version: 66.08
glider: 169
mission: 2
dive: 253
start: 10 11 110 2 40 28
data:
$ID,169
$MISSION,2
$DIVE,253
$N_DIVES,260
$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,-7000.9268
$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
$GPS1,111010,023436,2406.704,12612.652,30,1.0,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.9
$GPS2,111010,024002,2406.680,12612.691,14,1.3,14,-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,354.0,24696,-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,14,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,-95.15,0.000,2,0.000,0.000,143,1999,3048,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.2,-4.1,12,150,9.68,1.90,-15.77,0.000,4,0.239,0.074,2487,3164,3926,0,0,0,0,0,0
$GC,293,-0.71,-204.4,71.2,-26.0,40,302,0.00,1.83,0.00,0.000,6,0.000,0.047,2487,2005,3927,0,0,0,0,0,0
$GC,658,-0.70,-204.4,160.2,-22.5,101,664,0.00,1.83,0.00,0.000,4,0.000,0.062,2487,3168,3929,0,0,0,0,0,0
$GC,700,-0.70,-204.4,170.0,-22.4,108,709,0.00,1.80,0.00,0.000,6,0.000,0.044,2487,2004,3929,0,0,0,0,0,0
$GC,1061,-0.69,-204.4,247.7,-21.8,169,1068,0.00,1.70,0.00,0.000,4,0.000,0.050,2487,868,3930,0,0,0,0,0,0
$GC,1088,-0.69,-204.4,253.3,-20.6,173,1095,0.00,1.77,0.00,0.000,6,0.000,0.050,2487,2040,3929,0,0,0,0,0,0
$GC,1434,-0.69,-204.4,320.0,-17.9,224,1437,0.00,1.73,0.00,0.000,4,0.000,0.060,2487,3169,3929,0,0,0,0,0,0
$GC,1456,-0.69,-204.4,324.5,-19.3,226,1460,0.00,1.75,0.00,0.000,6,0.000,0.043,2487,2000,3929,0,0,0,0,0,0
$GC,1789,-0.70,-204.4,378.9,-14.7,257,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1998,3928,0,0,0,0,0,0
$GC,2108,-0.70,-204.4,429.7,-16.5,287,2112,0.00,1.80,0.00,0.000,4,0.000,0.057,2487,3168,3927,0,0,0,0,0,0
$GC,2157,-0.71,-204.4,437.3,-14.2,291,2161,0.00,1.75,0.00,0.000,6,0.000,0.040,2487,2001,3927,0,0,0,0,0,0
$GC,2488,-0.72,-204.4,486.0,-13.2,322,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2000,3924,0,0,0,0,0,0
$STATE,2604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2605,begin apogee
$GC,2609,-0.18,0.0,501.0,12.6,333,2778,0.57,0.05,157.80,0.857,6,0.148,0.063,2666,2091,3089,0,0,0,0,0,0
$STATE,2779,end apogee,CONTROL_FINISHED_OK
$STATE,2779,begin climb
$GC,2781,0.72,204.4,507.1,0.0,347,2957,0.82,1.80,168.43,0.848,4,0.077,0.039,2967,961,2257,0,0,0,0,0,0
$GC,3054,0.71,204.4,485.7,15.5,370,3057,0.00,1.77,0.00,0.000,6,0.000,0.032,2964,2158,2249,0,0,0,0,0,0
$GC,3386,0.73,224.3,437.3,14.2,401,3407,0.00,0.00,16.25,0.760,6,0.000,0.000,2964,2159,2175,0,0,0,0,0,0
$GC,3725,0.75,242.9,389.2,14.2,433,3746,0.00,1.88,16.10,0.744,4,0.000,0.041,2973,960,2099,0,0,0,0,0,0
$GC,3772,0.75,250.6,382.1,14.8,437,3785,0.00,1.80,7.90,0.654,6,0.000,0.035,2972,2149,2069,0,0,0,0,0,0
$GC,4103,0.75,250.6,326.6,16.5,468,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2149,2058,0,0,0,0,0,0
$GC,4432,0.74,250.6,276.4,15.4,511,4440,0.00,1.77,0.00,0.000,4,0.000,0.040,2981,958,2055,0,0,0,0,0,0
$GC,4673,0.76,262.7,241.1,14.5,553,4688,0.00,1.75,9.32,0.621,6,0.000,0.036,2979,2156,2019,0,0,0,0,0,0
$GC,5029,0.77,277.4,186.5,14.4,615,5051,0.00,1.70,13.55,0.624,4,0.000,0.042,2979,3272,1959,0,0,0,0,0,0
$GC,5093,0.77,277.4,176.5,15.4,625,5099,0.00,1.75,0.00,0.000,6,0.000,0.031,2987,2075,1956,0,0,0,0,0,0
$GC,5448,0.83,329.6,126.2,12.6,686,5498,0.00,1.65,42.75,0.621,4,0.000,0.037,2996,966,1746,0,0,0,0,0,0
$GC,5578,0.88,364.3,108.5,13.4,705,5612,0.00,1.80,28.08,0.591,6,0.000,0.034,2996,2152,1604,0,0,0,0,0,0
$GC,5963,0.97,431.7,57.6,11.8,769,6022,0.12,1.77,52.92,0.564,4,0.083,0.039,3066,3274,1328,0,0,0,0,0,0
$GC,6064,0.97,431.7,42.1,15.4,783,6074,0.08,1.83,0.00,0.000,6,0.147,0.029,3049,2077,1325,0,0,0,0,0,0
$STATE,6340,end climb,SURFACE_DEPTH_REACHED
$STATE,6340,begin surface coast
$FINISH,0.1,0.999273
$STATE,6366,end surface coast,CONTROL_FINISHED_OK
$STATE,6366,begin surface
$SM_CCo,6382,136.80,0.478,1,0,481,640.23
$SM_GC,0.91,0.00,0.00,136.80,0.000,0.000,0.478,148,1998,481,-8.07,-0.79,640.23
$IRIDIUM_FIX,2356.84,12613.96,111010,000045
$TT8_MAMPS,0.026215
$HUMID,45.07
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.3,35.371
$10V_AH,10.5,29.527
$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,19.325,39.500,513.100,136.800,0.000,31.246,37.667,153.211,0.000,0.000,15.499,1944.626,1565.529,617.647,2575.696,147.964,0.000,1423.964,0.000,2367.552,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,98.685,856.800,478.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,557.422,0.000,1766.622,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,50243,833
$CAP_FILE_SIZE,83368,0
$CFSIZE,260165632,241348608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.087,173.0,1
$GPS,111010,043006,2407.247,12612.693,11,1.3,28,-3.6