version: 66.08
glider: 169
mission: 2
dive: 301
start: 10 14 110 23 35 16
data:
$ID,169
$MISSION,2
$DIVE,301
$N_DIVES,312
$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,-7061.1982
$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
$GPS1,141010,232938,2349.510,12610.292,13,1.9,13,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.4
$GPS2,141010,233450,2349.513,12610.297,16,1.9,16,-3.5
$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,192.5,17854,-21.0,-15.152
$D_GRID,3754
$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,-204.4,0.0,0.0,0,111,0.00,0.00,-93.22,0.000,2,0.000,0.000,151,1987,3019,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.6,-5.5,12,148,9.85,1.95,-15.85,0.000,4,0.243,0.078,2489,3167,3928,0,0,0,0,0,0
$GC,192,-0.70,-204.4,36.6,-34.4,23,201,0.00,1.85,0.00,0.000,6,0.000,0.050,2489,2004,3929,0,0,0,0,0,0
$GC,557,-0.70,-204.4,143.1,-24.4,84,566,0.00,1.88,0.00,0.000,4,0.000,0.060,2489,3168,3930,0,0,0,0,0,0
$GC,582,-0.69,-204.4,148.5,-22.6,87,591,0.00,1.80,0.00,0.000,6,0.000,0.044,2489,2005,3930,0,0,0,0,0,0
$GC,939,-0.69,-204.4,229.0,-23.0,148,948,0.00,1.75,0.00,0.000,4,0.000,0.052,2489,866,3932,0,0,0,0,0,0
$GC,964,-0.68,-204.4,233.8,-23.1,151,971,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2039,3931,0,0,0,0,0,0
$GC,1321,-0.68,-204.4,299.2,-16.2,212,1329,0.00,1.77,0.00,0.000,4,0.000,0.059,2489,3165,3931,0,0,0,0,0,0
$GC,1442,-0.69,-204.4,317.1,-15.6,223,1445,0.00,1.77,0.00,0.000,6,0.000,0.041,2489,2004,3931,0,0,0,0,0,0
$GC,1772,-0.70,-204.4,375.8,-15.7,254,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2002,3931,0,0,0,0,0,0
$GC,2092,-0.70,-204.4,419.4,-14.1,284,2096,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3175,3929,0,0,0,0,0,0
$GC,2116,-0.71,-204.4,423.0,-14.3,286,2120,0.00,1.77,0.00,0.000,6,0.000,0.042,2489,1996,3929,0,0,0,0,0,0
$GC,2449,-0.72,-204.4,467.9,-11.7,317,2453,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3168,3927,0,0,0,0,0,0
$GC,2485,-0.73,-204.4,472.3,-11.2,320,2489,0.00,1.75,0.00,0.000,6,0.000,0.041,2489,1997,3927,0,0,0,0,0,0
$STATE,2718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2718,begin apogee
$GC,2723,-0.18,0.0,501.0,13.0,342,2892,0.57,0.05,159.98,0.863,6,0.152,0.063,2665,2091,3091,0,0,0,0,0,0
$STATE,2893,end apogee,CONTROL_FINISHED_OK
$STATE,2893,begin climb
$GC,2895,0.72,204.4,511.9,0.0,356,3073,0.80,1.75,170.45,0.858,4,0.059,0.036,2972,953,2255,0,0,0,0,0,0
$GC,3257,0.81,287.8,489.0,11.0,386,3330,0.00,1.80,68.43,0.828,6,0.000,0.033,2972,2162,1916,0,0,0,0,0,0
$GC,3648,0.81,287.8,421.0,18.2,422,3652,0.00,1.67,0.00,0.000,4,0.000,0.041,2972,3270,1904,0,0,0,0,0,0
$GC,3694,0.81,287.8,412.3,18.1,426,3698,0.00,1.75,0.00,0.000,6,0.000,0.029,2981,2073,1903,0,0,0,0,0,0
$GC,4027,0.80,287.8,356.4,15.3,457,4031,0.00,1.65,0.00,0.000,4,0.000,0.040,2990,953,1900,0,0,0,0,0,0
$GC,4100,0.81,291.1,345.4,15.0,463,4103,0.00,1.75,0.00,0.000,6,0.000,0.034,2990,2154,1900,0,0,0,0,0,0
$GC,4430,0.80,291.1,285.5,17.5,500,4440,0.00,1.80,0.00,0.000,4,0.000,0.039,2998,957,1898,0,0,0,0,0,0
$GC,4458,0.80,291.1,280.7,17.9,504,4467,0.00,1.77,0.00,0.000,6,0.000,0.034,2999,2149,1897,0,0,0,0,0,0
$GC,4817,0.79,291.1,221.4,15.7,565,4823,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2149,1896,0,0,0,0,0,0
$GC,5170,0.79,291.1,161.9,17.2,626,5178,0.00,1.77,0.00,0.000,4,0.000,0.040,3008,967,1895,0,0,0,0,0,0
$GC,5340,0.79,292.8,134.5,15.1,654,5349,0.00,1.77,0.00,0.000,6,0.000,0.034,3008,2159,1895,0,0,0,0,0,0
$GC,5702,0.84,332.5,86.8,13.2,715,5743,0.00,1.80,34.25,0.588,4,0.000,0.036,3017,961,1734,0,0,0,0,0,0
$GC,5764,0.96,425.8,80.2,10.5,723,5846,0.00,1.80,74.15,0.578,6,0.000,0.033,3018,2154,1354,0,0,0,0,0,0
$GC,6197,1.09,521.8,28.2,10.4,793,6279,0.17,1.85,74.47,0.532,4,0.066,0.037,3121,957,961,0,0,0,0,0,0
$STATE,6330,end climb,SURFACE_DEPTH_REACHED
$STATE,6330,begin surface coast
$FINISH,0.0,0.997122
$STATE,6349,end surface coast,CONTROL_FINISHED_OK
$STATE,6349,begin surface
$SM_CCo,6366,85.93,0.458,1,0,481,640.23
$SM_GC,0.88,0.00,0.00,85.93,0.000,0.000,0.458,151,2053,481,-8.06,0.79,640.23
$IRIDIUM_FIX,2342.70,12611.69,141010,212156
$TT8_MAMPS,0.026215
$HUMID,45.86
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.2,42.218
$10V_AH,10.4,35.102
$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,19.850,46.700,581.725,85.925,0.000,29.595,18.587,155.753,0.000,0.000,17.256,1899.098,1555.702,605.287,2552.655,157.864,0.000,1460.371,0.000,2356.588,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,78.030,862.920,458.235,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.634,0.000,1725.040,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,50192,814
$CAP_FILE_SIZE,84856,0
$CFSIZE,260165632,238854144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.093,102.7,1
$GPS,151010,012400,2348.473,12610.241,40,1.1,40,-3.5