version: 66.08
glider: 169
mission: 2
dive: 100
start: 9 29 110 3 23 23
data:
$ID,169
$MISSION,2
$DIVE,100
$N_DIVES,110
$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,-6805.0273
$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
$GPS1,290910,031837,2416.412,12611.808,27,1.1,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.9
$GPS2,290910,032256,2416.453,12611.739,14,1.1,14,-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,173.7,30474,-21.0,-15.152
$D_GRID,1635
$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,13,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-95.82,0.000,2,0.000,0.000,148,2003,3087,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.4,-4.9,12,149,9.38,1.75,-14.93,0.000,4,0.237,0.074,2489,885,3928,0,0,0,0,0,0
$GC,250,-0.70,-204.4,62.9,-34.3,33,259,0.00,1.80,0.00,0.000,6,0.000,0.055,2489,2031,3929,0,0,0,0,0,0
$GC,609,-0.69,-204.4,176.7,-25.1,94,617,0.00,1.77,0.00,0.000,4,0.000,0.052,2489,876,3932,0,0,0,0,0,0
$GC,654,-0.68,-204.4,187.1,-23.4,101,662,0.00,1.75,0.00,0.000,6,0.000,0.054,2489,2039,3932,0,0,0,0,0,0
$GC,1002,-0.68,-204.4,264.3,-20.8,162,1011,0.00,1.75,0.00,0.000,4,0.000,0.063,2489,3164,3933,0,0,0,0,0,0
$GC,1081,-0.68,-204.4,278.8,-17.8,175,1087,0.00,1.73,0.00,0.000,6,0.000,0.048,2489,2005,3933,0,0,0,0,0,0
$GC,1414,-0.68,-204.4,345.4,-19.8,215,1417,0.00,1.67,0.00,0.000,4,0.000,0.055,2489,869,3933,0,0,0,0,0,0
$GC,1538,-0.69,-204.4,368.5,-17.9,226,1542,0.00,1.75,0.00,0.000,6,0.000,0.051,2489,2038,3932,0,0,0,0,0,0
$GC,1870,-0.69,-204.4,427.6,-15.8,257,1874,0.00,1.75,0.00,0.000,4,0.000,0.054,2489,878,3931,0,0,0,0,0,0
$GC,1931,-0.70,-204.4,437.6,-15.5,262,1940,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2036,3930,0,0,0,0,0,0
$GC,2258,-0.71,-204.4,485.3,-13.5,293,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2036,3929,0,0,0,0,0,0
$STATE,2371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2371,begin apogee
$GC,2375,-0.18,0.0,501.4,13.8,304,2537,0.55,0.08,157.00,0.853,6,0.150,0.110,2663,2090,3091,0,0,0,0,0,0
$STATE,2538,end apogee,CONTROL_FINISHED_OK
$STATE,2538,begin climb
$GC,2539,0.72,204.4,510.2,0.0,317,2714,0.82,1.88,167.88,0.842,4,0.083,0.042,2951,3271,2256,0,0,0,0,0,0
$GC,2815,0.71,204.4,489.4,16.4,340,2824,0.00,1.80,0.00,0.000,6,0.000,0.031,2960,2093,2247,0,0,0,0,0,0
$GC,3142,0.71,209.8,439.5,14.9,371,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2093,2243,0,0,0,0,0,0
$GC,3461,0.76,255.8,394.6,12.9,401,3511,0.00,1.73,40.95,0.782,4,0.000,0.041,2969,970,2045,0,0,0,0,0,0
$GC,3589,0.76,261.0,376.0,14.9,412,3603,0.00,1.75,4.70,0.531,6,0.000,0.036,2968,2154,2026,0,0,0,0,0,0
$GC,3920,0.76,261.0,321.9,16.9,443,3924,0.00,1.75,0.00,0.000,4,0.000,0.042,2976,962,2019,0,0,0,0,0,0
$GC,3954,0.75,261.0,315.9,16.3,446,3958,0.00,1.77,0.00,0.000,6,0.000,0.037,2974,2146,2019,0,0,0,0,0,0
$GC,4294,0.75,261.0,259.5,16.5,498,4302,0.00,1.70,0.00,0.000,4,0.000,0.043,2974,3278,2015,0,0,0,0,0,0
$GC,4350,0.74,261.0,249.9,17.2,507,4356,0.00,1.75,0.00,0.000,6,0.000,0.034,2983,2086,2015,0,0,0,0,0,0
$GC,4694,0.79,301.6,197.9,13.1,568,4731,0.00,1.88,32.58,0.662,4,0.000,0.042,2983,3278,1860,0,0,0,0,0,0
$GC,4846,0.78,301.6,173.5,17.7,593,4853,0.00,1.77,0.00,0.000,6,0.000,0.034,2992,2085,1852,0,0,0,0,0,0
$GC,5200,0.78,301.6,117.2,15.2,654,5208,0.00,1.67,0.00,0.000,4,0.000,0.043,3000,960,1850,0,0,0,0,0,0
$GC,5287,0.85,352.4,105.0,12.6,668,5337,0.00,1.77,40.05,0.597,6,0.000,0.036,3000,2153,1652,0,0,0,0,0,0
$GC,5687,0.98,457.7,55.5,9.9,734,5776,0.12,1.83,81.25,0.555,4,0.083,0.037,3079,965,1224,0,0,0,0,0,0
$GC,5866,0.98,457.7,24.5,18.5,760,5875,0.08,1.80,0.00,0.000,6,0.154,0.035,3052,2156,1219,0,0,0,0,0,0
$STATE,5991,end climb,SURFACE_DEPTH_REACHED
$STATE,5992,begin surface coast
$FINISH,0.0,1.017709
$STATE,6012,end surface coast,CONTROL_FINISHED_OK
$STATE,6012,begin surface
$SM_CCo,6027,119.85,0.470,1,0,481,640.23
$SM_GC,1.03,0.00,0.00,119.85,0.000,0.000,0.470,148,1997,481,-8.07,-0.79,640.23
$IRIDIUM_FIX,2411.01,12612.94,290910,010130
$TT8_MAMPS,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,14.854
$10V_AH,10.4,12.208
$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,19.175,42.825,524.400,119.850,0.000,31.205,37.189,102.417,0.000,0.000,14.929,1830.536,1452.791,616.862,2417.103,99.464,0.000,1424.814,0.000,2245.084,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,110.160,852.975,469.710,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,523.767,0.000,1645.088,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,47042,784
$CAP_FILE_SIZE,81163,0
$CFSIZE,260165632,248856576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.070,320.9,1
$GPS,290910,050652,2415.662,12611.845,12,5.1,31,-3.7