version: 66.08
glider: 169
mission: 2
dive: 190
start: 10 6 110 3 41 47
data:
$ID,169
$MISSION,2
$DIVE,190
$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,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,-6921.7251
$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
$GPS1,061010,033430,2414.445,12612.511,32,0.9,42,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.2
$GPS2,061010,034120,2414.452,12612.544,12,1.9,12,-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,197.5,26780,-21.0,-15.152
$D_GRID,1645
$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,-204.4,0.0,0.0,0,116,0.00,0.00,-99.35,0.000,2,0.000,0.000,150,2055,3255,0,0,0,0,0,0
$GC,119,-0.72,-204.4,4.6,-8.3,12,145,9.50,1.90,-10.77,0.000,4,0.238,0.070,2488,866,3929,0,0,0,0,0,0
$GC,223,-0.70,-204.4,59.7,-41.6,28,232,0.00,1.85,0.00,0.000,6,0.000,0.057,2488,2033,3929,0,0,0,0,0,0
$GC,588,-0.69,-204.4,163.2,-23.0,89,594,0.00,1.75,0.00,0.000,4,0.000,0.059,2489,3170,3931,0,0,0,0,0,0
$GC,650,-0.69,-204.4,176.8,-21.9,99,656,0.00,1.77,0.00,0.000,6,0.000,0.047,2488,1998,3932,0,0,0,0,0,0
$GC,1004,-0.69,-204.4,257.0,-21.0,160,1013,0.00,1.70,0.00,0.000,4,0.000,0.049,2489,879,3932,0,0,0,0,0,0
$GC,1089,-0.69,-204.4,273.4,-17.2,174,1099,0.00,1.80,0.00,0.000,6,0.000,0.051,2488,2040,3932,0,0,0,0,0,0
$GC,1431,-0.69,-204.4,337.0,-19.3,217,1434,0.00,1.73,0.00,0.000,4,0.000,0.060,2489,3167,3931,0,0,0,0,0,0
$GC,1516,-0.70,-204.4,352.1,-16.1,224,1525,0.00,1.77,0.00,0.000,6,0.000,0.044,2489,2003,3930,0,0,0,0,0,0
$GC,1843,-0.70,-204.4,407.6,-15.5,255,1847,0.00,1.73,0.00,0.000,4,0.000,0.051,2488,866,3929,0,0,0,0,0,0
$GC,1878,-0.71,-204.4,413.2,-15.0,258,1882,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2048,3929,0,0,0,0,0,0
$GC,2211,-0.71,-204.4,461.1,-14.4,289,2215,0.00,1.75,0.00,0.000,4,0.000,0.060,2489,3167,3927,0,0,0,0,0,0
$GC,2250,-0.72,-204.4,467.2,-14.2,292,2259,0.00,1.77,0.00,0.000,6,0.000,0.043,2489,2005,3927,0,0,0,0,0,0
$STATE,2477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2477,begin apogee
$GC,2482,-0.18,0.0,501.1,14.8,314,2645,0.57,0.05,156.68,0.857,6,0.152,0.067,2667,2092,3090,0,0,0,0,0,0
$STATE,2646,end apogee,CONTROL_FINISHED_OK
$STATE,2646,begin climb
$GC,2647,0.72,204.4,509.5,0.0,327,2827,0.80,0.00,169.02,0.853,6,0.074,0.000,2956,2092,2254,0,0,0,0,0,0
$GC,3145,0.75,238.4,457.1,13.5,375,3182,0.00,1.88,27.45,0.794,4,0.000,0.041,2955,3276,2117,0,0,0,0,0,0
$GC,3275,0.75,238.4,434.9,16.6,386,3284,0.00,1.80,0.00,0.000,6,0.000,0.032,2964,2090,2112,0,0,0,0,0,0
$GC,3603,0.75,246.6,385.4,14.7,417,3615,0.00,1.67,6.45,0.626,4,0.000,0.041,2973,964,2086,0,0,0,0,0,0
$GC,3662,0.76,256.5,376.5,14.7,422,3676,0.00,1.75,10.10,0.694,6,0.000,0.037,2973,2157,2045,0,0,0,0,0,0
$GC,3993,0.76,256.5,323.4,17.0,453,3996,0.00,1.77,0.00,0.000,4,0.000,0.042,2982,965,2036,0,0,0,0,0,0
$GC,4020,0.75,256.5,318.3,16.7,455,4028,0.00,1.77,0.00,0.000,6,0.000,0.036,2981,2152,2035,0,0,0,0,0,0
$GC,4359,0.75,263.3,264.5,14.8,506,4369,0.00,1.73,5.47,0.548,4,0.000,0.042,2981,3276,2016,0,0,0,0,0,0
$GC,4450,0.74,263.3,249.9,17.1,521,4457,0.00,1.75,0.00,0.000,6,0.000,0.032,2990,2074,2014,0,0,0,0,0,0
$GC,4793,0.77,292.3,197.8,13.7,582,4823,0.00,1.73,25.10,0.659,4,0.000,0.043,2999,957,1898,0,0,0,0,0,0
$GC,4912,0.78,295.1,181.4,15.0,601,4918,0.00,1.77,0.00,0.000,6,0.000,0.037,2999,2150,1893,0,0,0,0,0,0
$GC,5262,0.77,295.1,126.1,15.5,662,5271,0.00,1.70,0.00,0.000,4,0.000,0.041,2999,3280,1889,0,0,0,0,0,0
$GC,5380,0.78,302.6,107.6,14.8,681,5397,0.00,1.80,8.52,0.522,6,0.000,0.032,3008,2073,1856,0,0,0,0,0,0
$GC,5747,0.94,426.3,60.2,9.0,743,5855,0.00,1.90,96.43,0.565,4,0.000,0.040,3009,3271,1350,0,0,0,0,0,0
$GC,5875,1.09,541.1,49.9,9.4,759,5973,0.12,1.83,88.45,0.540,6,0.035,0.032,3107,2087,883,0,0,0,0,0,0
$STATE,6103,end climb,SURFACE_DEPTH_REACHED
$STATE,6103,begin surface coast
$FINISH,0.1,1.021794
$STATE,6116,end surface coast,CONTROL_FINISHED_OK
$STATE,6116,begin surface
$SM_CCo,6132,71.18,0.435,1,0,480,640.23
$SM_GC,0.76,0.00,0.00,71.18,0.000,0.000,0.435,149,1978,480,-8.07,-1.33,640.23
$IRIDIUM_FIX,2406.29,12608.24,061010,010104
$TT8_MAMPS,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,26.827
$10V_AH,10.4,22.364
$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,19.350,46.550,593.675,71.175,0.000,50.374,60.621,143.231,0.000,0.000,13.766,1831.856,1544.039,631.074,2489.213,126.041,0.000,1451.704,0.000,2242.459,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,84.150,856.800,435.285,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,529.532,0.000,1657.849,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,46967,795
$CAP_FILE_SIZE,83796,0
$CFSIZE,260165632,244494336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116, 35.8,1
$GPS,061010,052606,2413.824,12612.549,15,1.2,25,-3.6