version: 66.08
glider: 169
mission: 2
dive: 107
start: 9 29 110 16 16 4
data:
$ID,169
$MISSION,2
$DIVE,107
$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,-6814.2925
$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
$GPS1,290910,161131,2412.012,12611.996,42,1.4,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-74.8
$GPS2,290910,161538,2412.030,12611.968,13,1.1,13,-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,186.6,22279,-21.0,-15.152
$D_GRID,1685
$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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.60,0.000,2,0.000,0.000,148,1980,3111,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.5,-5.2,12,150,9.48,1.73,-14.38,0.000,4,0.240,0.076,2487,887,3929,0,0,0,0,0,0
$GC,280,-0.71,-204.4,71.4,-33.4,38,290,0.00,1.83,0.00,0.000,6,0.000,0.056,2487,2044,3930,0,0,0,0,0,0
$GC,644,-0.69,-204.4,174.6,-24.9,99,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2043,3932,0,0,0,0,0,0
$GC,999,-0.69,-204.4,259.0,-21.9,160,1008,0.00,1.80,0.00,0.000,4,0.000,0.052,2488,868,3933,0,0,0,0,0,0
$GC,1049,-0.69,-204.4,269.9,-21.0,168,1058,0.00,1.80,0.00,0.000,6,0.000,0.054,2488,2033,3933,0,0,0,0,0,0
$GC,1394,-0.69,-204.4,337.2,-18.8,212,1398,0.00,1.73,0.00,0.000,4,0.000,0.050,2487,865,3932,0,0,0,0,0,0
$GC,1421,-0.69,-204.4,342.5,-18.8,214,1432,0.00,1.80,0.00,0.000,6,0.000,0.051,2487,2036,3932,0,0,0,0,0,0
$GC,1747,-0.69,-204.4,401.1,-17.7,245,1751,0.00,1.77,0.00,0.000,4,0.000,0.050,2487,866,3931,0,0,0,0,0,0
$GC,1786,-0.70,-204.4,408.2,-16.4,248,1795,0.00,1.80,0.00,0.000,6,0.000,0.050,2488,2037,3931,0,0,0,0,0,0
$GC,2114,-0.70,-204.4,463.7,-16.1,279,2118,0.00,1.75,0.00,0.000,4,0.000,0.063,2487,3165,3929,0,0,0,0,0,0
$GC,2197,-0.71,-204.4,476.5,-14.0,286,2207,0.00,1.77,0.00,0.000,6,0.000,0.044,2487,2001,3929,0,0,0,0,0,0
$STATE,2361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2361,begin apogee
$GC,2365,-0.18,0.0,500.7,14.6,302,2527,0.57,0.05,156.62,0.851,6,0.163,0.067,2663,2093,3090,0,0,0,0,0,0
$STATE,2528,end apogee,CONTROL_FINISHED_OK
$STATE,2528,begin climb
$GC,2530,0.72,204.4,507.8,0.0,315,2706,0.80,1.92,167.65,0.839,4,0.068,0.041,2958,3270,2256,0,0,0,0,0,0
$GC,2800,0.71,204.4,488.7,16.6,338,2809,0.00,1.80,0.00,0.000,6,0.000,0.031,2966,2089,2247,0,0,0,0,0,0
$GC,3127,0.70,204.4,437.5,15.5,369,3131,0.00,1.80,0.00,0.000,4,0.000,0.041,2963,3270,2243,0,0,0,0,0,0
$GC,3355,0.69,206.6,399.9,15.0,389,3358,0.00,1.73,0.00,0.000,6,0.000,0.032,2972,2083,2240,0,0,0,0,0,0
$GC,3686,0.68,206.6,350.3,15.3,420,3689,0.00,1.65,0.00,0.000,4,0.000,0.042,2980,954,2238,0,0,0,0,0,0
$GC,3798,0.67,206.6,332.8,15.3,430,3802,0.12,1.73,0.00,0.000,6,0.184,0.036,2947,2154,2238,0,0,0,0,0,0
$GC,4132,0.69,221.5,285.5,14.4,469,4153,0.00,1.70,12.35,0.672,4,0.000,0.042,2947,3278,2187,0,0,0,0,0,0
$GC,4323,0.73,262.2,258.5,13.1,502,4366,0.00,1.77,34.05,0.699,6,0.000,0.031,2956,2082,2019,0,0,0,0,0,0
$GC,4704,0.75,272.0,206.7,14.7,568,4719,0.00,1.65,7.93,0.574,4,0.000,0.040,2965,954,1981,0,0,0,0,0,0
$GC,4739,0.77,288.5,201.9,14.3,573,4761,0.00,1.75,15.12,0.625,6,0.000,0.034,2965,2154,1913,0,0,0,0,0,0
$GC,5101,0.80,316.7,153.5,13.7,636,5130,0.00,1.75,23.42,0.616,4,0.000,0.041,2965,3279,1798,0,0,0,0,0,0
$GC,5191,0.80,316.7,139.7,15.6,650,5200,0.00,1.77,0.00,0.000,6,0.000,0.033,2973,2092,1793,0,0,1,0,0,0
$GC,5556,0.92,406.1,90.4,10.7,711,5631,0.15,1.75,69.62,0.584,4,0.072,0.040,3063,964,1433,0,0,0,0,0,0
$GC,5682,0.91,406.1,66.8,21.8,728,5691,0.10,1.80,0.00,0.000,6,0.154,0.034,3030,2152,1429,0,0,0,0,0,0
$GC,6048,0.94,425.5,11.8,14.2,789,6073,0.00,1.80,15.23,0.497,4,0.000,0.041,3039,972,1354,0,0,0,0,0,0
$STATE,6114,end climb,SURFACE_DEPTH_REACHED
$STATE,6114,begin surface coast
$FINISH,0.9,1.021907
$STATE,6128,end surface coast,CONTROL_FINISHED_OK
$STATE,6128,begin surface
$SM_CCo,6144,140.35,0.476,1,0,481,640.23
$SM_GC,0.89,0.00,0.00,140.35,0.000,0.000,0.476,147,2056,481,-8.07,0.88,640.23
$IRIDIUM_FIX,2406.29,12559.73,290910,141419
$TT8_MAMPS,0.026215
$HUMID,42.99
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,24.4,15.800
$10V_AH,10.4,12.989
$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,19.375,46.075,502.000,140.350,0.000,28.112,15.325,112.372,0.000,0.000,14.111,1874.532,1452.916,633.415,2469.661,109.607,0.000,1452.452,0.000,2316.228,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,76.500,850.680,475.830,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.756,0.000,1670.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46980,801
$CAP_FILE_SIZE,83154,0
$CFSIZE,260165632,248532992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.076, 64.3,1
$GPS,290910,180152,2411.116,12612.299,13,3.8,32,-3.6