version: 66.08
glider: 169
mission: 2
dive: 201
start: 10 7 110 0 20 46
data:
$ID,169
$MISSION,2
$DIVE,201
$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,-6935.5327
$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
$GPS1,071010,001537,2403.930,12612.251,37,0.9,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.0
$GPS2,071010,002020,2403.919,12612.284,15,1.4,15,-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,204.6,7275,-21.0,-15.152
$D_GRID,1802
$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,-96.25,0.000,2,0.000,0.000,140,2000,3127,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.9,-6.5,12,150,9.32,1.77,-13.73,0.000,4,0.229,0.070,2489,880,3928,0,0,0,0,0,0
$GC,239,-0.70,-204.4,57.3,-30.9,31,248,0.00,1.83,0.00,0.000,6,0.000,0.057,2489,2033,3929,0,0,0,0,0,0
$GC,601,-0.69,-204.4,173.9,-26.3,92,610,0.00,1.77,0.00,0.000,4,0.000,0.059,2489,3167,3932,0,0,0,0,0,0
$GC,640,-0.68,-204.4,182.9,-22.9,98,650,0.00,1.80,0.00,0.000,6,0.000,0.044,2489,2003,3932,0,0,0,0,0,0
$GC,1002,-0.68,-204.4,263.2,-22.3,159,1008,0.00,1.83,0.00,0.000,4,0.000,0.060,2489,3168,3932,0,0,0,0,0,0
$GC,1043,-0.68,-204.4,272.5,-20.3,166,1053,0.00,1.80,0.00,0.000,6,0.000,0.046,2489,2003,3932,0,0,0,0,0,0
$GC,1391,-0.67,-204.4,342.2,-20.6,209,1395,0.00,1.70,0.00,0.000,4,0.000,0.051,2489,868,3931,0,0,0,0,0,0
$GC,1439,-0.68,-204.4,351.3,-17.8,213,1442,0.00,1.80,0.00,0.000,6,0.000,0.049,2489,2051,3931,0,0,0,0,0,0
$GC,1770,-0.68,-204.4,408.3,-17.0,244,1774,0.00,1.73,0.00,0.000,4,0.000,0.057,2489,3178,3930,0,0,0,0,0,0
$GC,1809,-0.68,-204.4,415.0,-15.7,247,1816,0.00,1.80,0.00,0.000,6,0.000,0.044,2489,2005,3930,0,0,0,0,0,0
$GC,2134,-0.69,-204.4,467.8,-15.9,278,2138,0.00,1.83,0.00,0.000,4,0.000,0.060,2489,3168,3928,0,0,0,0,0,0
$GC,2172,-0.69,-204.4,472.9,-13.7,281,2176,0.00,1.80,0.00,0.000,6,0.000,0.044,2489,2001,3928,0,0,0,0,0,0
$STATE,2351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2352,begin apogee
$GC,2356,-0.18,0.0,500.6,15.4,298,2519,0.57,0.03,157.38,0.851,6,0.157,0.042,2665,2089,3090,0,0,0,0,0,0
$STATE,2520,end apogee,CONTROL_FINISHED_OK
$STATE,2520,begin climb
$GC,2522,0.72,204.4,510.9,0.0,311,2697,0.80,1.77,168.12,0.848,4,0.070,0.037,2956,3279,2255,0,0,0,0,0,0
$GC,2756,0.71,204.4,500.4,16.6,331,2760,0.00,1.83,0.00,0.000,6,0.000,0.031,2965,2081,2248,0,0,0,0,0,0
$GC,3087,0.71,214.0,451.9,14.7,362,3101,0.00,1.67,7.38,0.663,4,0.000,0.039,2973,953,2217,0,0,0,0,0,0
$GC,3127,0.73,229.8,446.5,14.4,365,3152,0.00,1.77,14.98,0.749,6,0.000,0.034,2973,2167,2152,0,0,0,0,0,0
$GC,3469,0.72,229.8,390.0,16.6,397,3472,0.00,1.65,0.00,0.000,4,0.000,0.041,2973,3275,2144,0,0,0,0,0,0
$GC,3663,0.71,229.8,357.2,15.6,414,3673,0.00,1.77,0.00,0.000,6,0.000,0.032,2982,2087,2142,0,0,0,0,0,0
$GC,3991,0.70,229.8,306.1,16.5,445,3995,0.00,1.65,0.00,0.000,4,0.000,0.042,2991,963,2140,0,0,0,0,0,0
$GC,4050,0.69,229.8,297.0,15.3,451,4058,0.12,1.73,0.00,0.000,6,0.182,0.034,2958,2163,2140,0,0,0,0,0,0
$GC,4397,0.77,295.9,253.0,11.9,512,4454,0.00,1.90,51.97,0.704,4,0.000,0.041,2967,963,1883,0,0,0,0,0,0
$GC,4529,0.78,305.1,235.4,14.7,533,4545,0.00,1.77,8.23,0.584,6,0.000,0.034,2963,2153,1847,0,0,0,0,0,0
$GC,4885,0.82,336.6,182.0,13.6,595,4921,0.00,1.75,26.23,0.636,4,0.000,0.041,2963,3275,1716,0,0,0,0,0,0
$GC,4979,0.86,369.1,168.5,13.5,610,5016,0.08,1.83,26.27,0.622,6,0.048,0.033,3034,2076,1585,0,0,0,0,0,0
$GC,5370,0.86,369.1,88.8,18.9,675,5380,0.00,1.67,0.00,0.000,4,0.000,0.042,3042,965,1578,0,0,0,0,0,0
$GC,5465,0.85,369.1,71.8,15.8,690,5474,0.10,1.77,0.00,0.000,6,0.152,0.034,3009,2156,1577,0,0,0,0,0,0
$GC,5824,1.00,480.4,30.9,9.6,751,5915,0.12,0.00,84.97,0.538,6,0.083,0.000,3082,2156,1130,0,0,0,0,0,0
$STATE,5991,end climb,SURFACE_DEPTH_REACHED
$STATE,5991,begin surface coast
$FINISH,0.1,1.021868
$STATE,6012,end surface coast,CONTROL_FINISHED_OK
$STATE,6012,begin surface
$SM_CCo,6027,112.40,0.054,0,0,481,640.23
$SM_GC,1.03,0.00,0.00,112.40,0.000,0.000,0.054,143,1994,481,-8.08,-0.88,640.23
$IRIDIUM_FIX,2359.20,12610.15,061010,222242
$TT8_MAMPS,0.026215
$HUMID,44.48
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,28.269
$10V_AH,10.4,23.608
$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,19.475,46.500,545.525,112.400,0.000,27.460,16.132,139.523,0.000,0.000,16.120,1809.931,1453.468,627.084,2403.003,133.525,0.000,1435.182,0.000,2225.310,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,74.970,850.680,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,518.736,0.000,1613.035,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333976
$DATA_FILE_SIZE,46963,778
$CAP_FILE_SIZE,83322,0
$CFSIZE,260165632,243949568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,103.7,1
$GPS,071010,020344,2402.860,12612.212,12,1.8,12,-3.6