version: 66.08
glider: 169
mission: 2
dive: 282
start: 10 13 110 10 26 2
data:
$ID,169
$MISSION,2
$DIVE,282
$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,-7037.3442
$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
$GPS1,131010,101919,2408.192,12610.789,14,1.8,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.9
$GPS2,131010,102536,2408.225,12610.799,15,1.0,31,-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,189.1,52312,-21.0,-15.152
$D_GRID,1779
$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,15,-0.72,-204.4,0.0,0.0,0,110,0.00,0.00,-92.55,0.000,2,0.000,0.000,150,1996,2983,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.1,-4.0,12,148,9.95,1.90,-17.12,0.000,4,0.246,0.076,2488,3173,3927,0,0,0,0,0,0
$GC,168,-0.68,-204.4,27.1,-44.4,19,177,0.00,1.83,0.00,0.000,6,0.000,0.047,2488,2011,3928,0,0,0,0,0,0
$GC,533,-0.67,-204.4,137.2,-23.5,80,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2010,3929,0,0,0,0,0,0
$GC,883,-0.67,-204.4,213.4,-20.8,141,891,0.00,1.85,0.00,0.000,4,0.000,0.063,2488,3169,3930,0,0,0,0,0,0
$GC,999,-0.67,-204.4,235.5,-18.4,161,1006,0.00,1.77,0.00,0.000,6,0.000,0.045,2488,2004,3930,0,0,0,0,0,0
$GC,1345,-0.67,-204.4,304.1,-18.2,220,1349,0.00,1.67,0.00,0.000,4,0.000,0.049,2488,871,3929,0,0,0,0,0,0
$GC,1384,-0.67,-204.4,310.3,-18.0,223,1387,0.00,1.77,0.00,0.000,6,0.000,0.049,2488,2049,3929,0,0,0,0,0,0
$GC,1715,-0.67,-204.4,365.5,-14.7,254,1719,0.00,1.73,0.00,0.000,4,0.000,0.057,2488,3168,3928,0,0,0,0,0,0
$GC,1797,-0.68,-204.4,375.8,-10.9,261,1801,0.00,1.75,0.00,0.000,6,0.000,0.041,2488,1993,3928,0,0,0,0,0,0
$GC,2129,-0.69,-204.4,426.7,-16.3,292,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1992,3926,0,0,0,0,0,0
$GC,2450,-0.70,-204.4,470.9,-12.6,322,2454,0.00,1.83,0.00,0.000,4,0.000,0.057,2488,3167,3925,0,0,0,0,0,0
$GC,2477,-0.71,-204.4,474.7,-11.4,324,2486,0.00,1.80,0.00,0.000,6,0.000,0.041,2488,1999,3924,0,0,0,0,0,0
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2710,-0.18,0.0,501.0,11.4,346,2873,0.57,0.08,157.82,0.866,6,0.148,0.107,2667,2090,3090,0,0,0,0,0,0
$STATE,2874,end apogee,CONTROL_FINISHED_OK
$STATE,2874,begin climb
$GC,2876,0.72,204.4,508.1,0.0,359,3053,0.80,1.90,169.10,0.853,4,0.068,0.037,2958,3279,2255,0,0,0,0,0,0
$GC,3168,0.71,204.4,482.9,17.8,384,3172,0.00,1.83,0.00,0.000,6,0.000,0.031,2967,2083,2246,0,0,0,0,0,0
$GC,3501,0.74,234.7,434.6,13.6,415,3530,0.00,1.75,24.62,0.786,4,0.000,0.040,2976,958,2132,0,0,0,0,0,0
$GC,3670,0.76,257.7,410.9,14.0,429,3694,0.00,1.80,19.55,0.766,6,0.000,0.034,2974,2151,2039,0,0,0,0,0,0
$GC,4021,0.76,257.7,353.0,17.5,462,4025,0.00,1.80,0.00,0.000,4,0.000,0.040,2983,965,2028,0,0,0,0,0,0
$GC,4079,0.76,257.7,343.5,16.0,467,4082,0.00,1.75,0.00,0.000,6,0.000,0.035,2983,2162,2027,0,0,0,0,0,0
$GC,4411,0.75,257.7,285.3,16.5,505,4418,0.00,1.67,0.00,0.000,4,0.000,0.041,2983,3282,2023,0,0,0,0,0,0
$GC,4506,0.75,257.7,268.9,17.1,521,4513,0.00,1.77,0.00,0.000,6,0.000,0.033,2992,2070,2023,0,0,0,0,0,0
$GC,4852,0.75,268.5,215.0,14.6,582,4867,0.00,1.67,7.53,0.586,4,0.000,0.041,3000,957,1996,0,0,0,0,0,0
$GC,4910,0.80,312.8,207.1,12.9,591,4953,0.00,1.75,37.97,0.678,6,0.000,0.035,3000,2157,1814,0,0,0,0,0,0
$GC,5297,0.80,312.8,145.0,16.5,657,5306,0.00,1.70,0.00,0.000,4,0.000,0.042,3000,3274,1805,0,0,0,0,0,0
$GC,5344,0.80,312.8,137.1,16.7,664,5352,0.00,1.80,0.00,0.000,6,0.000,0.031,3010,2078,1803,0,0,0,0,0,0
$GC,5702,0.85,349.0,83.5,13.4,725,5736,0.00,1.90,28.58,0.579,4,0.000,0.041,3010,3274,1667,0,0,0,0,0,0
$GC,5868,0.95,427.2,61.6,11.3,751,5935,0.00,1.80,61.95,0.565,6,0.000,0.031,3019,2082,1348,0,0,0,0,0,0
$GC,6286,1.07,519.5,22.9,10.6,819,6368,0.15,1.75,71.20,0.523,4,0.070,0.040,3114,963,970,0,0,0,0,0,0
$STATE,6399,end climb,SURFACE_DEPTH_REACHED
$STATE,6399,begin surface coast
$FINISH,0.0,1.000041
$STATE,6412,end surface coast,CONTROL_FINISHED_OK
$STATE,6412,begin surface
$SM_CCo,6429,87.75,0.451,1,0,480,640.23
$SM_GC,0.93,0.00,0.00,87.75,0.000,0.000,0.451,151,2053,480,-8.06,0.76,640.23
$IRIDIUM_FIX,2359.20,12612.06,131010,080807
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.2,39.481
$10V_AH,10.3,32.874
$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,19.875,46.550,578.325,87.750,0.000,30.256,42.353,180.082,0.000,0.000,32.346,1950.847,1519.398,606.656,2654.029,169.881,0.000,1460.420,0.000,2405.704,0.000,0.544,0.000
$DEVICE_MAMPS,246.330,107.100,865.980,450.585,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,558.546,0.000,1773.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50360,836
$CAP_FILE_SIZE,86863,0
$CFSIZE,260165632,239849472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045, 46.6,1
$GPS,131010,121536,2407.335,12610.781,9,1.4,25,-3.6