version: 66.08
glider: 169
mission: 2
dive: 154
start: 10 3 110 7 2 23
data:
$ID,169
$MISSION,2
$DIVE,154
$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,-6875.7661
$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
$GPS1,031010,065726,2408.733,12612.717,11,1.2,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.7
$GPS2,031010,070156,2408.730,12612.699,16,1.1,16,-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,197.1,16212,-21.0,-15.152
$D_GRID,1710
$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,14,-0.72,-204.4,0.0,0.0,0,112,0.00,0.00,-95.03,0.000,2,0.000,0.000,150,1982,3066,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.4,-4.9,12,149,9.15,1.75,-15.35,0.000,4,0.227,0.074,2487,880,3928,0,0,0,0,0,0
$GC,234,-0.70,-204.4,55.6,-35.8,30,242,0.00,1.83,0.00,0.000,6,0.000,0.058,2487,2030,3930,0,0,0,0,0,0
$GC,595,-0.69,-204.4,169.1,-27.0,91,602,0.00,1.75,0.00,0.000,4,0.000,0.061,2487,3167,3932,0,0,0,0,0,0
$GC,633,-0.69,-204.4,178.6,-23.3,97,641,0.00,1.75,0.00,0.000,6,0.000,0.046,2487,2002,3933,0,0,0,0,0,0
$GC,980,-0.68,-204.4,252.4,-20.1,158,988,0.00,1.73,0.00,0.000,4,0.000,0.053,2487,868,3934,0,0,0,0,0,0
$GC,1070,-0.68,-204.4,268.2,-17.0,173,1078,0.00,1.77,0.00,0.000,6,0.000,0.050,2487,2050,3934,0,0,0,0,0,0
$GC,1407,-0.68,-204.4,332.0,-18.6,218,1408,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2050,3933,0,0,0,0,0,0
$GC,1727,-0.68,-204.4,387.6,-16.1,248,1731,0.00,1.73,0.00,0.000,4,0.000,0.061,2487,3167,3931,0,0,0,0,0,0
$GC,1772,-0.69,-204.4,394.9,-15.3,252,1776,0.00,1.77,0.00,0.000,6,0.000,0.045,2487,2004,3931,0,0,0,0,0,0
$GC,2104,-0.69,-204.4,444.9,-15.2,283,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2003,3929,0,0,0,0,0,0
$GC,2424,-0.70,-204.4,493.6,-15.0,313,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2003,3927,0,0,0,0,0,0
$STATE,2471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2471,begin apogee
$GC,2475,-0.18,0.0,501.4,15.2,318,2638,0.57,0.08,156.18,0.858,6,0.162,0.109,2663,2089,3090,0,0,0,0,0,0
$STATE,2639,end apogee,CONTROL_FINISHED_OK
$STATE,2639,begin climb
$GC,2640,0.72,204.4,509.8,0.0,331,2815,0.82,1.77,167.40,0.846,4,0.077,0.039,2965,966,2256,0,0,0,0,0,0
$GC,2928,0.71,204.4,488.6,16.0,356,2936,0.00,1.80,0.00,0.000,6,0.000,0.035,2962,2146,2247,0,0,0,0,0,0
$GC,3255,0.72,219.1,441.2,14.4,387,3271,0.00,1.67,11.70,0.728,4,0.000,0.040,2962,3272,2196,0,0,0,0,0,0
$GC,3282,0.71,219.5,436.7,15.1,389,3289,0.00,1.77,0.00,0.000,6,0.000,0.032,2970,2092,2195,0,0,0,0,0,0
$GC,3609,0.70,219.5,388.5,15.2,420,3613,0.00,1.77,0.00,0.000,4,0.000,0.043,2964,3279,2189,0,0,0,0,0,0
$GC,3747,0.70,219.5,365.5,16.8,432,3750,0.00,1.77,0.00,0.000,6,0.000,0.032,2973,2072,2188,0,0,0,0,0,0
$GC,4079,0.72,243.0,315.3,14.0,463,4105,0.00,1.70,19.85,0.722,4,0.000,0.039,2982,956,2098,0,0,0,0,0,0
$GC,4121,0.72,255.9,308.5,14.5,466,4142,0.00,1.80,11.80,0.670,6,0.000,0.035,2981,2151,2045,0,0,0,0,0,0
$GC,4478,0.72,255.9,252.3,15.4,524,4487,0.00,1.77,0.00,0.000,4,0.000,0.041,2990,966,2035,0,0,0,0,0,0
$GC,4569,0.71,255.9,238.0,16.8,539,4576,0.00,1.73,0.00,0.000,6,0.000,0.036,2990,2153,2034,0,0,0,0,0,0
$GC,4915,0.71,255.9,179.1,15.6,600,4924,0.12,1.67,0.00,0.000,4,0.182,0.041,2950,3275,2032,0,0,0,0,0,0
$GC,4960,0.74,285.7,172.9,13.7,607,4990,0.00,1.73,23.48,0.641,6,0.000,0.031,2959,2077,1926,0,0,0,0,0,0
$GC,5335,0.81,334.9,125.3,12.7,671,5385,0.00,1.88,39.70,0.610,4,0.000,0.041,2959,3274,1724,0,0,0,0,0,0
$GC,5412,0.86,378.2,115.4,13.0,681,5454,0.08,1.80,34.80,0.591,6,0.049,0.029,3027,2077,1547,0,0,0,0,0,0
$GC,5804,1.00,481.6,48.6,10.0,746,5895,0.00,1.73,79.25,0.552,4,0.000,0.042,3029,974,1125,0,0,0,0,0,0
$GC,5962,1.11,563.7,30.9,11.1,768,6036,0.12,1.77,63.25,0.529,6,0.039,0.032,3117,2151,789,0,0,0,0,0,0
$STATE,6085,end climb,SURFACE_DEPTH_REACHED
$STATE,6085,begin surface coast
$FINISH,-0.1,0.999870
$STATE,6098,end surface coast,CONTROL_FINISHED_OK
$STATE,6098,begin surface
$SM_CCo,6113,57.38,0.422,1,0,480,640.23
$SM_GC,0.73,0.00,0.00,57.38,0.000,0.000,0.422,149,1976,480,-8.07,-1.39,640.23
$IRIDIUM_FIX,2401.56,12610.15,031010,050544
$TT8_MAMPS,0.026215
$HUMID,45.39
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,24.4,21.986
$10V_AH,10.4,18.239
$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,19.300,42.750,607.400,57.375,0.000,31.239,36.591,102.177,0.000,0.000,17.676,1814.434,1508.808,607.949,2399.506,120.788,0.000,1443.216,0.000,2229.228,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,109.395,857.565,421.515,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,524.384,0.000,1625.847,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46960,787
$CAP_FILE_SIZE,82624,0
$CFSIZE,260165632,246312960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.029,225.6,1
$GPS,031010,084625,2407.573,12612.285,40,1.5,40,-3.6