version: 66.08
glider: 169
mission: 2
dive: 200
start: 10 6 110 22 33 28
data:
$ID,169
$MISSION,2
$DIVE,200
$N_DIVES,220
$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,-6934.2754
$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
$GPS1,061010,222820,2405.055,12611.900,14,1.7,14,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.8
$GPS2,061010,223302,2405.058,12611.919,12,1.9,12,-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,188.9,9369,-21.0,-15.152
$D_GRID,1793
$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,-95.15,0.000,2,0.000,0.000,149,1998,3090,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.8,-6.3,12,149,9.30,1.77,-14.48,0.000,4,0.230,0.070,2485,872,3929,0,0,0,0,0,0
$GC,280,-0.70,-204.4,70.4,-29.8,38,290,0.00,1.85,0.00,0.000,6,0.000,0.056,2485,2037,3929,0,0,0,0,0,0
$GC,645,-0.69,-204.4,184.2,-28.6,99,651,0.00,1.77,0.00,0.000,4,0.000,0.063,2485,3171,3932,0,0,0,0,0,0
$GC,699,-0.68,-204.4,199.1,-24.9,108,708,0.00,1.83,0.00,0.000,6,0.000,0.049,2486,2002,3933,0,0,0,0,0,0
$GC,1060,-0.68,-204.4,282.9,-21.9,169,1067,0.00,1.83,0.00,0.000,4,0.000,0.060,2485,3168,3933,0,0,0,0,0,0
$GC,1099,-0.68,-204.4,290.8,-19.4,175,1105,0.00,1.77,0.00,0.000,6,0.000,0.044,2485,2001,3933,0,0,0,0,0,0
$GC,1432,-0.68,-204.4,356.7,-19.8,210,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1999,3933,0,0,0,0,0,0
$GC,1752,-0.68,-204.4,417.2,-16.5,240,1756,0.00,1.83,0.00,0.000,4,0.000,0.059,2485,3170,3932,0,0,0,0,0,0
$GC,1791,-0.68,-204.4,422.8,-16.0,243,1794,0.00,1.75,0.00,0.000,6,0.000,0.044,2485,2002,3931,0,0,0,0,0,0
$GC,2121,-0.68,-204.4,474.8,-16.2,274,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2000,3930,0,0,0,0,0,0
$STATE,2280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2280,begin apogee
$GC,2285,-0.18,0.0,500.7,15.8,289,2447,0.57,0.08,157.45,0.851,6,0.160,0.107,2660,2091,3091,0,0,0,0,0,0
$STATE,2448,end apogee,CONTROL_FINISHED_OK
$STATE,2448,begin climb
$GC,2450,0.72,204.4,508.9,0.0,302,2626,0.82,1.73,168.25,0.845,4,0.066,0.041,2970,964,2256,0,0,0,0,0,0
$GC,2720,0.71,204.4,490.7,15.6,325,2724,0.00,1.80,0.00,0.000,6,0.000,0.033,2967,2165,2248,0,0,0,0,0,0
$GC,3053,0.71,212.5,440.9,14.7,356,3063,0.00,0.00,6.00,0.614,6,0.000,0.000,2968,2165,2224,0,0,0,0,0,0
$GC,3382,0.70,212.5,389.3,15.9,387,3386,0.00,1.67,0.00,0.000,4,0.000,0.041,2967,3279,2220,0,0,0,0,0,0
$GC,3485,0.70,212.5,372.7,15.6,396,3488,0.00,1.77,0.00,0.000,6,0.000,0.032,2976,2076,2218,0,0,0,0,0,0
$GC,3817,0.69,212.5,324.8,15.6,427,3821,0.00,1.80,0.00,0.000,4,0.000,0.041,2974,3278,2216,0,0,0,0,0,0
$GC,3936,0.69,226.1,306.9,14.5,437,3957,0.08,1.77,11.77,0.683,6,0.171,0.031,2945,2087,2168,0,0,0,0,0,0
$GC,4300,0.77,285.9,260.1,12.2,495,4357,0.00,1.70,48.90,0.705,4,0.000,0.040,2953,965,1923,0,0,0,0,0,0
$GC,4407,0.84,338.9,247.1,12.5,511,4456,0.15,1.77,43.40,0.681,6,0.073,0.034,3024,2167,1709,0,0,0,0,0,0
$GC,4805,0.83,338.9,164.6,19.5,578,4815,0.00,1.67,0.00,0.000,4,0.000,0.040,3024,3274,1698,0,0,0,0,0,0
$GC,4875,0.82,338.9,151.8,18.1,589,4883,0.10,1.80,0.00,0.000,6,0.162,0.031,3000,2078,1696,0,0,0,0,0,0
$GC,5238,0.82,338.9,90.8,15.3,650,5248,0.00,1.65,0.00,0.000,4,0.000,0.041,3009,970,1695,0,0,0,0,0,0
$GC,5275,0.83,348.5,85.7,14.7,655,5292,0.00,1.75,6.80,0.484,6,0.000,0.032,3007,2154,1668,0,0,0,0,0,0
$GC,5642,0.99,472.8,47.7,9.0,717,5748,0.12,1.75,96.07,0.549,4,0.082,0.035,3075,3279,1162,0,0,0,0,0,0
$GC,5799,0.99,472.8,21.2,19.6,738,5809,0.10,1.83,0.00,0.000,6,0.145,0.029,3052,2078,1159,0,0,0,0,0,0
$STATE,5915,end climb,SURFACE_DEPTH_REACHED
$STATE,5915,begin surface coast
$FINISH,0.2,1.021841
$STATE,5935,end surface coast,CONTROL_FINISHED_OK
$STATE,5935,begin surface
$SM_CCo,5950,115.12,0.055,0,0,481,640.23
$SM_GC,0.95,0.00,0.00,115.12,0.000,0.000,0.055,146,2001,481,-8.07,-0.71,640.23
$IRIDIUM_FIX,2356.84,12613.96,061010,202054
$TT8_MAMPS,0.026215
$HUMID,44.44
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.3,28.141
$10V_AH,10.5,23.499
$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,19.450,39.275,538.650,115.125,0.000,23.541,24.994,139.933,0.000,0.000,12.976,1765.723,1485.675,613.904,2361.205,124.174,0.000,1392.870,0.000,2179.520,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,107.100,850.680,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,506.631,0.000,1613.021,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333988
$DATA_FILE_SIZE,47052,760
$CAP_FILE_SIZE,79138,0
$CFSIZE,260165632,244002816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,112.7,1
$GPS,071010,001537,2403.930,12612.251,37,0.9,37,-3.6