version: 66.08
glider: 169
mission: 2
dive: 192
start: 10 6 110 7 24 18
data:
$ID,169
$MISSION,2
$DIVE,192
$N_DIVES,210
$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,-6924.2378
$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
$GPS1,061010,071813,2413.034,12612.553,7,1.8,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.0
$GPS2,061010,072352,2413.022,12612.562,13,2.6,32,-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,198.3,24136,-21.0,-15.152
$D_GRID,1682
$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,14,begin dive
$GC,15,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-94.68,0.000,2,0.000,0.000,147,1998,3042,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.2,-4.3,12,149,9.45,1.75,-15.88,0.000,4,0.236,0.067,2489,883,3927,0,0,0,0,0,0
$GC,342,-0.71,-204.4,86.7,-21.9,49,350,0.00,1.80,0.00,0.000,6,0.000,0.052,2489,2033,3928,0,0,0,0,0,0
$GC,703,-0.71,-204.4,180.7,-23.9,110,712,0.00,1.77,0.00,0.000,4,0.000,0.060,2489,3167,3930,0,0,0,0,0,0
$GC,772,-0.71,-204.4,194.8,-20.0,121,779,0.00,1.75,0.00,0.000,6,0.000,0.047,2489,2004,3930,0,0,0,0,0,0
$GC,1127,-0.70,-204.4,269.6,-21.0,182,1136,0.00,1.73,0.00,0.000,4,0.000,0.053,2489,874,3931,0,0,0,0,0,0
$GC,1186,-0.71,-204.4,280.3,-17.2,191,1193,0.00,1.80,0.00,0.000,6,0.000,0.053,2489,2051,3931,0,0,0,0,0,0
$GC,1526,-0.71,-204.4,340.7,-18.7,232,1529,0.00,1.73,0.00,0.000,4,0.000,0.060,2489,3175,3930,0,0,0,0,0,0
$GC,1609,-0.72,-204.4,354.4,-15.4,239,1612,0.00,1.77,0.00,0.000,6,0.000,0.047,2489,1996,3929,0,0,0,0,0,0
$GC,1941,-0.72,-204.4,409.5,-15.2,270,1945,0.00,1.65,0.00,0.000,4,0.000,0.051,2490,878,3928,0,0,0,0,0,0
$GC,1968,-0.73,-204.4,414.6,-16.7,272,1977,0.00,1.80,0.00,0.000,6,0.000,0.050,2489,2037,3928,0,0,0,0,0,0
$GC,2297,-0.73,-204.4,460.2,-13.3,303,2300,0.00,1.75,0.00,0.000,4,0.000,0.060,2489,3162,3926,0,0,0,0,0,0
$GC,2400,-0.74,-204.4,473.9,-12.5,312,2404,0.00,1.75,0.00,0.000,6,0.000,0.044,2489,1999,3926,0,0,0,0,0,0
$STATE,2592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2592,begin apogee
$GC,2596,-0.18,0.0,501.2,14.4,330,2759,0.55,0.05,156.82,0.858,6,0.152,0.066,2661,2092,3090,0,0,0,0,0,0
$STATE,2760,end apogee,CONTROL_FINISHED_OK
$STATE,2760,begin climb
$GC,2761,0.72,204.4,512.2,0.0,343,2941,0.82,1.90,168.23,0.853,4,0.073,0.040,2958,3267,2254,0,0,0,0,0,0
$GC,3020,0.71,204.4,497.8,16.1,366,3023,0.00,1.80,0.00,0.000,6,0.000,0.031,2967,2083,2247,0,0,0,0,0,0
$GC,3352,0.70,204.4,445.9,16.2,397,3356,0.00,1.83,0.00,0.000,4,0.000,0.041,2965,3281,2242,0,0,0,0,0,0
$GC,3513,0.69,204.4,418.6,16.6,411,3516,0.00,1.77,0.00,0.000,6,0.000,0.032,2974,2083,2239,0,0,0,0,0,0
$GC,3845,0.71,232.4,371.4,13.8,442,3871,0.00,1.73,21.65,0.760,4,0.000,0.041,2983,961,2142,0,0,0,0,0,0
$GC,3910,0.73,250.7,361.3,14.2,447,3932,0.00,1.80,16.48,0.728,6,0.000,0.036,2983,2151,2067,0,0,0,0,0,0
$GC,4249,0.72,250.7,305.8,16.6,479,4252,0.00,1.77,0.00,0.000,4,0.000,0.041,2991,961,2056,0,0,0,0,0,0
$GC,4284,0.72,250.7,299.6,17.0,482,4293,0.08,1.77,0.00,0.000,6,0.156,0.037,2966,2147,2055,0,0,0,0,0,0
$GC,4634,0.76,291.3,247.3,13.1,543,4669,0.00,0.00,31.77,0.695,6,0.000,0.000,2966,2147,1902,0,0,0,0,0,0
$GC,5008,0.76,293.6,191.6,15.0,608,5016,0.00,1.80,0.00,0.000,4,0.000,0.041,2975,963,1893,0,0,0,0,0,0
$GC,5099,0.80,323.8,178.9,13.7,623,5134,0.00,1.75,26.40,0.641,6,0.000,0.036,2975,2165,1769,0,0,0,0,0,0
$GC,5483,0.81,329.1,118.6,14.9,688,5493,0.00,1.73,4.70,0.437,4,0.000,0.040,2975,3283,1749,0,0,0,0,0,0
$GC,5520,0.82,334.4,113.3,14.9,693,5537,0.00,1.80,6.18,0.484,6,0.000,0.031,2984,2080,1726,0,0,0,0,0,0
$GC,5888,0.98,461.8,66.4,8.8,755,5995,0.17,1.77,98.90,0.568,4,0.063,0.040,3092,957,1207,0,0,0,0,0,0
$GC,6016,0.98,461.8,46.3,18.5,771,6026,0.12,1.83,0.00,0.000,6,0.141,0.034,3051,2152,1204,0,0,0,0,0,0
$STATE,6280,end climb,SURFACE_DEPTH_REACHED
$STATE,6280,begin surface coast
$FINISH,0.0,1.004241
$STATE,6300,end surface coast,CONTROL_FINISHED_OK
$STATE,6300,begin surface
$SM_CCo,6316,119.97,0.055,0,0,480,640.23
$SM_GC,1.00,0.00,0.00,119.97,0.000,0.000,0.055,144,1991,480,-8.06,-0.96,640.23
$IRIDIUM_FIX,2406.29,12611.55,061010,050527
$TT8_MAMPS,0.026215
$HUMID,44.76
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,27.093
$10V_AH,10.5,22.592
$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,19.350,46.600,531.125,119.975,0.000,27.696,40.635,154.997,0.000,0.000,34.171,1919.177,1522.819,618.287,2583.237,133.767,0.000,1449.411,0.000,2349.510,0.000,0.545,0.000
$DEVICE_MAMPS,235.620,76.500,857.565,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.505,0.000,1709.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,50242,818
$CAP_FILE_SIZE,85704,0
$CFSIZE,260165632,244391936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.069, 95.0,1
$GPS,061010,091237,2411.975,12612.458,37,1.0,37,-3.6