version: 66.08
glider: 169
mission: 2
dive: 186
start: 10 5 110 20 0 49
data:
$ID,169
$MISSION,2
$DIVE,186
$N_DIVES,200
$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,-6916.6987
$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
$GPS1,051010,195536,2418.319,12612.231,8,1.6,24,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.3
$GPS2,051010,200022,2418.346,12612.241,14,3.0,33,-3.7
$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,196.9,33979,-21.0,-15.152
$D_GRID,1663
$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,-95.32,0.000,2,0.000,0.000,128,1987,3074,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.4,-5.0,12,149,9.57,1.92,-14.85,0.000,4,0.237,0.081,2486,3165,3928,0,0,0,0,0,0
$GC,280,-0.70,-204.4,72.0,-37.6,38,289,0.00,1.83,0.00,0.000,6,0.000,0.048,2486,2004,3930,0,0,0,0,0,0
$GC,644,-0.69,-204.4,170.6,-23.3,99,651,0.00,1.70,0.00,0.000,4,0.000,0.051,2486,879,3932,0,0,0,0,0,0
$GC,705,-0.69,-204.4,183.9,-19.2,109,712,0.00,1.77,0.00,0.000,6,0.000,0.053,2486,2050,3932,0,0,0,0,0,0
$GC,1061,-0.69,-204.4,260.5,-21.7,170,1071,0.00,1.75,0.00,0.000,4,0.000,0.060,2486,3168,3932,0,0,0,0,0,0
$GC,1120,-0.69,-204.4,271.3,-16.8,179,1126,0.00,1.75,0.00,0.000,6,0.000,0.045,2486,2001,3933,0,0,0,0,0,0
$GC,1460,-0.69,-204.4,335.0,-19.4,223,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1999,3932,0,0,0,0,0,0
$GC,1779,-0.69,-204.4,391.2,-17.8,253,1782,0.00,1.83,0.00,0.000,4,0.000,0.059,2486,3169,3931,0,0,0,0,0,0
$GC,1932,-0.70,-204.4,415.3,-13.6,266,1941,0.00,1.80,0.00,0.000,6,0.000,0.046,2486,2003,3930,0,0,0,0,0,0
$GC,2259,-0.71,-204.4,461.6,-14.2,297,2262,0.00,1.85,0.00,0.000,4,0.000,0.059,2486,3168,3928,0,0,0,0,0,0
$GC,2316,-0.72,-204.4,469.5,-12.4,302,2320,0.00,1.75,0.00,0.000,6,0.000,0.044,2487,1999,3928,0,0,0,0,0,0
$STATE,2541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2541,begin apogee
$GC,2546,-0.18,0.0,500.9,14.1,323,2715,0.57,0.08,156.90,0.858,6,0.146,0.107,2668,2090,3089,0,0,0,0,0,0
$STATE,2716,end apogee,CONTROL_FINISHED_OK
$STATE,2716,begin climb
$GC,2718,0.72,204.4,508.9,0.0,337,2893,0.80,1.70,167.95,0.852,4,0.070,0.039,2968,964,2256,0,0,0,0,0,0
$GC,3065,0.71,204.4,475.1,15.6,367,3069,0.00,1.75,0.00,0.000,6,0.000,0.034,2964,2152,2246,0,0,0,0,0,0
$GC,3398,0.70,204.4,425.6,15.9,398,3401,0.00,1.67,0.00,0.000,4,0.000,0.041,2964,3280,2242,0,0,0,0,0,0
$GC,3547,0.69,204.4,401.6,15.8,411,3550,0.00,1.77,0.00,0.000,6,0.000,0.031,2972,2071,2239,0,0,0,0,0,0
$GC,3879,0.73,240.2,355.1,13.4,442,3917,0.00,1.88,28.00,0.763,4,0.000,0.042,2967,3271,2109,0,0,0,0,0,0
$GC,4020,0.75,258.8,335.1,14.2,454,4045,0.00,1.75,16.00,0.715,6,0.000,0.031,2976,2081,2033,0,0,0,0,0,0
$GC,4370,0.74,258.8,277.5,15.8,498,4379,0.00,1.67,0.00,0.000,4,0.000,0.041,2985,963,2024,0,0,0,0,0,0
$GC,4404,0.74,258.8,272.4,15.9,503,4411,0.00,1.75,0.00,0.000,6,0.000,0.036,2984,2159,2023,0,0,0,0,0,0
$GC,4751,0.73,258.8,218.7,15.5,564,4759,0.00,1.80,0.00,0.000,4,0.000,0.041,2993,965,2021,0,0,0,0,0,0
$GC,4875,0.73,261.9,199.2,15.0,585,4883,0.00,1.73,0.00,0.000,6,0.000,0.035,2993,2154,2021,0,0,0,0,0,0
$GC,5224,0.73,261.9,148.1,16.7,646,5233,0.00,1.67,0.00,0.000,4,0.000,0.041,2993,3273,2019,0,0,0,0,0,0
$GC,5318,0.75,280.5,133.5,14.2,661,5344,0.08,1.77,17.08,0.601,6,0.161,0.032,2977,2077,1944,0,0,0,0,0,0
$GC,5695,0.84,353.5,90.3,11.5,724,5760,0.00,1.67,57.88,0.588,4,0.000,0.040,2985,963,1648,0,0,0,0,0,0
$GC,5812,0.95,435.9,77.6,11.1,740,5885,0.10,1.80,64.57,0.568,6,0.043,0.034,3060,2148,1312,0,0,0,0,0,0
$GC,6235,0.95,435.9,13.3,16.5,809,6244,0.00,1.70,0.00,0.000,4,0.000,0.040,3060,3271,1305,0,0,0,0,0,0
$GC,6288,0.95,435.9,4.8,16.0,817,6298,0.08,1.77,0.00,0.000,6,0.152,0.030,3043,2084,1304,0,0,0,0,0,0
$STATE,6304,end climb,SURFACE_DEPTH_REACHED
$STATE,6305,begin surface coast
$FINISH,0.2,1.021836
$STATE,6325,end surface coast,CONTROL_FINISHED_OK
$STATE,6325,begin surface
$SM_CCo,6341,138.07,0.055,0,0,481,640.23
$SM_GC,0.97,0.00,0.00,138.07,0.000,0.000,0.055,141,1974,481,-8.08,-1.44,640.23
$IRIDIUM_FIX,2411.01,12612.94,051010,181829
$TT8_MAMPS,0.026215
$HUMID,44.32
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,26.269
$10V_AH,10.5,21.910
$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,19.400,46.250,508.375,138.075,0.000,24.313,37.118,105.446,0.000,0.000,35.445,1936.113,1502.989,633.372,2570.622,127.487,0.000,1475.539,0.000,2380.614,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,107.100,857.565,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,549.459,0.000,1734.636,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50242,822
$CAP_FILE_SIZE,85346,0
$CFSIZE,260165632,244690944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 95.3,1
$GPS,051010,214946,2417.425,12612.221,12,2.4,31,-3.7