version: 66.08
glider: 169
mission: 2
dive: 177
start: 10 5 110 2 54 22
data:
$ID,169
$MISSION,2
$DIVE,177
$N_DIVES,190
$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,-6905.2139
$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
$GPS1,051010,024920,2413.487,12611.604,11,1.7,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.0
$GPS2,051010,025356,2413.488,12611.608,15,1.8,15,-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,353.4,12078,-21.0,-15.152
$D_GRID,1635
$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,-204.4,0.0,0.0,0,106,0.00,0.00,-89.25,0.000,2,0.000,0.000,137,1999,2909,0,0,0,0,0,0
$GC,108,-0.72,-204.4,3.1,-5.2,11,143,9.57,1.92,-18.75,0.000,4,0.239,0.078,2486,3170,3928,0,0,0,0,0,0
$GC,220,-0.70,-204.4,49.6,-38.3,28,229,0.00,1.85,0.00,0.000,6,0.000,0.054,2487,2009,3929,0,0,0,0,0,0
$GC,584,-0.69,-204.4,158.0,-23.5,89,591,0.00,1.73,0.00,0.000,4,0.000,0.056,2486,878,3931,0,0,0,0,0,0
$GC,712,-0.69,-204.4,184.9,-19.3,111,719,0.00,1.77,0.00,0.000,6,0.000,0.053,2486,2047,3932,0,0,0,0,0,0
$GC,1058,-0.69,-204.4,256.0,-19.6,172,1067,0.00,1.75,0.00,0.000,4,0.000,0.062,2486,3165,3933,0,0,0,0,0,0
$GC,1160,-0.70,-204.4,271.7,-13.8,189,1168,0.00,1.75,0.00,0.000,6,0.000,0.046,2486,2001,3932,0,0,0,0,0,0
$GC,1500,-0.70,-204.4,333.1,-18.3,234,1503,0.00,1.70,0.00,0.000,4,0.000,0.053,2486,868,3932,0,0,0,0,0,0
$GC,1572,-0.71,-204.4,345.9,-16.5,240,1581,0.00,1.83,0.00,0.000,6,0.000,0.051,2486,2047,3932,0,0,0,0,0,0
$GC,1899,-0.71,-204.4,403.3,-17.0,271,1903,0.00,1.75,0.00,0.000,4,0.000,0.060,2486,3168,3930,0,0,0,0,0,0
$GC,1960,-0.72,-204.4,413.2,-14.1,276,1969,0.00,1.77,0.00,0.000,6,0.000,0.046,2486,2004,3930,0,0,0,0,0,0
$GC,2287,-0.73,-204.4,461.1,-13.7,307,2291,0.00,1.73,0.00,0.000,4,0.000,0.054,2486,881,3928,0,0,0,0,0,0
$GC,2348,-0.74,-204.4,469.7,-13.6,312,2357,0.00,1.80,0.00,0.000,6,0.000,0.051,2487,2045,3928,0,0,0,0,0,0
$STATE,2576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2576,begin apogee
$GC,2581,-0.18,0.0,500.9,13.7,334,2743,0.55,0.05,157.25,0.858,6,0.145,0.067,2661,2094,3091,0,0,0,0,0,0
$STATE,2744,end apogee,CONTROL_FINISHED_OK
$STATE,2744,begin climb
$GC,2746,0.72,204.4,508.4,0.0,347,2924,0.82,1.75,168.80,0.846,4,0.077,0.041,2965,961,2255,0,0,0,0,0,0
$GC,3015,0.71,204.4,489.3,16.1,370,3018,0.00,1.80,0.00,0.000,6,0.000,0.036,2963,2152,2248,0,0,0,0,0,0
$GC,3347,0.70,204.4,436.9,16.3,401,3351,0.00,1.70,0.00,0.000,4,0.000,0.041,2963,3279,2242,0,0,0,0,0,0
$GC,3574,0.71,212.4,401.2,14.8,421,3586,0.00,1.73,5.07,0.565,6,0.000,0.033,2972,2075,2225,0,0,1,0,0,0
$GC,3904,0.78,281.6,357.8,11.7,452,3967,0.00,1.92,57.58,0.765,4,0.000,0.041,2972,3273,1941,0,0,0,0,0,0
$GC,4059,0.78,281.6,334.6,15.9,465,4062,0.00,1.75,0.00,0.000,6,0.000,0.033,2981,2080,1932,0,0,1,0,0,0
$GC,4393,0.78,281.6,278.1,16.5,507,4401,0.00,1.65,0.00,0.000,4,0.000,0.042,2989,960,1928,0,0,0,0,0,0
$GC,4446,0.78,281.6,268.7,16.6,516,4455,0.00,1.77,0.00,0.000,6,0.000,0.036,2989,2149,1927,0,0,0,0,0,0
$GC,4795,0.78,281.6,212.5,15.8,577,4801,0.00,1.73,0.00,0.000,4,0.000,0.041,2998,964,1925,0,0,0,0,0,0
$GC,4814,0.77,281.6,209.1,16.0,580,4822,0.00,1.77,0.00,0.000,6,0.000,0.034,2998,2159,1925,0,0,0,0,0,0
$GC,5162,0.77,281.6,155.7,15.2,641,5168,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2159,1924,0,0,0,0,0,0
$GC,5516,0.83,334.2,107.6,12.5,702,5566,0.00,1.83,40.12,0.594,4,0.000,0.040,3007,971,1726,0,0,0,0,0,0
$GC,5632,0.88,371.5,92.7,13.3,719,5674,0.00,1.77,29.92,0.568,6,0.000,0.034,3007,2152,1574,0,0,0,0,0,0
$GC,6025,1.09,530.7,44.7,7.2,784,6156,0.20,1.70,121.80,0.540,4,0.060,0.036,3112,3274,925,0,0,0,0,0,0
$GC,6176,1.08,530.7,16.1,22.7,803,6186,0.12,1.80,0.00,0.000,6,0.153,0.031,3081,2090,923,0,0,1,0,0,0
$STATE,6240,end climb,SURFACE_DEPTH_REACHED
$STATE,6240,begin surface coast
$FINISH,0.1,1.021709
$STATE,6253,end surface coast,CONTROL_FINISHED_OK
$STATE,6253,begin surface
$SM_CCo,6269,79.80,0.055,0,0,481,640.23
$SM_GC,0.96,0.00,0.00,79.80,0.000,0.000,0.055,147,1994,481,-8.07,-0.88,640.23
$IRIDIUM_FIX,2403.92,12613.45,051010,000001
$TT8_MAMPS,0.026215
$HUMID,45.11
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,25.050
$10V_AH,10.4,20.881
$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,19.525,46.325,580.550,79.800,0.000,27.910,21.825,120.981,0.000,0.000,16.300,1891.291,1470.790,608.512,2531.167,124.989,0.000,1472.481,0.000,2355.807,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,102.510,857.565,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.586,0.000,1702.657,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,50317,815
$CAP_FILE_SIZE,84609,0
$CFSIZE,260165632,245153792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.093, 37.5,1
$GPS,051010,044107,2414.597,12611.659,30,1.2,30,-3.6