version: 66.08
glider: 169
mission: 2
dive: 92
start: 9 28 110 12 25 20
data:
$ID,169
$MISSION,2
$DIVE,92
$N_DIVES,105
$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,9
$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,-6794.7065
$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,360
$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
$GPS1,280910,122031,2416.938,12610.940,40,1.7,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.5
$GPS2,280910,122455,2416.984,12610.906,12,1.2,17,-3.7
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12612.000
$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,33.2,5882,-21.0,-15.152
$D_GRID,1664
$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,14,-0.72,-204.4,0.0,0.0,0,112,0.00,0.00,-94.85,0.000,2,0.000,0.000,150,1995,3050,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.3,-4.7,12,148,8.98,1.88,-15.75,0.000,4,0.224,0.077,2486,3165,3927,0,0,0,0,0,0
$GC,225,-0.70,-204.4,51.9,-35.0,29,235,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2007,3928,0,0,0,0,0,0
$GC,587,-0.69,-204.4,166.0,-23.4,90,596,0.00,1.73,0.00,0.000,4,0.000,0.057,2486,882,3931,0,0,0,0,0,0
$GC,699,-0.69,-204.4,189.8,-19.8,109,707,0.00,1.75,0.00,0.000,6,0.000,0.050,2486,2041,3931,0,0,0,0,0,0
$GC,1046,-0.69,-204.4,261.4,-18.4,170,1054,0.00,1.75,0.00,0.000,4,0.000,0.062,2486,3167,3932,0,0,0,0,0,0
$GC,1125,-0.70,-204.4,274.5,-16.8,183,1131,0.00,1.73,0.00,0.000,6,0.000,0.047,2486,2003,3932,0,0,0,0,0,0
$GC,1466,-0.70,-204.4,334.3,-17.1,227,1470,0.00,1.70,0.00,0.000,4,0.000,0.054,2486,865,3931,0,0,0,0,0,0
$GC,1568,-0.71,-204.4,350.3,-14.7,236,1572,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2041,3931,0,0,0,0,0,0
$GC,1900,-0.71,-204.4,403.5,-15.7,267,1904,0.00,1.75,0.00,0.000,4,0.000,0.054,2487,866,3929,0,0,0,0,0,0
$GC,1994,-0.72,-204.4,418.5,-14.6,275,2001,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2046,3929,0,0,0,0,0,0
$GC,2320,-0.73,-204.4,469.2,-15.0,306,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2046,3927,0,0,0,0,0,0
$STATE,2543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2543,begin apogee
$GC,2547,-0.18,0.0,500.6,14.3,327,2708,0.57,0.08,155.98,0.855,6,0.150,0.109,2668,2091,3091,0,0,0,0,0,0
$STATE,2709,end apogee,CONTROL_FINISHED_OK
$STATE,2709,begin climb
$GC,2711,0.72,204.4,508.7,0.0,340,2886,0.80,1.85,167.75,0.842,4,0.080,0.039,2953,3271,2256,0,0,0,0,0,0
$GC,3014,0.71,204.4,483.6,16.7,365,3017,0.00,1.77,0.00,0.000,6,0.000,0.032,2962,2089,2245,0,0,0,0,0,0
$GC,3345,0.74,236.1,435.4,13.6,396,3383,0.00,1.88,25.55,0.781,4,0.000,0.042,2961,3273,2126,0,0,0,0,0,0
$GC,3395,0.73,236.1,428.0,15.2,400,3399,0.00,1.75,0.00,0.000,6,0.000,0.032,2971,2078,2124,0,0,1,0,0,0
$GC,3728,0.73,236.1,376.4,15.5,431,3732,0.00,1.65,0.00,0.000,4,0.000,0.041,2979,966,2118,0,0,0,0,0,0
$GC,3798,0.73,246.4,365.8,14.6,437,3811,0.00,1.73,8.50,0.664,6,0.000,0.037,2979,2153,2086,0,0,0,0,0,0
$GC,4128,0.73,250.2,313.6,15.0,468,4143,0.00,1.70,4.20,0.489,4,0.000,0.043,2979,3272,2069,0,0,0,0,0,0
$GC,4223,0.72,250.2,298.6,15.2,476,4232,0.00,1.77,0.00,0.000,6,0.000,0.034,2988,2078,2067,0,0,0,0,0,0
$GC,4581,0.75,280.5,243.7,13.6,537,4615,0.00,1.85,25.67,0.689,4,0.000,0.043,2988,3266,1945,0,0,0,0,0,0
$GC,4787,0.75,280.5,212.1,15.8,571,4793,0.00,1.75,0.00,0.000,6,0.000,0.034,2997,2086,1939,0,0,0,0,0,0
$GC,5141,0.74,280.5,152.2,18.2,632,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2085,1936,0,0,0,0,0,0
$GC,5505,0.84,353.6,98.7,11.5,693,5570,0.00,1.85,57.20,0.597,4,0.000,0.038,2997,3272,1646,0,0,0,0,0,0
$GC,5579,0.96,452.3,91.4,10.2,702,5661,0.00,1.77,76.97,0.579,6,0.000,0.031,3006,2093,1246,0,0,1,0,0,0
$GC,6010,1.11,565.0,39.5,9.5,772,6109,0.22,1.90,85.72,0.533,4,0.054,0.039,3123,3279,785,0,0,0,0,0,0
$GC,6152,1.11,565.0,7.4,26.4,791,6162,0.12,1.80,0.00,0.000,6,0.155,0.031,3092,2078,783,0,0,1,0,0,0
$STATE,6168,end climb,SURFACE_DEPTH_REACHED
$STATE,6168,begin surface coast
$FINISH,0.0,1.021776
$STATE,6182,end surface coast,CONTROL_FINISHED_OK
$STATE,6182,begin surface
$SM_CCo,6197,54.75,0.409,1,0,481,640.23
$SM_GC,0.84,0.00,0.00,54.75,0.000,0.000,0.409,147,2000,481,-8.07,-0.71,640.23
$IRIDIUM_FIX,2406.29,12608.24,280910,101045
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,13.803
$10V_AH,10.5,11.306
$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,19.175,43.000,607.550,54.750,0.000,29.504,35.425,106.530,0.000,0.000,17.855,1828.167,1533.164,597.406,2464.933,99.361,0.000,1448.980,0.000,2287.432,0.000,0.545,0.000
$DEVICE_MAMPS,224.145,109.395,855.270,409.275,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,530.029,0.000,1654.642,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333956
$DATA_FILE_SIZE,46992,795
$CAP_FILE_SIZE,82970,0
$CFSIZE,260165632,249241600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.015,278.5,1
$GPS,280910,141034,2418.020,12611.074,12,2.5,31,-3.7