version: 66.08
glider: 169
mission: 2
dive: 277
start: 10 13 110 0 50 22
data:
$ID,169
$MISSION,2
$DIVE,277
$N_DIVES,286
$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,-7031.0659
$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
$GPS1,131010,004406,2413.783,12611.979,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.3
$GPS2,131010,004956,2413.772,12612.009,16,1.3,16,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12612.000
$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,205.4,62546,-21.0,-15.152
$D_GRID,1682
$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,13,begin dive
$GC,15,-0.72,-204.4,0.0,0.0,0,118,0.00,0.00,-99.88,0.000,2,0.000,0.000,150,1999,3232,0,0,0,0,0,0
$GC,121,-0.72,-204.4,4.2,-7.3,13,148,9.38,1.80,-11.43,0.000,4,0.226,0.069,2488,868,3928,0,0,0,0,0,0
$GC,249,-0.71,-204.4,59.1,-28.5,33,258,0.00,1.85,0.00,0.000,6,0.000,0.055,2488,2033,3930,0,0,0,0,0,0
$GC,610,-0.70,-204.4,161.9,-23.4,94,619,0.00,1.77,0.00,0.000,4,0.000,0.057,2488,3167,3932,0,0,0,0,0,0
$GC,701,-0.70,-204.4,181.4,-19.8,109,707,0.00,1.75,0.00,0.000,6,0.000,0.042,2488,2001,3933,0,0,0,0,0,0
$GC,1046,-0.70,-204.4,252.3,-20.0,170,1054,0.00,1.85,0.00,0.000,4,0.000,0.059,2488,3163,3933,0,0,0,0,0,0
$GC,1129,-0.70,-204.4,267.4,-15.9,184,1138,0.00,1.77,0.00,0.000,6,0.000,0.041,2488,2004,3934,0,0,0,0,0,0
$GC,1471,-0.70,-204.4,331.9,-18.2,230,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2002,3933,0,0,0,0,0,0
$GC,1792,-0.71,-204.4,384.8,-16.3,260,1795,0.00,1.83,0.00,0.000,4,0.000,0.057,2488,3167,3931,0,0,0,0,0,0
$GC,1887,-0.72,-204.4,398.5,-12.1,268,1895,0.00,1.77,0.00,0.000,6,0.000,0.040,2488,2002,3931,0,0,0,0,0,0
$GC,2214,-0.72,-204.4,446.8,-14.5,299,2218,0.00,1.85,0.00,0.000,4,0.000,0.056,2488,3167,3930,0,0,0,0,0,0
$GC,2249,-0.73,-204.4,452.0,-14.0,302,2252,0.00,1.75,0.00,0.000,6,0.000,0.040,2488,1988,3930,0,0,0,0,0,0
$GC,2582,-0.74,-204.4,497.4,-13.4,333,2586,0.00,1.88,0.00,0.000,4,0.000,0.057,2488,3162,3928,0,0,0,0,0,0
$STATE,2595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2595,begin apogee
$GC,2601,-0.18,0.0,500.1,13.6,334,2768,0.57,0.08,158.62,0.864,6,0.147,0.119,2667,2149,3090,0,0,0,0,0,0
$STATE,2769,end apogee,CONTROL_FINISHED_OK
$STATE,2769,begin climb
$GC,2770,0.72,204.4,510.4,0.0,348,2947,0.80,1.90,168.50,0.854,4,0.069,0.038,2967,959,2256,0,0,0,0,0,0
$GC,3027,0.71,204.4,493.8,15.4,369,3034,0.00,1.80,0.00,0.000,6,0.000,0.033,2967,2165,2248,0,0,0,0,0,0
$GC,3352,0.70,204.4,441.2,15.4,400,3356,0.00,1.80,0.00,0.000,4,0.000,0.039,2976,960,2243,0,0,0,0,0,0
$GC,3402,0.70,204.4,433.0,16.0,404,3412,0.00,1.80,0.00,0.000,6,0.000,0.034,2975,2161,2242,0,0,0,0,0,0
$GC,3730,0.70,212.5,386.3,14.7,435,3738,0.00,0.00,5.30,0.582,6,0.000,0.000,2975,2161,2224,0,0,0,0,0,0
$GC,4058,0.70,219.4,337.0,14.8,466,4072,0.00,1.65,7.15,0.636,4,0.000,0.038,2975,3282,2196,0,0,0,0,0,0
$GC,4107,0.69,219.4,329.1,15.5,470,4112,0.12,1.77,0.00,0.000,6,0.178,0.031,2952,2080,2195,0,0,0,0,0,0
$GC,4443,0.80,307.5,287.0,10.8,510,4523,0.10,1.77,72.28,0.738,4,0.096,0.039,3020,954,1836,0,0,0,0,0,0
$GC,4585,0.79,307.5,264.6,17.3,531,4592,0.12,1.80,0.00,0.000,6,0.177,0.033,2988,2165,1830,0,0,0,0,0,0
$GC,4943,0.79,307.5,202.7,18.4,592,4952,0.00,1.67,0.00,0.000,4,0.000,0.041,2989,3272,1825,0,0,0,0,0,0
$GC,4990,0.79,307.5,194.3,19.2,599,4997,0.00,1.77,0.00,0.000,6,0.000,0.031,2997,2087,1824,0,0,0,0,0,0
$GC,5349,0.82,333.0,144.0,13.9,660,5375,0.00,1.73,19.95,0.617,4,0.000,0.040,3006,960,1731,0,0,0,0,0,0
$GC,5424,0.82,333.0,131.9,16.1,671,5433,0.00,1.80,0.00,0.000,6,0.000,0.032,3006,2161,1728,0,0,0,0,0,0
$GC,5790,0.93,421.2,79.6,10.8,732,5865,0.00,1.90,68.93,0.585,4,0.000,0.041,3013,962,1373,0,0,0,0,0,0
$GC,5921,1.08,534.4,67.3,9.5,750,6020,0.15,1.80,88.50,0.562,6,0.036,0.031,3110,2153,909,0,0,0,0,0,0
$STATE,6230,end climb,SURFACE_DEPTH_REACHED
$STATE,6230,begin surface coast
$FINISH,-0.0,1.007501
$STATE,6244,end surface coast,CONTROL_FINISHED_OK
$STATE,6245,begin surface
$SM_CCo,6260,74.93,0.448,1,0,481,640.23
$SM_GC,0.91,0.00,0.00,74.93,0.000,0.000,0.448,150,1998,481,-8.06,-0.76,640.23
$IRIDIUM_FIX,2406.29,12611.55,121010,222250
$TT8_MAMPS,0.026215
$HUMID,46.69
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.2,38.754
$10V_AH,10.3,32.292
$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,19.575,46.800,589.225,74.925,0.000,27.864,37.485,178.116,0.000,0.000,16.856,1848.740,1580.898,606.657,2489.417,166.148,0.000,1445.782,0.000,2270.621,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,119.340,863.685,447.525,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.431,0.000,1651.434,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46930,800
$CAP_FILE_SIZE,84542,0
$CFSIZE,260165632,240115712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.100,144.8,1
$GPS,131010,023643,2412.629,12611.592,14,1.8,14,-3.6