version: 66.08
glider: 169
mission: 2
dive: 153
start: 10 3 110 5 12 33
data:
$ID,169
$MISSION,2
$DIVE,153
$N_DIVES,165
$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,9
$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,-6874.416
$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,360
$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
$GPS1,031010,050728,2409.883,12612.679,14,4.7,33,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.8
$GPS2,031010,051206,2409.893,12612.676,40,0.9,40,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2400.000,12612.000
$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,194.7,18357,-21.0,-15.152
$D_GRID,1677
$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,14,-0.72,-204.4,0.0,0.0,0,110,0.00,0.00,-93.40,0.000,2,0.000,0.000,147,1994,3001,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.0,-4.1,12,147,9.30,1.75,-16.92,0.000,4,0.233,0.068,2489,874,3927,0,0,0,0,0,0
$GC,259,-0.71,-204.4,59.7,-31.8,35,268,0.00,1.83,0.00,0.000,6,0.000,0.055,2489,2033,3928,0,0,0,0,0,0
$GC,621,-0.69,-204.4,167.3,-26.4,96,630,0.00,1.77,0.00,0.000,4,0.000,0.061,2489,3168,3930,0,0,0,0,0,0
$GC,660,-0.69,-204.4,177.3,-24.5,102,669,0.00,1.80,0.00,0.000,6,0.000,0.046,2489,2002,3931,0,0,0,0,0,0
$GC,1019,-0.68,-204.4,255.5,-21.0,163,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2000,3931,0,0,0,0,0,0
$GC,1368,-0.68,-204.4,323.7,-17.9,213,1372,0.00,1.67,0.00,0.000,4,0.000,0.051,2489,875,3931,0,0,0,0,0,0
$GC,1441,-0.69,-204.4,336.6,-15.6,219,1449,0.00,1.77,0.00,0.000,6,0.000,0.049,2489,2033,3931,0,0,0,0,0,0
$GC,1767,-0.70,-204.4,391.3,-17.1,250,1770,0.00,1.73,0.00,0.000,4,0.000,0.057,2489,3168,3929,0,0,0,0,0,0
$GC,1804,-0.70,-204.4,397.1,-16.3,253,1807,0.00,1.77,0.00,0.000,6,0.000,0.044,2489,2003,3929,0,0,0,0,0,0
$GC,2134,-0.71,-204.4,450.8,-14.9,284,2138,0.00,1.80,0.00,0.000,4,0.000,0.058,2489,3171,3927,0,0,0,0,0,0
$GC,2158,-0.71,-204.4,454.1,-13.7,286,2161,0.00,1.77,0.00,0.000,6,0.000,0.046,2489,2001,3927,0,0,0,0,0,0
$GC,2491,-0.72,-204.4,498.7,-13.3,317,2494,0.00,1.67,0.00,0.000,4,0.000,0.052,2490,865,3925,0,0,0,0,0,0
$STATE,2501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2501,begin apogee
$GC,2506,-0.18,0.0,500.6,13.3,318,2668,0.57,0.05,155.85,0.858,6,0.156,0.065,2667,2092,3090,0,0,0,0,0,0
$STATE,2669,end apogee,CONTROL_FINISHED_OK
$STATE,2669,begin climb
$GC,2670,0.72,204.4,510.0,0.0,331,2848,0.82,1.77,167.15,0.848,4,0.083,0.040,2966,969,2255,0,0,0,0,0,0
$GC,2933,0.72,210.7,494.8,14.8,353,2943,0.00,1.80,5.50,0.597,6,0.000,0.036,2963,2155,2231,0,0,0,0,0,0
$GC,3271,0.71,210.7,444.3,15.9,385,3274,0.00,1.77,0.00,0.000,4,0.000,0.041,2972,964,2224,0,0,0,0,0,0
$GC,3309,0.70,211.5,437.8,15.1,388,3318,0.00,1.77,0.00,0.000,6,0.000,0.037,2972,2148,2223,0,0,0,0,0,0
$GC,3636,0.70,211.5,384.4,16.5,419,3640,0.00,1.65,0.00,0.000,4,0.000,0.044,2972,3275,2221,0,0,0,0,0,0
$GC,3764,0.69,211.5,362.0,17.2,430,3773,0.00,1.77,0.00,0.000,6,0.000,0.033,2981,2087,2218,0,0,0,0,0,0
$GC,4091,0.68,211.5,310.9,15.9,461,4093,0.12,0.00,0.00,0.000,6,0.192,0.000,2949,2086,2217,0,0,0,0,0,0
$GC,4422,0.76,279.2,269.8,11.8,513,4479,0.00,0.00,54.12,0.721,6,0.000,0.000,2949,2086,1951,0,0,0,0,0,0
$GC,4818,0.83,333.0,219.1,12.5,581,4869,0.12,1.75,42.72,0.675,4,0.083,0.040,3027,964,1730,0,0,0,0,0,0
$GC,4923,0.82,333.0,199.3,20.4,597,4930,0.12,1.80,0.00,0.000,6,0.181,0.038,2996,2151,1726,0,0,0,0,0,0
$GC,5272,0.82,333.0,142.4,15.4,658,5281,0.00,1.70,0.00,0.000,4,0.000,0.043,2995,3273,1721,0,0,0,0,0,0
$GC,5401,0.82,333.0,121.5,16.2,679,5410,0.00,1.77,0.00,0.000,6,0.000,0.031,3005,2084,1720,0,0,0,0,0,0
$GC,5759,0.88,379.2,67.5,12.9,740,5801,0.00,1.67,34.88,0.567,4,0.000,0.038,3013,960,1543,0,0,0,0,0,0
$GC,5844,1.04,502.9,58.0,9.0,752,5951,0.10,1.77,95.62,0.554,6,0.041,0.033,3094,2147,1040,0,0,0,0,0,0
$STATE,6125,end climb,SURFACE_DEPTH_REACHED
$STATE,6126,begin surface coast
$FINISH,-0.1,1.020700
$STATE,6139,end surface coast,CONTROL_FINISHED_OK
$STATE,6140,begin surface
$SM_CCo,6155,96.20,0.462,1,0,480,640.23
$SM_GC,0.87,0.00,0.00,96.20,0.000,0.000,0.462,151,1982,480,-8.06,-1.22,640.23
$IRIDIUM_FIX,2401.56,12610.15,031010,030356
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,21.846
$10V_AH,10.4,18.131
$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,19.425,42.625,555.850,96.200,0.000,24.134,25.670,109.310,0.000,0.000,41.112,1848.192,1524.808,601.604,2448.089,116.431,0.000,1424.562,0.000,2265.678,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,68.085,857.565,462.060,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.849,0.000,1645.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47028,797
$CAP_FILE_SIZE,82135,0
$CFSIZE,260165632,246362112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.062,119.7,1
$GPS,031010,065726,2408.733,12612.717,11,1.2,11,-3.6