version: 66.08
glider: 169
mission: 2
dive: 187
start: 10 5 110 21 55 30
data:
$ID,169
$MISSION,2
$DIVE,187
$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,-6917.9546
$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
$GPS1,051010,214946,2417.425,12612.221,12,2.4,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-71.4
$GPS2,051010,215504,2417.446,12612.279,17,2.5,36,-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,199.3,32314,-21.0,-15.152
$D_GRID,1642
$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,-204.4,0.0,0.0,0,113,0.00,0.00,-96.40,0.000,2,0.000,0.000,136,1974,3155,0,0,0,0,0,0
$GC,116,-0.72,-204.4,4.5,-8.1,12,143,9.70,1.75,-12.82,0.000,4,0.243,0.068,2494,865,3929,0,0,0,0,0,0
$GC,289,-0.72,-204.4,70.3,-21.2,40,298,0.00,1.85,0.00,0.000,6,0.000,0.055,2494,2035,3931,0,0,0,0,0,0
$GC,653,-0.71,-204.4,166.3,-23.0,101,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2036,3933,0,0,0,0,0,0
$GC,1009,-0.71,-204.4,248.3,-20.0,162,1018,0.00,1.75,0.00,0.000,4,0.000,0.059,2494,3166,3934,0,0,0,0,0,0
$GC,1079,-0.72,-204.4,260.0,-15.3,173,1085,0.00,1.75,0.00,0.000,6,0.000,0.043,2495,2003,3934,0,0,0,0,0,0
$GC,1425,-0.72,-204.4,321.5,-18.0,223,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2001,3933,0,0,0,0,0,0
$GC,1743,-0.72,-204.4,374.0,-15.5,253,1747,0.00,1.85,0.00,0.000,4,0.000,0.058,2495,3170,3932,0,0,0,0,0,0
$GC,1837,-0.73,-204.4,387.3,-12.5,261,1840,0.00,1.75,0.00,0.000,6,0.000,0.044,2495,2000,3932,0,0,0,0,0,0
$GC,2169,-0.74,-204.4,436.5,-14.9,292,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1999,3930,0,0,0,0,0,0
$GC,2488,-0.74,-204.4,483.5,-13.6,322,2491,0.00,1.83,0.00,0.000,4,0.000,0.058,2495,3170,3928,0,0,0,0,0,0
$GC,2534,-0.76,-204.4,489.8,-12.6,326,2538,0.00,1.75,0.00,0.000,6,0.000,0.045,2495,2002,3928,0,0,0,0,0,0
$STATE,2620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2620,begin apogee
$GC,2624,-0.18,0.0,501.2,13.5,334,2787,0.55,0.05,157.18,0.858,6,0.159,0.067,2663,2094,3090,0,0,0,0,0,0
$STATE,2788,end apogee,CONTROL_FINISHED_OK
$STATE,2788,begin climb
$GC,2790,0.72,204.4,511.6,0.0,347,2971,0.82,1.90,168.43,0.857,4,0.076,0.041,2958,3265,2254,0,0,0,0,0,0
$GC,3010,0.71,204.4,501.5,16.2,367,3018,0.00,1.83,0.00,0.000,6,0.000,0.032,2967,2083,2249,0,0,0,0,0,0
$GC,3336,0.72,222.8,452.0,14.2,398,3357,0.00,0.00,15.15,0.759,6,0.000,0.000,2967,2082,2180,0,0,0,0,0,0
$GC,3674,0.73,238.2,400.6,14.4,430,3692,0.00,1.83,13.18,0.733,4,0.000,0.040,2963,3281,2119,0,0,0,0,0,0
$GC,3765,0.77,268.0,387.4,13.7,437,3796,0.00,1.80,25.45,0.763,6,0.000,0.032,2971,2077,1997,0,0,0,0,0,0
$GC,4113,0.76,268.0,334.4,17.1,470,4117,0.00,1.85,0.00,0.000,4,0.000,0.041,2966,3275,1987,0,0,0,0,0,0
$GC,4217,0.76,268.0,316.6,16.9,479,4220,0.00,1.75,0.00,0.000,6,0.000,0.032,2974,2077,1986,0,0,0,0,0,0
$GC,4555,0.75,268.0,261.6,17.2,530,4564,0.00,1.67,0.00,0.000,4,0.000,0.043,2983,959,1984,0,0,0,0,0,0
$GC,4600,0.75,268.0,254.4,16.9,537,4607,0.00,1.75,0.00,0.000,6,0.000,0.036,2984,2152,1983,0,0,0,0,0,0
$GC,4947,0.75,268.4,196.3,15.1,598,4955,0.00,1.67,0.00,0.000,4,0.000,0.041,2983,3272,1981,0,0,0,0,0,0
$GC,5015,0.76,280.7,186.7,14.5,609,5030,0.00,1.75,9.60,0.594,6,0.000,0.032,2992,2077,1945,0,0,0,0,0,0
$GC,5371,0.76,280.7,135.8,15.7,671,5380,0.00,1.65,0.00,0.000,4,0.000,0.042,3001,966,1941,0,0,0,0,0,0
$GC,5457,0.80,310.3,122.7,13.7,685,5491,0.00,1.77,25.25,0.604,6,0.000,0.035,3000,2158,1823,0,0,0,0,0,0
$GC,5846,0.88,382.4,70.2,11.6,749,5912,0.00,1.85,56.05,0.574,4,0.000,0.042,3009,974,1530,0,0,0,0,0,0
$GC,5932,1.00,470.5,61.0,10.8,760,6007,0.08,1.80,69.38,0.555,6,0.052,0.034,3074,2156,1171,0,0,0,0,0,0
$STATE,6267,end climb,SURFACE_DEPTH_REACHED
$STATE,6267,begin surface coast
$FINISH,0.0,1.009723
$STATE,6289,end surface coast,CONTROL_FINISHED_OK
$STATE,6289,begin surface
$SM_CCo,6304,117.30,0.055,0,0,481,640.23
$SM_GC,0.86,0.00,0.00,117.30,0.000,0.000,0.055,142,1990,481,-8.07,-0.99,640.23
$IRIDIUM_FIX,2406.29,12505.33,051010,191909
$TT8_MAMPS,0.026215
$HUMID,45.03
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.3,26.397
$10V_AH,10.5,22.024
$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,19.400,39.675,539.650,117.300,0.000,30.482,51.859,113.473,0.000,0.000,38.753,1904.983,1557.235,617.599,2533.355,129.319,0.000,1429.280,0.000,2318.496,0.000,0.545,0.000
$DEVICE_MAMPS,242.505,74.205,857.565,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.107,0.000,1705.827,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,50334,817
$CAP_FILE_SIZE,82407,0
$CFSIZE,260165632,244641792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 97.0,1
$GPS,051010,234328,2416.391,12612.394,10,2.6,29,-3.7