version: 66.08
glider: 169
mission: 2
dive: 105
start: 9 29 110 12 32 17
data:
$ID,169
$MISSION,2
$DIVE,105
$N_DIVES,115
$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,-6811.6831
$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
$GPS1,290910,122755,2413.531,12611.686,40,1.7,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.9
$GPS2,290910,123150,2413.583,12611.645,13,1.7,13,-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,170.5,25162,-21.0,-15.152
$D_GRID,1682
$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,-93.32,0.000,2,0.000,0.000,152,2000,3022,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.3,-4.9,12,146,9.50,1.73,-16.15,0.000,4,0.241,0.063,2489,878,3927,0,0,0,0,0,0
$GC,266,-0.70,-204.4,61.4,-32.8,36,274,0.00,1.83,0.00,0.000,6,0.000,0.058,2489,2033,3928,0,0,0,0,0,0
$GC,629,-0.69,-204.4,170.1,-25.3,97,636,0.00,1.75,0.00,0.000,4,0.000,0.060,2489,3171,3931,0,0,0,0,0,0
$GC,660,-0.68,-204.4,178.8,-26.5,102,669,0.00,1.80,0.00,0.000,6,0.000,0.048,2489,2004,3931,0,0,0,0,0,0
$GC,1020,-0.68,-204.4,264.7,-22.3,163,1027,0.00,1.70,0.00,0.000,4,0.000,0.054,2489,865,3931,0,0,0,0,0,0
$GC,1085,-0.68,-204.4,278.5,-19.8,174,1094,0.00,1.80,0.00,0.000,6,0.000,0.051,2489,2034,3931,0,0,0,0,0,0
$GC,1422,-0.68,-204.4,338.9,-16.3,214,1425,0.00,1.75,0.00,0.000,4,0.000,0.050,2489,865,3931,0,0,0,0,0,0
$GC,1472,-0.68,-204.4,347.0,-14.5,218,1482,0.00,1.80,0.00,0.000,6,0.000,0.049,2489,2039,3931,0,0,0,0,0,0
$GC,1799,-0.69,-204.4,396.7,-15.2,249,1803,0.00,1.75,0.00,0.000,4,0.000,0.061,2489,3167,3930,0,0,0,0,0,0
$GC,1824,-0.69,-204.4,400.2,-14.7,251,1828,0.00,1.77,0.00,0.000,6,0.000,0.044,2489,2002,3930,0,0,0,0,0,0
$GC,2154,-0.69,-204.4,453.5,-16.7,282,2158,0.00,1.77,0.00,0.000,4,0.000,0.059,2489,3167,3928,0,0,0,0,0,0
$GC,2214,-0.71,-204.4,462.6,-14.9,287,2218,0.00,1.73,0.00,0.000,6,0.000,0.044,2489,2002,3928,0,0,0,0,0,0
$STATE,2450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2450,begin apogee
$GC,2454,-0.18,0.0,500.7,16.3,309,2615,0.57,0.08,156.05,0.858,6,0.159,0.109,2667,2090,3091,0,0,0,0,0,0
$STATE,2616,end apogee,CONTROL_FINISHED_OK
$STATE,2616,begin climb
$GC,2618,0.72,204.4,512.4,0.0,322,2795,0.82,0.00,168.30,0.849,6,0.080,0.000,2958,2090,2255,0,0,0,0,0,0
$GC,3115,0.73,223.9,462.3,14.2,368,3139,0.00,1.85,16.02,0.767,4,0.000,0.041,2957,3274,2176,0,0,0,0,0,0
$GC,3255,0.73,223.9,439.3,17.1,380,3258,0.00,1.75,0.00,0.000,6,0.000,0.031,2966,2084,2170,0,0,0,0,0,0
$GC,3588,0.72,228.2,387.8,14.9,411,3591,0.00,1.80,0.00,0.000,4,0.000,0.042,2962,3266,2166,0,0,0,0,0,0
$GC,3808,0.74,250.8,354.1,14.0,430,3842,0.00,1.75,22.10,0.750,6,0.000,0.032,2971,2090,2066,0,0,0,0,0,0
$GC,4160,0.74,250.8,300.0,15.9,463,4166,0.00,1.67,0.00,0.000,4,0.000,0.043,2980,954,2056,0,0,0,0,0,0
$GC,4399,0.74,257.2,264.7,14.8,504,4408,0.00,1.77,4.53,0.496,6,0.000,0.037,2977,2147,2042,0,0,0,0,0,0
$GC,4760,0.74,262.4,210.1,14.9,565,4776,0.00,1.70,5.57,0.529,4,0.000,0.042,2977,3273,2021,0,0,0,0,0,0
$GC,4790,0.74,262.4,205.4,15.5,569,4797,0.00,1.73,0.00,0.000,6,0.000,0.032,2986,2080,2020,0,0,0,0,0,0
$GC,5146,0.76,286.3,154.5,14.0,630,5175,0.00,1.85,21.23,0.624,4,0.000,0.042,2986,3275,1921,0,0,0,0,0,0
$GC,5254,0.76,286.3,138.7,15.8,647,5262,0.00,1.77,0.00,0.000,6,0.000,0.033,2995,2092,1917,0,0,0,0,0,0
$GC,5618,0.85,354.0,86.9,11.8,708,5676,0.00,1.88,53.67,0.588,4,0.000,0.040,2994,3277,1646,0,0,0,0,0,0
$GC,5692,0.93,419.2,78.3,11.9,717,5749,0.00,1.80,51.28,0.570,6,0.000,0.031,3005,2078,1381,0,0,1,0,0,0
$GC,6099,1.07,523.5,29.4,10.0,784,6189,0.17,1.73,79.55,0.531,4,0.066,0.039,3108,964,956,0,0,0,0,0,0
$STATE,6226,end climb,SURFACE_DEPTH_REACHED
$STATE,6226,begin surface coast
$FINISH,0.1,1.009500
$STATE,6240,end surface coast,CONTROL_FINISHED_OK
$STATE,6240,begin surface
$SM_CCo,6256,83.38,0.448,1,0,480,640.23
$SM_GC,0.88,0.00,0.00,83.38,0.000,0.000,0.448,150,2057,480,-8.06,0.90,640.23
$IRIDIUM_FIX,2403.92,12608.24,290910,101022
$TT8_MAMPS,0.026215
$HUMID,43.38
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,15.529
$10V_AH,10.4,12.764
$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,19.525,46.225,578.300,83.375,0.000,30.357,15.626,101.860,0.000,0.000,14.432,1861.668,1548.051,623.246,2448.324,104.842,0.000,1452.575,0.000,2302.964,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,109.395,858.330,448.290,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.759,0.000,1689.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46872,803
$CAP_FILE_SIZE,82818,0
$CFSIZE,260165632,248627200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.090,338.3,1
$GPS,290910,141858,2412.883,12611.729,11,2.7,30,-3.6