version: 66.08
glider: 169
mission: 2
dive: 197
start: 10 6 110 16 54 32
data:
$ID,169
$MISSION,2
$DIVE,197
$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,-6930.5088
$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
$GPS1,061010,164826,2407.521,12611.758,11,1.9,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.2
$GPS2,061010,165406,2407.546,12611.705,14,1.5,30,-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,178.4,13984,-21.0,-15.152
$D_GRID,1752
$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,-204.4,0.0,0.0,0,117,0.00,0.00,-99.32,0.000,2,0.000,0.000,141,2053,3235,0,0,0,0,0,0
$GC,119,-0.72,-204.4,4.4,-8.0,12,146,9.35,1.90,-11.38,0.000,4,0.230,0.070,2492,865,3928,0,0,0,0,0,0
$GC,277,-0.71,-204.4,70.0,-27.4,37,286,0.00,1.85,0.00,0.000,6,0.000,0.054,2492,2036,3930,0,0,0,0,0,0
$GC,639,-0.70,-204.4,168.2,-24.5,98,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2036,3932,0,0,0,0,0,0
$GC,1000,-0.70,-204.4,246.2,-20.2,159,1006,0.00,1.75,0.00,0.000,4,0.000,0.060,2492,3173,3933,0,0,0,0,0,0
$GC,1108,-0.71,-204.4,265.0,-15.9,177,1115,0.00,1.77,0.00,0.000,6,0.000,0.047,2492,1998,3933,0,0,0,0,0,0
$GC,1452,-0.71,-204.4,324.7,-16.7,225,1456,0.00,1.67,0.00,0.000,4,0.000,0.052,2492,879,3932,0,0,0,0,0,0
$GC,1491,-0.72,-204.4,331.7,-15.8,228,1500,0.00,1.80,0.00,0.000,6,0.000,0.050,2492,2040,3932,0,0,0,0,0,0
$GC,1819,-0.72,-204.4,382.6,-14.6,259,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2040,3931,0,0,0,0,0,0
$GC,2147,-0.73,-204.4,430.7,-14.7,290,2151,0.00,1.75,0.00,0.000,4,0.000,0.062,2492,3171,3930,0,0,0,0,0,0
$GC,2230,-0.74,-204.4,441.7,-11.8,297,2233,0.00,1.77,0.00,0.000,6,0.000,0.046,2492,2004,3929,0,0,0,0,0,0
$GC,2562,-0.75,-204.4,486.8,-12.8,328,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,2492,2002,3927,0,0,0,0,0,0
$STATE,2664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2664,begin apogee
$GC,2668,-0.18,0.0,500.4,12.8,338,2831,0.55,0.08,157.02,0.858,6,0.154,0.109,2663,2091,3091,0,0,0,0,0,0
$STATE,2832,end apogee,CONTROL_FINISHED_OK
$STATE,2832,begin climb
$GC,2833,0.72,204.4,508.1,0.0,351,3013,0.82,1.90,168.25,0.852,4,0.076,0.039,2957,3269,2255,0,0,0,0,0,0
$GC,3106,0.71,207.9,490.1,15.0,375,3109,0.00,1.77,0.00,0.000,6,0.000,0.032,2966,2080,2247,0,0,0,0,0,0
$GC,3437,0.74,233.5,442.6,13.9,406,3464,0.00,1.67,23.25,0.786,4,0.000,0.042,2974,961,2139,0,0,0,0,0,0
$GC,3480,0.74,243.2,436.2,14.7,409,3501,0.00,1.83,9.52,0.696,6,0.000,0.036,2974,2154,2098,0,0,0,0,0,0
$GC,3819,0.73,243.2,381.7,16.6,441,3822,0.00,1.67,0.00,0.000,4,0.000,0.042,2974,3274,2089,0,0,0,0,0,0
$GC,3924,0.72,243.2,362.5,17.5,450,3933,0.00,1.80,0.00,0.000,6,0.000,0.033,2983,2076,2087,0,0,0,0,0,0
$GC,4252,0.72,243.2,307.9,16.7,481,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2075,2084,0,0,0,0,0,0
$GC,4584,0.73,261.0,259.3,14.3,536,4607,0.00,1.67,13.55,0.676,4,0.000,0.043,2992,968,2025,0,0,0,0,0,0
$GC,4621,0.73,261.0,253.9,15.3,541,4628,0.00,1.75,0.00,0.000,6,0.000,0.036,2990,2152,2024,0,0,0,0,0,0
$GC,4965,0.72,264.4,197.9,15.0,602,4974,0.00,1.67,0.00,0.000,4,0.000,0.041,2990,3271,2018,0,0,0,0,0,0
$GC,5089,0.72,264.4,178.4,15.2,623,5098,0.12,1.75,0.00,0.000,6,0.181,0.034,2966,2081,2017,0,0,0,0,0,0
$GC,5446,0.77,306.4,135.3,13.1,684,5488,0.00,1.73,36.80,0.621,4,0.000,0.043,2974,965,1839,0,0,0,0,0,0
$GC,5568,0.83,346.9,119.1,13.1,702,5609,0.00,1.80,33.05,0.596,6,0.000,0.035,2974,2156,1674,0,0,0,0,0,0
$GC,5959,0.94,435.9,71.6,10.7,767,6034,0.15,1.90,68.90,0.566,4,0.073,0.042,3064,964,1313,0,0,0,0,0,0
$GC,6101,0.95,435.9,48.2,15.9,787,6111,0.00,1.80,0.00,0.000,6,0.000,0.035,3064,2143,1308,0,0,0,0,0,0
$STATE,6377,end climb,SURFACE_DEPTH_REACHED
$STATE,6377,begin surface coast
$FINISH,0.1,1.021809
$STATE,6397,end surface coast,CONTROL_FINISHED_OK
$STATE,6397,begin surface
$SM_CCo,6412,136.98,0.055,0,0,481,640.23
$SM_GC,1.03,0.00,0.00,136.98,0.000,0.000,0.055,143,2000,481,-8.08,-0.71,640.23
$IRIDIUM_FIX,2356.84,12612.06,061010,141425
$TT8_MAMPS,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.3,27.766
$10V_AH,10.3,23.169
$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,19.225,39.525,510.350,136.975,0.000,29.091,37.740,154.501,0.000,0.000,31.386,1957.572,1570.364,624.090,2606.280,133.886,0.000,1445.088,0.000,2377.066,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,109.395,858.330,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.461,0.000,1750.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50255,836
$CAP_FILE_SIZE,84504,0
$CFSIZE,260165632,244137984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.110,  3.8,1
$GPS,061010,184435,2406.879,12611.868,11,0.9,26,-3.6