version: 66.08
glider: 169
mission: 2
dive: 203
start: 10 7 110 4 5 34
data:
$ID,169
$MISSION,2
$DIVE,203
$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,-6938.1387
$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
$GPS1,071010,035550,2401.912,12612.068,13,2.0,13,-3.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.3
$GPS2,071010,040507,2401.904,12612.084,33,1.3,33,-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,195.4,3530,-21.0,-15.152
$D_GRID,2058
$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,12,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,111,0.00,0.00,-93.78,0.000,2,0.000,0.000,139,1993,3007,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.1,-3.8,12,147,9.45,1.75,-16.90,0.000,4,0.234,0.065,2487,870,3925,0,0,0,0,0,0
$GC,301,-0.71,-204.4,68.7,-27.5,42,310,0.00,1.85,0.00,0.000,6,0.000,0.056,2487,2039,3927,0,0,0,0,0,0
$GC,666,-0.70,-204.4,171.1,-27.2,103,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2038,3929,0,0,0,0,0,0
$GC,1021,-0.69,-204.4,253.2,-20.3,164,1030,0.00,1.77,0.00,0.000,4,0.000,0.063,2487,3167,3929,0,0,0,0,0,0
$GC,1103,-0.70,-204.4,267.8,-15.8,177,1110,0.00,1.75,0.00,0.000,6,0.000,0.044,2487,2001,3929,0,0,0,0,0,0
$GC,1446,-0.70,-204.4,326.9,-17.2,223,1449,0.00,1.67,0.00,0.000,4,0.000,0.051,2487,869,3928,0,0,0,0,0,0
$GC,1480,-0.70,-204.4,333.5,-18.7,226,1484,0.00,1.80,0.00,0.000,6,0.000,0.050,2487,2050,3928,0,0,0,0,0,0
$GC,1812,-0.70,-204.4,392.1,-17.9,257,1815,0.00,1.73,0.00,0.000,4,0.000,0.058,2487,3175,3927,0,0,0,0,0,0
$GC,1886,-0.71,-204.4,404.1,-13.9,263,1892,0.00,1.77,0.00,0.000,6,0.000,0.046,2487,1991,3926,0,0,0,0,0,0
$GC,2211,-0.71,-204.4,454.2,-14.7,294,2215,0.00,1.85,0.00,0.000,4,0.000,0.059,2487,3171,3924,0,0,0,0,0,0
$GC,2249,-0.72,-204.4,459.4,-14.7,297,2252,0.00,1.75,0.00,0.000,6,0.000,0.045,2487,2003,3924,0,0,0,0,0,0
$STATE,2528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2528,begin apogee
$GC,2532,-0.18,0.0,500.6,14.5,323,2695,0.57,0.05,156.30,0.855,6,0.155,0.064,2664,2091,3090,0,0,0,0,0,0
$STATE,2695,end apogee,CONTROL_FINISHED_OK
$STATE,2695,begin climb
$GC,2697,0.72,204.4,509.6,0.0,336,2872,0.82,1.92,167.73,0.846,4,0.076,0.040,2959,3269,2256,0,0,0,0,0,0
$GC,2969,0.71,204.4,485.8,17.5,359,2975,0.00,1.77,0.00,0.000,6,0.000,0.031,2968,2082,2247,0,0,0,0,0,0
$GC,3295,0.70,204.4,436.0,15.6,390,3299,0.00,1.62,0.00,0.000,4,0.000,0.041,2976,964,2242,0,0,0,0,0,0
$GC,3345,0.69,204.4,427.6,15.8,394,3354,0.00,1.77,0.00,0.000,6,0.000,0.035,2974,2146,2241,0,0,0,0,0,0
$GC,3673,0.69,206.4,375.4,15.1,425,3677,0.00,1.70,0.00,0.000,4,0.000,0.042,2974,3274,2238,0,0,0,0,0,0
$GC,3837,0.72,244.3,351.5,13.3,439,3874,0.00,1.75,31.17,0.753,6,0.000,0.031,2983,2071,2094,0,0,0,0,0,0
$GC,4195,0.71,244.3,297.5,16.2,473,4201,0.00,1.65,0.00,0.000,4,0.000,0.042,2992,955,2083,0,0,0,0,0,0
$GC,4326,0.71,244.3,276.1,16.4,495,4333,0.12,1.77,0.00,0.000,6,0.180,0.035,2958,2157,2082,0,0,0,0,0,0
$GC,4682,0.77,291.9,226.4,12.8,556,4726,0.00,1.83,37.25,0.682,4,0.000,0.038,2967,958,1899,0,0,0,0,0,0
$GC,4746,0.82,338.2,218.7,12.8,565,4789,0.00,1.77,38.08,0.662,6,0.000,0.035,2964,2154,1711,0,0,0,0,0,0
$GC,5140,0.87,377.6,161.9,13.2,631,5177,0.12,1.75,30.92,0.625,4,0.083,0.040,3033,3274,1550,0,0,0,0,0,0
$GC,5201,0.87,377.6,150.5,20.0,640,5211,0.08,1.83,0.00,0.000,6,0.168,0.031,3018,2078,1546,0,0,0,0,0,0
$GC,5561,0.87,377.6,85.6,15.7,701,5569,0.00,1.67,0.00,0.000,4,0.000,0.041,3026,963,1541,0,0,0,0,0,0
$GC,5678,0.95,440.0,68.7,12.0,720,5736,0.00,1.77,48.55,0.565,6,0.000,0.034,3026,2151,1295,0,0,0,0,0,0
$GC,6087,1.06,527.3,15.4,10.8,787,6161,0.12,1.83,66.65,0.521,4,0.082,0.041,3110,958,940,0,0,0,0,0,0
$STATE,6168,end climb,SURFACE_DEPTH_REACHED
$STATE,6168,begin surface coast
$FINISH,0.1,1.008882
$STATE,6189,end surface coast,CONTROL_FINISHED_OK
$STATE,6189,begin surface
$SM_CCo,6205,80.60,0.054,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,80.60,0.000,0.000,0.054,149,2050,481,-8.06,0.71,640.23
$IRIDIUM_FIX,2354.48,12612.06,071010,020243
$TT8_MAMPS,0.026215
$HUMID,44.99
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,28.539
$10V_AH,10.4,23.832
$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,19.675,46.100,576.650,80.600,0.000,90.268,50.247,166.198,0.000,0.000,34.620,1857.906,1628.330,603.262,2623.271,135.052,0.000,1426.674,0.000,2294.165,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,73.440,854.505,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.341,0.000,1680.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47001,800
$CAP_FILE_SIZE,84821,0
$CFSIZE,260165632,243859456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058, 30.8,1
$GPS,071010,055101,2401.115,12611.834,15,1.9,15,-3.6