version: 66.08
glider: 169
mission: 2
dive: 216
start: 10 8 110 4 8 46
data:
$ID,169
$MISSION,2
$DIVE,216
$N_DIVES,220
$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,-6954.4653
$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
$GPS1,081010,040106,2409.923,12612.330,30,1.9,30,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.8
$GPS2,081010,040819,2409.963,12612.315,13,1.8,30,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12612.000
$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,353.7,18597,-21.0,-15.152
$D_GRID,1671
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-95.15,0.000,2,0.000,0.000,140,1974,3045,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.3,-4.8,12,149,9.38,1.92,-15.82,0.000,4,0.230,0.076,2486,3163,3926,0,0,0,0,0,0
$GC,239,-0.71,-204.4,54.8,-32.2,31,247,0.00,1.83,0.00,0.000,6,0.000,0.048,2486,2005,3928,0,0,0,0,0,0
$GC,598,-0.69,-204.4,167.0,-26.8,92,607,0.00,1.85,0.00,0.000,4,0.000,0.061,2486,3165,3929,0,0,0,0,0,0
$GC,637,-0.68,-204.4,177.3,-26.8,98,645,0.00,1.80,0.00,0.000,6,0.000,0.045,2486,2004,3929,0,0,0,0,0,0
$GC,986,-0.68,-204.4,253.5,-19.8,159,993,0.00,1.70,0.00,0.000,4,0.000,0.050,2486,868,3930,0,0,0,0,0,0
$GC,1023,-0.68,-204.4,260.5,-18.9,165,1031,0.00,1.77,0.00,0.000,6,0.000,0.049,2486,2049,3930,0,0,0,0,0,0
$GC,1363,-0.68,-204.4,323.2,-17.0,214,1367,0.00,1.75,0.00,0.000,4,0.000,0.058,2486,3169,3929,0,0,0,0,0,0
$GC,1422,-0.68,-204.4,331.5,-13.9,219,1425,0.00,1.75,0.00,0.000,6,0.000,0.044,2486,2001,3929,0,0,0,0,0,0
$GC,1752,-0.68,-204.4,387.7,-17.2,250,1756,0.00,1.70,0.00,0.000,4,0.000,0.050,2486,865,3928,0,0,0,0,0,0
$GC,1865,-0.69,-204.4,405.6,-16.7,260,1869,0.00,1.80,0.00,0.000,6,0.000,0.048,2486,2034,3927,0,0,0,0,0,0
$GC,2197,-0.70,-204.4,460.3,-16.2,291,2201,0.00,1.73,0.00,0.000,4,0.000,0.056,2486,3180,3925,0,0,0,0,0,0
$GC,2303,-0.71,-204.4,475.8,-13.6,300,2312,0.00,1.80,0.00,0.000,6,0.000,0.042,2487,2002,3925,0,0,0,0,0,0
$STATE,2480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2480,begin apogee
$GC,2484,-0.18,0.0,500.4,13.9,317,2646,0.57,0.08,156.40,0.857,6,0.148,0.108,2666,2089,3091,0,0,0,0,0,0
$STATE,2647,end apogee,CONTROL_FINISHED_OK
$STATE,2647,begin climb
$GC,2649,0.72,204.4,508.6,0.0,330,2827,0.80,1.90,167.48,0.851,4,0.072,0.037,2955,3270,2254,0,0,0,0,0,0
$GC,2976,0.73,221.4,481.7,14.3,358,2995,0.00,1.77,14.20,0.756,6,0.000,0.031,2965,2072,2188,0,0,0,0,0,0
$GC,3317,0.75,240.5,432.6,14.2,389,3342,0.00,1.88,16.42,0.760,4,0.000,0.041,2964,3272,2107,0,0,0,0,0,0
$GC,3378,0.74,240.5,422.9,16.8,394,3381,0.00,1.77,0.00,0.000,6,0.000,0.032,2973,2072,2104,0,0,0,0,0,0
$GC,3710,0.73,240.5,371.0,15.3,425,3714,0.00,1.65,0.00,0.000,4,0.000,0.040,2982,964,2099,0,0,0,0,0,0
$GC,3782,0.73,241.8,360.3,15.1,431,3785,0.00,1.75,0.00,0.000,6,0.000,0.034,2981,2153,2098,0,0,0,0,0,0
$GC,4114,0.72,241.8,305.8,16.0,462,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2153,2096,0,0,0,0,0,0
$GC,4456,0.72,248.5,256.0,14.8,518,4466,0.00,0.00,5.28,0.532,6,0.000,0.000,2981,2154,2077,0,0,0,0,0,0
$GC,4818,0.72,249.3,200.9,15.1,579,4825,0.00,1.67,0.00,0.000,4,0.000,0.041,2981,3283,2075,0,0,0,0,0,0
$GC,4902,0.76,289.3,189.0,13.2,593,4946,0.00,1.77,34.42,0.657,6,0.000,0.032,2990,2079,1910,0,0,0,0,0,0
$GC,5299,0.78,305.5,131.7,14.3,659,5316,0.00,1.88,13.48,0.578,4,0.000,0.040,2990,3274,1844,0,0,0,0,0,0
$GC,5401,0.78,305.5,115.9,15.7,675,5409,0.00,1.80,0.00,0.000,6,0.000,0.032,2998,2085,1841,0,0,0,0,0,0
$GC,5765,0.97,454.3,68.5,7.7,736,5888,0.12,1.77,115.20,0.572,4,0.082,0.040,3083,964,1237,0,0,0,0,0,0
$GC,5939,0.97,454.3,44.1,17.1,759,5948,0.10,1.80,0.00,0.000,6,0.145,0.034,3049,2150,1232,0,0,0,0,0,0
$STATE,6202,end climb,SURFACE_DEPTH_REACHED
$STATE,6202,begin surface coast
$FINISH,0.3,1.021873
$STATE,6228,end surface coast,CONTROL_FINISHED_OK
$STATE,6228,begin surface
$SM_CCo,6244,121.32,0.055,0,0,481,640.23
$SM_GC,0.94,0.00,0.00,121.32,0.000,0.000,0.055,145,1982,481,-8.07,-1.22,640.23
$IRIDIUM_FIX,2356.84,12612.06,081010,020227
$TT8_MAMPS,0.026964
$HUMID,44.80
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.3,30.284
$10V_AH,10.4,25.283
$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,19.100,43.350,522.875,121.325,0.000,55.785,50.349,148.558,0.000,0.000,31.755,1888.471,1573.610,597.383,2604.718,136.887,0.000,1423.990,0.000,2337.850,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,107.865,856.800,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.534,0.000,1689.825,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,46952,807
$CAP_FILE_SIZE,84341,0
$CFSIZE,260165632,243240960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 29.6,1
$GPS,081010,055554,2411.214,12612.371,33,1.7,37,-3.6