version: 66.08
glider: 169
mission: 2
dive: 305
start: 10 15 110 7 35 52
data:
$ID,169
$MISSION,2
$DIVE,305
$N_DIVES,317
$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,-7066.2197
$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
$GPS1,151010,072955,2344.999,12609.769,11,1.9,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.3
$GPS2,151010,073526,2344.942,12609.756,14,1.4,14,-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,143.7,9912,-21.0,-15.152
$D_GRID,5000
$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,-204.4,0.0,0.0,0,107,0.00,0.00,-89.15,0.000,2,0.000,0.000,147,1997,2926,0,0,0,0,0,0
$GC,109,-0.72,-204.4,3.6,-6.1,11,144,9.68,1.75,-18.05,0.000,4,0.236,0.065,2485,868,3926,0,0,0,0,0,0
$GC,299,-0.71,-204.4,70.9,-31.9,41,308,0.00,1.85,0.00,0.000,6,0.000,0.055,2485,2033,3928,0,0,0,0,0,0
$GC,657,-0.70,-204.4,163.5,-21.2,102,666,0.00,1.77,0.00,0.000,4,0.000,0.057,2485,3168,3930,0,0,0,0,0,0
$GC,704,-0.70,-204.4,173.0,-20.8,109,711,0.00,1.77,0.00,0.000,6,0.000,0.044,2485,2003,3930,0,0,0,0,0,0
$GC,1058,-0.70,-204.4,245.9,-19.5,170,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2002,3931,0,0,0,0,0,0
$GC,1416,-0.70,-204.4,317.4,-18.8,224,1419,0.00,1.83,0.00,0.000,4,0.000,0.057,2485,3174,3930,0,0,0,0,0,0
$GC,1476,-0.70,-204.4,327.2,-14.8,229,1480,0.00,1.77,0.00,0.000,6,0.000,0.043,2485,2002,3930,0,0,0,0,0,0
$GC,1807,-0.71,-204.4,381.9,-16.6,260,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2001,3929,0,0,0,0,0,0
$GC,2128,-0.71,-204.4,434.0,-15.4,290,2132,0.00,1.83,0.00,0.000,4,0.000,0.057,2485,3173,3927,0,0,0,0,0,0
$GC,2190,-0.72,-204.4,443.3,-12.8,295,2197,0.00,1.80,0.00,0.000,6,0.000,0.042,2485,2002,3927,0,0,0,0,0,0
$GC,2515,-0.73,-204.4,489.7,-13.8,326,2519,0.00,1.83,0.00,0.000,4,0.000,0.057,2485,3176,3925,0,0,0,0,0,0
$STATE,2606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2606,begin apogee
$GC,2612,-0.18,0.0,500.2,10.7,334,2781,0.57,0.08,159.38,0.858,6,0.147,0.115,2664,2150,3091,0,0,0,0,0,0
$STATE,2782,end apogee,CONTROL_FINISHED_OK
$STATE,2782,begin climb
$GC,2784,0.72,204.4,507.9,0.0,348,2961,0.80,1.92,169.62,0.848,4,0.067,0.037,2966,955,2256,0,0,0,0,0,0
$GC,2997,0.73,220.9,497.2,14.3,366,3021,0.00,1.83,14.85,0.760,6,0.000,0.033,2965,2154,2188,0,0,0,0,0,0
$GC,3339,0.76,250.3,447.3,13.7,398,3366,0.00,0.00,24.88,0.783,6,0.000,0.000,2965,2154,2070,0,0,0,0,0,0
$GC,3695,0.76,250.3,391.8,16.3,431,3699,0.00,1.67,0.00,0.000,4,0.000,0.041,2965,3282,2057,0,0,0,0,0,0
$GC,3746,0.75,250.3,382.6,17.2,435,3753,0.00,1.80,0.00,0.000,6,0.000,0.030,2973,2081,2056,0,0,0,0,0,0
$GC,4073,0.75,250.3,328.3,16.1,466,4076,0.00,1.62,0.00,0.000,4,0.000,0.038,2982,955,2053,0,0,0,0,0,0
$GC,4145,0.75,250.3,316.4,15.4,472,4155,0.00,1.77,0.00,0.000,6,0.000,0.034,2982,2149,2052,0,0,0,0,0,0
$GC,4491,0.80,294.4,267.7,13.0,523,4534,0.00,1.80,34.97,0.709,4,0.000,0.036,2991,955,1888,0,0,0,0,0,0
$GC,4595,0.82,314.4,252.4,14.2,539,4617,0.00,1.80,17.60,0.668,6,0.000,0.034,2991,2158,1809,0,0,0,0,0,0
$GC,4969,0.82,314.4,191.9,16.8,602,4978,0.00,1.80,0.00,0.000,4,0.000,0.038,3000,964,1801,0,0,0,0,0,0
$GC,5019,0.82,314.4,183.4,16.0,610,5028,0.00,1.77,0.00,0.000,6,0.000,0.035,3000,2147,1800,0,0,0,0,0,0
$GC,5380,0.84,332.8,126.9,14.2,671,5406,0.00,1.70,15.07,0.584,4,0.000,0.040,3000,3268,1733,0,0,0,0,0,0
$GC,5449,0.85,342.5,116.9,14.7,681,5466,0.00,1.77,9.62,0.539,6,0.000,0.029,3009,2079,1693,0,0,0,0,0,0
$GC,5817,0.97,430.5,71.4,10.8,743,5899,0.00,1.73,69.93,0.574,4,0.000,0.040,3016,967,1333,0,0,0,0,0,0
$GC,6032,1.13,547.6,50.3,9.3,775,6130,0.17,1.77,90.97,0.544,6,0.034,0.031,3122,2152,857,0,0,0,0,0,0
$STATE,6260,end climb,SURFACE_DEPTH_REACHED
$STATE,6260,begin surface coast
$FINISH,0.1,0.997622
$STATE,6279,end surface coast,CONTROL_FINISHED_OK
$STATE,6279,begin surface
$SM_CCo,6296,67.65,0.438,1,0,480,640.23
$SM_GC,0.95,0.00,0.00,67.65,0.000,0.000,0.438,139,1986,480,-8.10,-1.07,640.23
$IRIDIUM_FIX,2335.63,12611.69,151010,050524
$TT8_MAMPS,0.025466
$HUMID,46.41
$INTERNAL_PRESSURE,9.30079
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,24.2,42.809
$10V_AH,10.3,35.580
$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,19.650,42.950,606.900,67.650,0.000,28.360,38.747,154.936,0.250,0.000,15.612,1877.347,1523.377,609.232,2526.531,164.103,0.000,1457.850,0.000,2318.497,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,114.750,857.565,437.580,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.097,0.000,1712.202,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,47099,812
$CAP_FILE_SIZE,83715,0
$CFSIZE,260165632,238653440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.128,288.5,1
$GPS,151010,092307,2344.199,12609.935,39,1.8,39,-3.5