version: 66.08
glider: 169
mission: 2
dive: 163
start: 10 3 110 23 46 22
data:
$ID,169
$MISSION,2
$DIVE,163
$N_DIVES,170
$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,-6887.5337
$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
$GPS1,031010,234124,2401.192,12612.838,40,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.9
$GPS2,031010,234556,2401.197,12612.839,13,1.3,13,-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,232.4,2632,-21.0,-15.152
$D_GRID,2517
$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,12,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,111,0.00,0.00,-94.62,0.000,2,0.000,0.000,137,1978,3050,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.4,-5.0,12,148,9.57,1.73,-15.43,0.000,4,0.239,0.071,2491,882,3929,0,0,0,0,0,0
$GC,364,-0.71,-204.4,89.9,-23.8,53,372,0.00,1.80,0.00,0.000,6,0.000,0.052,2491,2034,3930,0,0,0,0,0,0
$GC,725,-0.71,-204.4,180.9,-24.5,114,735,0.00,1.77,0.00,0.000,4,0.000,0.060,2491,3168,3933,0,0,0,0,0,0
$GC,761,-0.70,-204.4,189.1,-25.2,119,768,0.00,1.77,0.00,0.000,6,0.000,0.047,2491,2003,3933,0,0,0,0,0,0
$GC,1116,-0.70,-204.4,264.5,-19.4,180,1124,0.00,1.73,0.00,0.000,4,0.000,0.053,2491,868,3933,0,0,0,0,0,0
$GC,1197,-0.70,-204.4,278.6,-16.5,193,1204,0.00,1.80,0.00,0.000,6,0.000,0.050,2491,2050,3933,0,0,0,0,0,0
$GC,1534,-0.70,-204.4,341.9,-17.4,233,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2051,3932,0,0,0,0,0,0
$GC,1854,-0.70,-204.4,398.8,-17.8,263,1858,0.00,1.70,0.00,0.000,4,0.000,0.058,2491,3174,3931,0,0,0,0,0,0
$GC,1925,-0.71,-204.4,410.9,-15.4,269,1928,0.00,1.77,0.00,0.000,6,0.000,0.045,2491,2003,3931,0,0,0,0,0,0
$GC,2257,-0.72,-204.4,462.4,-14.3,300,2260,0.00,1.67,0.00,0.000,4,0.000,0.052,2491,868,3929,0,0,0,0,0,0
$GC,2364,-0.73,-204.4,477.2,-12.5,309,2371,0.00,1.77,0.00,0.000,6,0.000,0.049,2491,2040,3929,0,0,0,0,0,0
$STATE,2539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2539,begin apogee
$GC,2543,-0.18,0.0,501.1,14.4,326,2706,0.55,0.08,156.45,0.856,6,0.152,0.110,2663,2090,3090,0,0,0,0,0,0
$STATE,2707,end apogee,CONTROL_FINISHED_OK
$STATE,2707,begin climb
$GC,2709,0.72,204.4,508.9,0.0,339,2883,0.82,1.92,167.15,0.848,4,0.073,0.041,2960,3275,2256,0,0,0,0,0,0
$GC,2973,0.71,204.4,492.3,16.6,361,2977,0.00,1.77,0.00,0.000,6,0.000,0.031,2968,2077,2248,0,0,1,0,0,0
$GC,3304,0.70,209.9,442.1,14.9,392,3308,0.00,1.62,0.00,0.000,4,0.000,0.040,2977,957,2243,0,0,0,0,0,0
$GC,3433,0.74,241.4,423.3,13.6,403,3468,0.00,1.77,29.92,0.786,6,0.000,0.035,2974,2162,2105,0,0,0,0,0,0
$GC,3796,0.73,241.4,365.6,17.2,437,3799,0.00,1.67,0.00,0.000,4,0.000,0.041,2974,3281,2095,0,0,0,0,0,0
$GC,3889,0.72,241.4,350.5,16.1,445,3893,0.00,1.75,0.00,0.000,6,0.000,0.031,2983,2076,2092,0,0,1,0,0,0
$GC,4215,0.71,241.6,297.5,15.1,476,4224,0.00,1.83,0.00,0.000,4,0.000,0.043,2983,3269,2090,0,0,0,0,0,0
$GC,4317,0.70,241.6,279.9,17.2,493,4324,0.12,1.75,0.00,0.000,6,0.184,0.032,2960,2075,2089,0,0,0,0,0,0
$GC,4664,0.76,291.5,231.4,12.7,554,4708,0.00,1.73,38.67,0.688,4,0.000,0.040,2968,958,1900,0,0,0,0,0,0
$GC,4739,0.79,318.7,221.6,13.8,565,4769,0.00,1.80,23.02,0.654,6,0.000,0.035,2964,2164,1790,0,0,0,0,0,0
$GC,5111,0.84,356.8,167.6,13.3,629,5146,0.10,0.00,30.35,0.629,6,0.097,0.000,3020,2164,1634,0,0,0,0,0,0
$GC,5499,0.84,356.8,94.3,19.0,694,5508,0.00,1.67,0.00,0.000,4,0.000,0.041,3020,3271,1627,0,0,0,0,0,0
$GC,5551,0.84,356.8,84.5,18.8,702,5560,0.00,1.77,0.00,0.000,6,0.000,0.031,3029,2080,1625,0,0,0,0,0,0
$GC,5917,0.94,439.2,37.0,11.1,763,5991,0.00,1.70,62.97,0.545,4,0.000,0.040,3038,971,1298,0,0,0,0,0,0
$GC,6011,1.00,476.8,25.5,13.3,775,6045,0.00,1.77,29.88,0.517,6,0.000,0.033,3038,2149,1147,0,0,0,0,0,0
$STATE,6174,end climb,SURFACE_DEPTH_REACHED
$STATE,6174,begin surface coast
$FINISH,0.3,1.021691
$STATE,6200,end surface coast,CONTROL_FINISHED_OK
$STATE,6200,begin surface
$SM_CCo,6215,111.15,0.467,1,0,480,640.23
$SM_GC,0.95,0.00,0.00,111.15,0.000,0.000,0.467,146,1975,480,-8.07,-1.41,640.23
$IRIDIUM_FIX,2354.48,12610.66,031010,212108
$TT8_MAMPS,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,9.30079
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,24.4,23.234
$10V_AH,10.5,19.255
$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,19.350,42.525,538.425,111.150,0.000,27.562,37.036,111.585,0.250,0.000,14.411,1881.497,1496.125,609.207,2495.384,124.337,0.000,1425.559,0.000,2327.381,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,110.160,856.035,466.650,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,537.151,0.000,1693.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46800,805
$CAP_FILE_SIZE,83237,0
$CFSIZE,260165632,245891072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.088, 82.8,1
$GPS,041010,013252,2400.426,12612.461,13,2.7,32,-3.6