version: 66.08
glider: 169
mission: 2
dive: 193
start: 10 6 110 9 18 15
data:
$ID,169
$MISSION,2
$DIVE,193
$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,-6925.4922
$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
$GPS1,061010,091237,2411.975,12612.458,37,1.0,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-70.9
$GPS2,061010,091749,2411.952,12612.468,15,1.7,32,-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,197.1,22150,-21.0,-15.152
$D_GRID,1685
$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,-94.70,0.000,2,0.000,0.000,138,1992,3051,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.4,-5.2,12,149,9.32,1.77,-15.35,0.000,4,0.230,0.072,2494,869,3927,0,0,0,0,0,0
$GC,235,-0.70,-204.4,57.3,-38.9,30,243,0.00,1.85,0.00,0.000,6,0.000,0.056,2493,2035,3928,0,0,0,0,0,0
$GC,590,-0.69,-204.4,160.0,-25.6,91,597,0.00,1.75,0.00,0.000,4,0.000,0.060,2492,3168,3930,0,0,0,0,0,0
$GC,672,-0.69,-204.4,178.7,-18.8,105,679,0.00,1.75,0.00,0.000,6,0.000,0.047,2492,2005,3931,0,0,0,0,0,0
$GC,1017,-0.69,-204.4,248.3,-19.6,166,1026,0.00,1.73,0.00,0.000,4,0.000,0.054,2492,882,3931,0,0,0,0,0,0
$GC,1051,-0.69,-204.4,255.1,-20.8,171,1057,0.00,1.77,0.00,0.000,6,0.000,0.051,2492,2046,3931,0,0,0,0,0,0
$GC,1395,-0.69,-204.4,318.3,-16.8,223,1399,0.00,1.70,0.00,0.000,4,0.000,0.060,2492,3167,3931,0,0,0,0,0,0
$GC,1476,-0.70,-204.4,329.9,-12.4,230,1480,0.00,1.77,0.00,0.000,6,0.000,0.045,2492,2001,3931,0,0,0,0,0,0
$GC,1808,-0.70,-204.4,382.5,-15.3,261,1812,0.00,1.73,0.00,0.000,4,0.000,0.053,2493,873,3929,0,0,0,0,0,0
$GC,1878,-0.71,-204.4,392.5,-12.7,267,1882,0.00,1.77,0.00,0.000,6,0.000,0.050,2492,2051,3929,0,0,0,0,0,0
$GC,2211,-0.71,-204.4,441.8,-14.6,298,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2051,3927,0,0,0,0,0,0
$GC,2530,-0.72,-204.4,488.3,-15.1,328,2533,0.00,1.70,0.00,0.000,4,0.000,0.059,2492,3168,3926,0,0,0,0,0,0
$STATE,2618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2619,begin apogee
$GC,2624,-0.18,0.0,500.5,12.2,336,2791,0.55,0.08,156.48,0.859,6,0.148,0.125,2664,2148,3090,0,0,0,0,0,0
$STATE,2792,end apogee,CONTROL_FINISHED_OK
$STATE,2792,begin climb
$GC,2793,0.72,204.4,509.5,0.0,350,2970,0.80,1.88,167.88,0.853,4,0.065,0.040,2968,975,2256,0,0,0,0,0,0
$GC,3102,0.75,233.3,487.9,13.7,376,3131,0.00,1.75,23.95,0.795,6,0.000,0.034,2966,2155,2140,0,0,0,0,0,0
$GC,3450,0.74,233.3,430.3,16.6,408,3454,0.00,1.70,0.00,0.000,4,0.000,0.042,2967,3278,2129,0,0,0,0,0,0
$GC,3580,0.73,233.3,407.0,17.3,419,3587,0.00,1.80,0.00,0.000,6,0.000,0.031,2975,2079,2127,0,0,0,0,0,0
$GC,3905,0.72,233.3,356.6,15.2,450,3909,0.00,1.65,0.00,0.000,4,0.000,0.042,2983,957,2124,0,0,0,0,0,0
$GC,4011,0.71,233.3,340.0,17.0,459,4015,0.00,1.75,0.00,0.000,6,0.000,0.036,2980,2161,2124,0,0,0,0,0,0
$GC,4346,0.70,233.3,284.3,16.8,497,4352,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2161,2122,0,0,0,0,0,0
$GC,4700,0.70,235.1,230.4,15.1,558,4709,0.00,1.80,0.00,0.000,4,0.000,0.041,2989,961,2120,0,0,0,0,0,0
$GC,4727,0.69,235.1,226.3,15.4,562,4737,0.10,1.77,0.00,0.000,6,0.161,0.036,2955,2154,2120,0,0,0,0,0,0
$GC,5087,0.78,304.7,181.3,11.7,623,5150,0.00,1.83,55.12,0.660,4,0.000,0.040,2963,968,1848,0,0,0,0,0,0
$GC,5194,0.83,343.6,168.2,13.2,639,5238,0.10,1.77,32.25,0.633,6,0.096,0.035,3021,2151,1686,0,0,0,0,0,0
$GC,5594,0.83,343.6,88.3,18.7,705,5603,0.00,1.80,0.00,0.000,4,0.000,0.042,3031,969,1678,0,0,0,0,0,0
$GC,5635,0.83,343.6,81.1,17.5,711,5644,0.08,1.77,0.00,0.000,6,0.153,0.037,3004,2151,1678,0,0,0,0,0,0
$GC,6002,0.99,464.0,40.2,9.2,772,6100,0.12,1.88,91.25,0.549,4,0.082,0.039,3086,965,1197,0,0,0,0,0,0
$GC,6151,0.99,464.0,17.9,17.8,792,6160,0.10,1.80,0.00,0.000,6,0.145,0.034,3051,2152,1195,0,0,0,0,0,0
$STATE,6243,end climb,SURFACE_DEPTH_REACHED
$STATE,6243,begin surface coast
$FINISH,0.2,1.021817
$STATE,6263,end surface coast,CONTROL_FINISHED_OK
$STATE,6263,begin surface
$SM_CCo,6279,121.60,0.055,0,0,481,640.23
$SM_GC,0.98,0.00,0.00,121.60,0.000,0.000,0.055,139,1992,481,-8.08,-0.93,640.23
$IRIDIUM_FIX,2401.56,12613.45,061010,070738
$TT8_MAMPS,0.026215
$HUMID,44.56
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,27.219
$10V_AH,10.5,22.706
$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,19.350,46.225,526.925,121.600,0.000,30.835,16.313,145.081,0.000,0.000,32.893,1898.395,1521.510,616.278,2545.779,132.804,0.000,1449.779,0.000,2336.123,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,125.460,859.095,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.093,0.000,1680.257,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,47040,810
$CAP_FILE_SIZE,85578,0
$CFSIZE,260165632,244342784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,148.0,1
$GPS,061010,110552,2410.633,12612.353,11,3.6,30,-3.6