version: 66.08
glider: 169
mission: 2
dive: 292
start: 10 14 110 5 52 30
data:
$ID,169
$MISSION,2
$DIVE,292
$N_DIVES,305
$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,-7049.8984
$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
$GPS1,141010,054638,2357.576,12610.264,11,2.0,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-73.2
$GPS2,141010,055204,2357.518,12610.233,17,3.1,36,-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,173.8,32581,-21.0,-15.152
$D_GRID,2571
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-93.90,0.000,2,0.000,0.000,144,1983,3028,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.5,-5.5,12,149,9.68,1.75,-15.68,0.000,4,0.236,0.071,2494,886,3927,0,0,0,0,0,0
$GC,256,-0.71,-204.4,56.7,-25.6,34,266,0.00,1.83,0.00,0.000,6,0.000,0.056,2494,2034,3929,0,0,0,0,0,0
$GC,619,-0.71,-204.4,144.9,-20.2,95,627,0.00,1.77,0.00,0.000,4,0.000,0.058,2494,3167,3931,0,0,0,0,0,0
$GC,717,-0.71,-204.4,163.5,-17.1,111,724,0.00,1.75,0.00,0.000,6,0.000,0.041,2494,2002,3931,0,0,0,0,0,0
$GC,1073,-0.71,-204.4,236.1,-20.1,172,1081,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2000,3931,0,0,0,0,0,0
$GC,1432,-0.71,-204.4,295.4,-16.1,233,1439,0.00,1.85,0.00,0.000,4,0.000,0.058,2494,3178,3931,0,0,0,0,0,0
$GC,1495,-0.72,-204.4,304.2,-13.1,241,1498,0.00,1.77,0.00,0.000,6,0.000,0.041,2494,1996,3931,0,0,0,0,0,0
$GC,1827,-0.72,-204.4,355.3,-14.9,272,1831,0.00,1.70,0.00,0.000,4,0.000,0.048,2494,865,3930,0,0,0,0,0,0
$GC,1889,-0.74,-204.4,364.6,-12.9,277,1896,0.00,1.83,0.00,0.000,6,0.000,0.048,2494,2048,3930,0,0,0,0,0,0
$GC,2216,-0.74,-204.4,413.1,-16.4,308,2220,0.00,1.73,0.00,0.000,4,0.000,0.057,2493,3171,3929,0,0,0,0,0,0
$GC,2369,-0.75,-204.4,433.9,-12.2,321,2372,0.00,1.75,0.00,0.000,6,0.000,0.042,2494,2002,3928,0,0,0,0,0,0
$GC,2701,-0.76,-204.4,479.0,-12.9,352,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,2000,3926,0,0,0,0,0,0
$STATE,2879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2879,begin apogee
$GC,2884,-0.18,0.0,501.1,12.3,369,3055,0.55,0.05,159.88,0.861,6,0.154,0.064,2663,2092,3090,0,0,0,0,0,0
$STATE,3056,end apogee,CONTROL_FINISHED_OK
$STATE,3056,begin climb
$GC,3058,0.72,204.4,509.4,0.0,383,3235,0.82,1.75,169.75,0.852,4,0.074,0.037,2967,961,2257,0,0,0,0,0,0
$GC,3376,0.71,204.4,484.1,15.2,409,3380,0.00,1.77,0.00,0.000,6,0.000,0.034,2963,2158,2248,0,0,0,0,0,0
$GC,3707,0.72,215.8,434.8,14.6,440,3722,0.00,1.85,8.90,0.692,4,0.000,0.040,2972,964,2211,0,0,0,0,0,0
$GC,3761,0.72,222.7,426.4,14.8,444,3774,0.00,1.77,7.53,0.658,6,0.000,0.034,2972,2150,2184,0,0,0,0,0,0
$GC,4100,0.74,239.9,377.5,14.3,476,4125,0.00,1.75,15.75,0.741,4,0.000,0.041,2972,3278,2111,0,0,0,0,0,0
$GC,4185,0.73,239.9,364.9,15.4,483,4189,0.00,1.77,0.00,0.000,6,0.000,0.030,2981,2072,2107,0,0,0,0,0,0
$GC,4516,0.75,261.0,315.4,14.1,514,4542,0.00,1.70,17.90,0.717,4,0.000,0.041,2989,958,2025,0,0,0,0,0,0
$GC,4612,0.76,272.6,301.2,14.6,522,4628,0.00,1.75,10.98,0.664,6,0.000,0.034,2989,2153,1979,0,0,0,0,0,0
$GC,4980,0.76,272.8,244.2,15.1,583,4987,0.00,1.75,0.00,0.000,4,0.000,0.038,2998,958,1971,0,0,0,0,0,0
$GC,5011,0.77,284.1,239.2,14.6,588,5027,0.00,1.77,10.00,0.623,6,0.000,0.034,2998,2147,1932,0,0,0,0,0,0
$GC,5378,0.80,316.8,184.2,13.5,650,5415,0.00,0.00,27.83,0.650,6,0.000,0.000,2998,2147,1798,0,0,0,0,0,0
$GC,5770,0.85,358.6,129.2,13.1,715,5812,0.00,1.73,33.85,0.611,4,0.000,0.039,2998,3281,1628,0,0,0,0,0,0
$GC,5866,0.88,383.5,116.0,13.9,729,5892,0.00,1.83,21.15,0.583,6,0.000,0.031,3007,2079,1526,0,0,0,0,0,0
$GC,6247,0.96,439.3,66.7,12.4,792,6297,0.00,1.75,44.35,0.565,4,0.000,0.041,3013,962,1299,0,0,0,0,0,0
$GC,6407,1.16,588.6,51.8,7.7,816,6530,0.20,1.80,115.53,0.547,6,0.034,0.031,3126,2162,690,0,0,0,0,0,0
$STATE,6640,end climb,SURFACE_DEPTH_REACHED
$STATE,6640,begin surface coast
$FINISH,-0.0,1.007979
$STATE,6653,end surface coast,CONTROL_FINISHED_OK
$STATE,6654,begin surface
$SM_CCo,6670,39.75,0.379,1,0,480,640.23
$SM_GC,0.79,0.00,0.00,39.75,0.000,0.000,0.379,150,1997,480,-8.07,-0.79,640.23
$IRIDIUM_FIX,2349.77,12611.17,141010,030308
$TT8_MAMPS,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.2,40.930
$10V_AH,10.3,34.046
$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,19.625,43.000,643.375,39.750,0.000,26.271,15.141,154.987,0.000,0.000,37.987,1980.816,1634.878,592.791,2662.122,171.187,0.000,1491.964,0.000,2458.000,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,72.675,860.625,378.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,568.432,0.000,1782.647,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,50305,852
$CAP_FILE_SIZE,89015,0
$CFSIZE,260165632,239321088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040,260.7,1
$GPS,141010,074502,2356.424,12609.985,10,1.7,10,-3.6