29,237,0.00,1.85,0.00,0.000,6,0.000,0.057,2485,2036,3928,0,0,0,0,0,0
$GC,591,-0.70,-204.4,152.9,-23.1,90,601,0.00,1.77,0.00,0.000,4,0.000,0.061,2485,3167,3930,0,0,0,0,0,0
$GC,719,-0.70,-204.4,178.3,-19.0,111,726,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2003,3931,0,0,0,0,0,0
$GC,1074,-0.69,-204.4,252.8,-19.8,172,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2001,3931,0,0,0,0,0,0
$GC,1427,-0.69,-204.4,319.9,-16.9,224,1429,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2001,3930,0,0,0,0,0,0
$GC,1747,-0.69,-204.4,371.8,-16.0,254,1750,0.00,1.80,0.00,0.000,4,0.000,0.057,2485,3166,3929,0,0,0,0,0,0
$GC,1816,-0.70,-204.4,382.6,-14.5,260,1820,0.00,1.73,0.00,0.000,6,0.000,0.041,2486,2002,3929,0,0,0,0,0,0
$GC,2150,-0.71,-204.4,435.6,-14.6,291,2154,0.00,1.73,0.00,0.000,4,0.000,0.050,2486,866,3927,0,0,0,0,0,0
$GC,2198,-0.71,-204.4,442.2,-13.2,295,2202,0.00,1.77,0.00,0.000,6,0.000,0.048,2486,2050,3927,0,0,0,0,0,0
$GC,2530,-0.72,-204.4,488.9,-13.6,326,2534,0.00,1.73,0.00,0.000,4,0.000,0.057,2486,3171,3926,0,0,0,0,0,0
$GC,2613,-0.73,-204.4,498.5,-11.5,333,2617,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2002,3925,0,0,0,0,0,0
$STATE,2624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2624,begin apogee
$GC,2629,-0.18,0.0,500.1,11.6,334,2792,0.57,0.08,157.55,0.862,6,0.145,0.109,2666,2091,3091,0,0,0,0,0,0
$STATE,2792,end apogee,CONTROL_FINISHED_OK
$STATE,2793,begin climb
$GC,2794,0.72,204.4,508.8,0.0,347,2970,0.82,1.88,168.43,0.851,4,0.065,0.037,2962,3281,2256,0,0,0,0,0,0
$GC,3168,0.73,220.2,476.2,14.4,379,3192,0.00,1.77,13.20,0.748,6,0.000,0.031,2971,2072,2191,0,0,0,0,0,0
$GC,3510,0.72,220.2,424.2,15.7,411,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2072,2184,0,0,0,0,0,0
$GC,3829,0.73,231.1,375.0,14.6,441,3843,0.00,1.67,9.20,0.683,4,0.000,0.041,2979,967,2147,0,0,0,0,0,0
$GC,3901,0.74,247.1,364.7,14.4,447,3926,0.00,1.75,14.70,0.726,6,0.000,0.035,2980,2153,2082,0,0,0,0,0,0
$GC,4244,0.74,250.2,312.3,15.0,479,4247,0.00,1.67,0.00,0.000,4,0.000,0.041,2980,3277,2075,0,0,0,0,0,0
$GC,4355,0.73,250.2,293.5,17.1,491,4361,0.00,1.77,0.00,0.000,6,0.000,0.032,2989,2074,2073,0,0,0,0,0,0
$GC,4708,0.72,250.2,234.5,16.9,552,4717,0.00,1.65,0.00,0.000,4,0.000,0.041,2997,965,2071,0,0,0,0,0,0
$GC,4837,0.73,256.5,213.8,14.8,573,4853,0.08,1.77,7.12,0.573,6,0.156,0.035,2971,2160,2045,0,0,0,0,0,0
$GC,5205,0.73,261.1,161.0,14.9,635,5220,0.00,1.83,5.18,0.486,4,0.000,0.041,2980,960,2026,0,0,0,0,0,0
$GC,5335,0.80,316.8,144.2,12.4,656,5393,0.00,1.77,46.50,0.636,6,0.000,0.034,2980,2153,1797,0,0,0,0,0,0
$GC,5744,0.89,384.3,91.2,11.8,723,5802,0.10,1.88,52.53,0.592,4,0.097,0.039,3048,965,1521,0,0,0,0,0,0
$GC,5846,0.89,385.2,76.3,15.1,737,5855,0.08,1.80,0.00,0.000,6,0.148,0.032,3023,2155,1518,0,0,0,0,0,0
$GC,6213,0.96,438.0,27.2,12.5,798,6263,0.00,1.73,41.65,0.535,4,0.000,0.036,3022,3274,1303,0,0,0,0,0,0
$GC,6342,1.01,470.6,11.4,13.5,817,6375,0.00,1.80,26.27,0.508,6,0.000,0.031,3028,2085,1171,0,0,0,0,0,0
$STATE,6416,end climb,SURFACE_DEPTH_REACHED
$STATE,6416,begin surface coast
$FINISH,0.1,1.020307
$STATE,6449,end surface coast,CONTROL_FINISHED_OK
$STATE,6449,begin surface
$SM_CCo,6465,115.25,0.054,0,0,481,640.23
$SM_GC,0.97,0.00,0.00,115.25,0.000,0.000,0.054,143,1984,481,-8.08,-1.16,640.23
$IRIDIUM_FIX,2354.48,12439.02,091010,232322
$TT8_MAMPS,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.3,33.587
$10V_AH,10.5,28.034
$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,19.550,42.850,542.325,115.250,0.000,31.201,16.699,155.517,0.000,0.000,13.636,1956.690,1562.587,610.602,2609.041,150.271,0.000,1466.131,0.000,2415.775,0.000,0.545,0.000
$DEVICE_MAMPS,244.035,108.630,862.155,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.600,0.000,1769.810,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,50447,833
$CAP_FILE_SIZE,87348,0
$CFSIZE,260165632,242012160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,144.3,1
$GPS,101010,033750,2404.981,12611.542,9,1.8,9,-3.6