version: 66.08
glider: 169
mission: 2
dive: 97
start: 9 28 110 21 49 19
data:
$ID,169
$MISSION,2
$DIVE,97
$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,-6801.1685
$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
$GPS1,280910,214428,2418.393,12611.898,10,2.9,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.8
$GPS2,280910,214852,2418.433,12611.836,14,3.2,33,-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,185.3,34139,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,110,0.00,0.00,-93.60,0.000,2,0.000,0.000,139,1994,3028,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.3,-5.2,12,146,9.35,1.75,-16.17,0.000,4,0.235,0.070,2487,875,3927,0,0,0,0,0,0
$GC,185,-0.69,-204.4,36.9,-46.1,22,194,0.00,1.85,0.00,0.000,6,0.000,0.058,2487,2037,3928,0,0,0,0,0,0
$GC,548,-0.68,-204.4,155.8,-27.8,83,555,0.00,1.77,0.00,0.000,4,0.000,0.053,2487,867,3931,0,0,0,0,0,0
$GC,668,-0.67,-204.4,183.1,-20.5,104,677,0.00,1.83,0.00,0.000,6,0.000,0.051,2487,2046,3931,0,0,0,0,0,0
$GC,1016,-0.67,-204.4,258.8,-20.5,165,1023,0.00,1.75,0.00,0.000,4,0.000,0.051,2487,866,3932,0,0,0,0,0,0
$GC,1043,-0.67,-204.4,264.4,-20.6,169,1051,0.00,1.80,0.00,0.000,6,0.000,0.051,2487,2051,3932,0,0,0,0,0,0
$GC,1384,-0.67,-204.4,330.0,-18.5,216,1388,0.00,1.67,0.00,0.000,4,0.000,0.058,2487,3168,3931,0,0,0,0,0,0
$GC,1445,-0.67,-204.4,340.4,-14.5,221,1453,0.00,1.77,0.00,0.000,6,0.000,0.046,2487,2001,3931,0,0,0,0,0,0
$GC,1769,-0.67,-204.4,399.3,-18.4,252,1773,0.00,1.67,0.00,0.000,4,0.000,0.054,2487,879,3930,0,0,0,0,0,0
$GC,1885,-0.68,-204.4,418.5,-15.4,262,1895,0.00,1.77,0.00,0.000,6,0.000,0.050,2487,2036,3928,0,0,0,0,0,0
$GC,2213,-0.68,-204.4,468.2,-14.6,293,2217,0.00,1.75,0.00,0.000,4,0.000,0.051,2487,866,3927,0,0,0,0,0,0
$GC,2292,-0.69,-204.4,479.8,-13.0,300,2296,0.00,1.75,0.00,0.000,6,0.000,0.049,2487,2041,3927,0,0,0,0,0,0
$STATE,2441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2441,begin apogee
$GC,2445,-0.18,0.0,500.6,13.8,314,2607,0.57,0.05,156.35,0.848,6,0.153,0.064,2668,2093,3090,0,0,0,0,0,0
$STATE,2608,end apogee,CONTROL_FINISHED_OK
$STATE,2608,begin climb
$GC,2609,0.72,204.4,508.8,0.0,327,2787,0.80,1.77,167.43,0.839,4,0.076,0.041,2963,970,2255,0,0,0,0,0,0
$GC,2949,0.71,204.4,475.9,16.9,356,2958,0.00,1.80,0.00,0.000,6,0.000,0.034,2962,2154,2247,0,0,0,0,0,0
$GC,3277,0.73,221.2,425.8,14.3,387,3297,0.00,0.00,13.57,0.734,6,0.000,0.000,2962,2154,2187,0,0,0,0,0,0
$GC,3615,0.72,221.2,374.7,15.2,419,3619,0.00,1.65,0.00,0.000,4,0.000,0.044,2962,3272,2180,0,0,0,0,0,0
$GC,3675,0.71,221.2,364.7,15.8,424,3685,0.00,1.77,0.00,0.000,6,0.000,0.031,2969,2080,2178,0,0,0,0,0,0
$GC,4003,0.71,223.8,316.4,15.0,455,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2080,2176,0,0,0,0,0,0
$GC,4331,0.76,266.7,270.3,13.0,504,4373,0.00,1.80,36.38,0.710,4,0.000,0.041,2970,3271,2001,0,0,0,0,0,0
$GC,4565,0.76,273.0,234.8,14.8,544,4574,0.00,1.77,5.10,0.502,6,0.000,0.032,2979,2088,1978,0,0,0,0,0,0
$GC,4917,0.78,289.9,182.5,14.3,605,4939,0.00,1.73,15.07,0.620,4,0.000,0.042,2987,960,1907,0,0,0,0,0,0
$GC,4995,0.80,304.2,170.9,14.4,618,5018,0.00,1.77,13.20,0.600,6,0.000,0.037,2987,2146,1847,0,0,0,0,0,0
$GC,5368,0.82,324.1,117.5,14.2,681,5393,0.00,1.80,16.52,0.581,4,0.000,0.039,2996,963,1767,0,0,0,0,0,0
$GC,5540,0.84,336.5,94.2,14.5,709,5558,0.00,1.77,11.05,0.535,6,0.000,0.035,2996,2152,1718,0,0,0,0,0,0
$GC,5907,0.99,448.4,52.5,9.6,771,6005,0.15,1.85,87.10,0.551,4,0.073,0.039,3087,967,1260,0,0,0,0,0,0
$GC,6101,0.99,448.4,20.0,18.9,799,6111,0.10,1.77,0.00,0.000,6,0.149,0.034,3053,2149,1256,0,0,0,0,0,0
$STATE,6206,end climb,SURFACE_DEPTH_REACHED
$STATE,6206,begin surface coast
$FINISH,0.1,0.998296
$STATE,6226,end surface coast,CONTROL_FINISHED_OK
$STATE,6226,begin surface
$SM_CCo,6241,126.30,0.468,1,0,481,640.23
$SM_GC,0.92,0.00,0.00,126.30,0.000,0.000,0.468,143,1998,481,-8.08,-0.76,640.23
$IRIDIUM_FIX,2411.01,12611.03,280910,212131
$TT8_MAMPS,0.026215
$HUMID,42.87
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,24.4,14.476
$10V_AH,10.4,11.874
$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,19.250,42.850,521.775,126.300,0.000,32.336,18.087,101.680,0.000,0.000,35.315,1909.154,1474.082,626.705,2529.811,103.216,0.000,1456.429,0.000,2355.263,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,87.975,848.385,468.180,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,546.733,0.000,1721.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,50230,819
$CAP_FILE_SIZE,83905,0
$CFSIZE,260165632,248991744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.096,344.6,1
$GPS,280910,233637,2417.770,12611.813,40,1.0,40,-3.7