version: 66.08
glider: 169
mission: 2
dive: 96
start: 9 28 110 19 58 40
data:
$ID,169
$MISSION,2
$DIVE,96
$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,-6799.8145
$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
$GPS1,280910,195407,2419.135,12611.824,8,1.1,13,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.2
$GPS2,280910,195814,2419.146,12611.766,14,1.2,14,-3.7
$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,186.0,35460,-21.0,-15.152
$D_GRID,1642
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-95.30,0.000,2,0.000,0.000,150,1994,3068,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.3,-4.6,12,149,9.38,1.75,-15.18,0.000,4,0.236,0.071,2490,881,3927,0,0,0,0,0,0
$GC,279,-0.70,-204.4,72.4,-33.2,38,289,0.00,1.80,0.00,0.000,6,0.000,0.054,2490,2033,3929,0,0,0,0,0,0
$GC,643,-0.70,-204.4,174.1,-21.0,99,649,0.00,1.73,0.00,0.000,4,0.000,0.053,2490,878,3932,0,0,0,0,0,0
$GC,777,-0.70,-204.4,201.2,-18.8,122,787,0.00,1.80,0.00,0.000,6,0.000,0.052,2490,2039,3932,0,0,0,0,0,0
$GC,1137,-0.69,-204.4,276.0,-20.3,183,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2039,3932,0,0,0,0,0,0
$GC,1479,-0.69,-204.4,341.2,-18.9,225,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2039,3931,0,0,0,0,0,0
$GC,1799,-0.69,-204.4,400.8,-18.2,255,1802,0.00,1.70,0.00,0.000,4,0.000,0.061,2490,3167,3930,0,0,0,0,0,0
$GC,1833,-0.70,-204.4,407.4,-17.1,258,1836,0.00,1.77,0.00,0.000,6,0.000,0.047,2490,2006,3930,0,0,0,0,0,0
$GC,2165,-0.70,-204.4,460.5,-14.4,289,2169,0.00,1.67,0.00,0.000,4,0.000,0.056,2491,874,3928,0,0,0,0,0,0
$GC,2305,-0.71,-204.4,479.8,-12.8,301,2309,0.00,1.75,0.00,0.000,6,0.000,0.051,2490,2045,3928,0,0,0,0,0,0
$STATE,2455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2456,begin apogee
$GC,2459,-0.18,0.0,501.0,14.5,315,2622,0.55,0.05,156.50,0.848,6,0.156,0.067,2662,2093,3091,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2624,0.72,204.4,510.7,0.0,328,2802,0.85,1.77,167.55,0.842,4,0.085,0.039,2968,968,2256,0,0,0,0,0,0
$GC,2906,0.72,210.2,492.6,14.9,352,2921,0.00,1.75,5.20,0.578,6,0.000,0.036,2968,2152,2233,0,0,0,0,0,0
$GC,3238,0.72,220.9,440.1,14.6,383,3252,0.00,1.83,10.07,0.706,4,0.000,0.041,2976,961,2189,0,0,0,0,0,0
$GC,3276,0.72,225.0,433.8,14.9,386,3286,0.00,1.77,5.00,0.559,6,0.000,0.035,2974,2145,2172,0,0,0,0,0,0
$GC,3603,0.71,225.0,384.7,15.5,417,3606,0.00,1.67,0.00,0.000,4,0.000,0.043,2974,3278,2165,0,0,0,0,0,0
$GC,3744,0.70,225.0,361.1,16.8,429,3751,0.00,1.77,0.00,0.000,6,0.000,0.032,2984,2078,2165,0,0,0,0,0,0
$GC,4069,0.69,225.0,305.9,16.8,460,4073,0.00,1.77,0.00,0.000,4,0.000,0.043,2980,3281,2163,0,0,0,0,0,0
$GC,4275,0.68,225.0,270.8,17.9,491,4282,0.15,1.75,0.00,0.000,6,0.186,0.033,2949,2081,2161,0,0,0,0,0,0
$GC,4631,0.78,302.7,222.5,11.3,552,4697,0.00,1.90,61.17,0.680,4,0.000,0.041,2948,3274,1856,0,0,0,0,0,0
$GC,4792,0.81,323.0,201.5,14.1,577,4821,0.00,1.75,17.30,0.626,6,0.000,0.032,2957,2086,1771,0,0,0,0,0,0
$GC,5171,0.88,376.7,148.5,12.5,641,5221,0.15,1.67,42.45,0.619,4,0.073,0.037,3043,955,1553,0,0,0,0,0,0
$GC,5352,0.88,376.7,115.6,17.8,669,5361,0.08,1.80,0.00,0.000,6,0.159,0.036,3018,2151,1547,0,0,0,0,0,0
$GC,5718,0.99,462.9,55.4,10.9,730,5791,0.00,0.00,66.65,0.555,6,0.000,0.000,3018,2151,1201,0,0,0,0,0,0
$STATE,6132,end climb,SURFACE_DEPTH_REACHED
$STATE,6132,begin surface coast
$FINISH,0.0,1.004632
$STATE,6157,end surface coast,CONTROL_FINISHED_OK
$STATE,6157,begin surface
$SM_CCo,6172,116.38,0.464,1,0,481,640.23
$SM_GC,0.91,0.00,0.00,116.38,0.000,0.000,0.464,142,1994,481,-8.09,-0.88,640.23
$IRIDIUM_FIX,2413.38,12611.03,280910,181849
$TT8_MAMPS,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,24.4,14.341
$10V_AH,10.5,11.760
$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,19.350,35.600,531.900,116.375,0.000,30.815,15.231,110.495,0.000,0.000,15.454,1866.633,1515.781,603.912,2458.547,99.315,0.000,1411.815,0.000,2299.641,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,100.980,848.385,464.355,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.504,0.000,1673.866,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46913,802
$CAP_FILE_SIZE,80215,0
$CFSIZE,260165632,249044992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.072,  9.7,1
$GPS,280910,214428,2418.393,12611.898,10,2.9,29,-3.7