version: 66.08
glider: 169
mission: 2
dive: 202
start: 10 7 110 2 11 4
data:
$ID,169
$MISSION,2
$DIVE,202
$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,-6936.7891
$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
$GPS1,071010,020344,2402.860,12612.212,12,1.8,12,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.1
$GPS2,071010,021037,2402.866,12612.201,11,1.9,16,-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,202.2,5319,-21.0,-15.152
$D_GRID,1985
$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,13,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-95.88,0.000,2,0.000,0.000,139,1994,3096,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.6,-5.8,12,150,9.40,1.75,-14.45,0.000,4,0.232,0.068,2486,881,3928,0,0,0,0,0,0
$GC,285,-0.71,-204.4,67.8,-27.1,39,294,0.00,1.83,0.00,0.000,6,0.000,0.054,2486,2037,3929,0,0,0,0,0,0
$GC,648,-0.70,-204.4,176.6,-26.5,100,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2037,3932,0,0,0,0,0,0
$GC,1007,-0.70,-204.4,261.8,-22.9,161,1014,0.00,1.75,0.00,0.000,4,0.000,0.063,2486,3167,3932,0,0,0,0,0,0
$GC,1073,-0.70,-204.4,275.6,-17.3,172,1082,0.00,1.80,0.00,0.000,6,0.000,0.044,2487,2001,3932,0,0,0,0,0,0
$GC,1416,-0.70,-204.4,340.8,-19.4,214,1420,0.00,1.67,0.00,0.000,4,0.000,0.050,2487,865,3931,0,0,0,0,0,0
$GC,1452,-0.70,-204.4,347.4,-18.5,217,1456,0.00,1.80,0.00,0.000,6,0.000,0.050,2487,2045,3931,0,0,0,0,0,0
$GC,1784,-0.70,-204.4,401.6,-14.3,248,1788,0.00,1.73,0.00,0.000,4,0.000,0.058,2487,3168,3930,0,0,0,0,0,0
$GC,1834,-0.71,-204.4,408.6,-12.2,252,1843,0.00,1.80,0.00,0.000,6,0.000,0.044,2487,2000,3930,0,0,0,0,0,0
$GC,2162,-0.71,-204.4,458.7,-16.9,283,2166,0.00,1.85,0.00,0.000,4,0.000,0.059,2487,3167,3928,0,0,0,0,0,0
$GC,2210,-0.72,-204.4,466.1,-14.2,287,2214,0.00,1.75,0.00,0.000,6,0.000,0.043,2487,1998,3928,0,0,0,0,0,0
$STATE,2432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2432,begin apogee
$GC,2437,-0.18,0.0,500.3,14.1,308,2600,0.57,0.05,156.93,0.852,6,0.155,0.066,2663,2091,3090,0,0,0,0,0,0
$STATE,2601,end apogee,CONTROL_FINISHED_OK
$STATE,2601,begin climb
$GC,2603,0.72,204.4,508.4,0.0,321,2779,0.82,1.75,167.20,0.846,4,0.075,0.038,2968,960,2257,0,0,0,0,0,0
$GC,2871,0.71,204.4,489.7,16.5,344,2874,0.00,1.77,0.00,0.000,6,0.000,0.034,2967,2156,2249,0,0,0,0,0,0
$GC,3203,0.70,204.4,438.3,15.3,375,3207,0.00,1.80,0.00,0.000,4,0.000,0.041,2975,968,2244,0,0,0,0,0,0
$GC,3260,0.69,204.4,429.1,15.4,380,3263,0.00,1.73,0.00,0.000,6,0.000,0.036,2974,2152,2243,0,0,0,0,0,0
$GC,3592,0.70,216.4,376.1,14.6,411,3605,0.00,1.73,8.85,0.675,4,0.000,0.042,2974,3272,2208,0,0,0,0,0,0
$GC,3786,0.69,216.4,345.2,15.2,428,3790,0.12,1.77,0.00,0.000,6,0.190,0.033,2952,2072,2204,0,0,0,0,0,0
$GC,4118,0.76,274.6,303.7,12.3,459,4176,0.00,1.73,47.80,0.734,4,0.000,0.044,2960,962,1969,0,0,0,0,0,0
$GC,4240,0.80,306.8,287.3,13.5,476,4277,0.00,1.83,26.45,0.700,6,0.000,0.035,2958,2157,1839,0,0,0,0,0,0
$GC,4618,0.81,315.7,228.0,14.7,541,4634,0.00,1.83,7.35,0.571,4,0.000,0.041,2967,971,1803,0,0,0,0,0,0
$GC,4682,0.81,315.7,218.4,15.2,551,4688,0.00,1.75,0.00,0.000,6,0.000,0.036,2966,2160,1802,0,0,0,0,0,0
$GC,5025,0.88,369.2,169.9,12.5,612,5077,0.12,1.73,43.33,0.641,4,0.085,0.039,3035,3272,1583,0,0,0,0,0,0
$GC,5142,0.87,369.2,147.5,21.4,630,5152,0.10,1.83,0.00,0.000,6,0.165,0.033,3013,2078,1578,0,0,0,0,0,0
$GC,5508,0.89,384.3,83.6,14.4,691,5525,0.00,1.73,11.82,0.535,4,0.000,0.041,3021,957,1523,0,0,0,0,0,0
$GC,5611,0.96,438.5,70.5,12.5,707,5660,0.00,1.80,43.67,0.568,6,0.000,0.034,3021,2155,1302,0,0,0,0,0,0
$GC,6011,1.04,494.9,22.5,12.3,773,6062,0.12,1.80,43.20,0.525,4,0.083,0.039,3102,965,1073,0,0,0,0,0,0
$GC,6089,1.04,494.9,8.9,19.7,783,6098,0.10,1.80,0.00,0.000,6,0.158,0.035,3070,2153,1072,0,0,0,0,0,0
$STATE,6117,end climb,SURFACE_DEPTH_REACHED
$STATE,6117,begin surface coast
$FINISH,0.6,1.021857
$STATE,6131,end surface coast,CONTROL_FINISHED_OK
$STATE,6131,begin surface
$SM_CCo,6146,100.40,0.055,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,100.40,0.000,0.000,0.055,144,1992,481,-8.07,-0.90,640.23
$IRIDIUM_FIX,2354.48,12613.96,071010,000055
$TT8_MAMPS,0.026215
$HUMID,44.72
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,28.402
$10V_AH,10.4,23.719
$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,19.625,46.600,556.600,100.400,0.000,56.835,49.057,142.556,0.000,0.000,17.772,1845.469,1554.234,608.678,2525.202,130.856,0.000,1432.233,0.000,2275.992,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,76.500,852.210,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.302,0.000,1654.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,46973,789
$CAP_FILE_SIZE,85376,0
$CFSIZE,260165632,243904512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.059,108.8,1
$GPS,071010,035550,2401.912,12612.068,13,2.0,13,-3.6