version: 66.08
glider: 169
mission: 2
dive: 108
start: 9 29 110 18 6 59
data:
$ID,169
$MISSION,2
$DIVE,108
$N_DIVES,120
$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,-6815.5488
$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
$GPS1,290910,180152,2411.116,12612.299,13,3.8,32,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.1
$GPS2,290910,180634,2411.142,12612.264,11,4.5,30,-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,196.1,20640,-21.0,-15.152
$D_GRID,1662
$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,-204.4,0.0,0.0,0,111,0.00,0.00,-93.75,0.000,2,0.000,0.000,147,2056,3014,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.1,-4.4,12,147,9.38,1.85,-16.73,0.000,4,0.236,0.065,2489,869,3927,0,0,0,0,0,0
$GC,328,-0.70,-204.4,80.2,-29.5,47,337,0.00,1.85,0.00,0.000,6,0.000,0.057,2489,2039,3929,0,0,0,0,0,0
$GC,687,-0.69,-204.4,177.9,-25.2,108,695,0.00,1.77,0.00,0.000,4,0.000,0.064,2489,3168,3931,0,0,0,0,0,0
$GC,709,-0.69,-204.4,183.2,-25.3,111,716,0.00,1.77,0.00,0.000,6,0.000,0.045,2489,1999,3931,0,0,0,0,0,0
$GC,1054,-0.68,-204.4,262.3,-20.9,172,1063,0.00,1.70,0.00,0.000,4,0.000,0.051,2489,871,3931,0,0,0,0,0,0
$GC,1132,-0.68,-204.4,275.9,-17.1,185,1140,0.00,1.77,0.00,0.000,6,0.000,0.052,2489,2038,3931,0,0,0,0,0,0
$GC,1469,-0.68,-204.4,338.6,-19.3,227,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2038,3930,0,0,0,0,0,0
$GC,1788,-0.68,-204.4,395.4,-15.9,257,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2038,3929,0,0,0,0,0,0
$GC,2106,-0.69,-204.4,445.8,-16.0,287,2110,0.00,1.75,0.00,0.000,4,0.000,0.063,2489,3166,3928,0,0,0,0,0,0
$GC,2176,-0.70,-204.4,456.5,-14.0,293,2180,0.00,1.73,0.00,0.000,6,0.000,0.044,2489,2001,3927,0,0,0,0,0,0
$STATE,2454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2454,begin apogee
$GC,2458,-0.18,0.0,500.2,15.1,319,2621,0.57,0.05,156.20,0.851,6,0.161,0.068,2666,2093,3091,0,0,0,0,0,0
$STATE,2622,end apogee,CONTROL_FINISHED_OK
$STATE,2622,begin climb
$GC,2623,0.72,204.4,510.8,0.0,332,2802,0.82,1.77,168.15,0.844,4,0.077,0.039,2969,970,2255,0,0,0,0,0,0
$GC,2932,0.73,222.8,488.7,14.2,358,2953,0.00,1.80,15.68,0.760,6,0.000,0.035,2967,2153,2181,0,0,0,0,0,0
$GC,3270,0.72,222.8,436.5,16.5,390,3274,0.00,1.70,0.00,0.000,4,0.000,0.041,2967,3278,2171,0,0,0,0,0,0
$GC,3408,0.71,222.8,412.7,17.7,402,3412,0.00,1.75,0.00,0.000,6,0.000,0.033,2975,2077,2169,0,0,0,0,0,0
$GC,3741,0.70,222.8,356.5,15.6,433,3744,0.00,1.83,0.00,0.000,4,0.000,0.042,2973,3277,2166,0,0,0,0,0,0
$GC,3825,0.72,244.8,344.0,14.1,440,3846,0.00,1.77,17.45,0.726,6,0.000,0.033,2983,2080,2093,0,0,0,0,0,0
$GC,4170,0.71,244.8,290.0,16.4,477,4177,0.00,1.80,0.00,0.000,4,0.000,0.041,2976,3280,2083,0,0,0,0,0,0
$GC,4185,0.70,244.8,287.4,16.4,479,4192,0.00,1.77,0.00,0.000,6,0.000,0.033,2985,2075,2083,0,0,0,0,0,0
$GC,4541,0.70,247.3,233.9,15.0,540,4551,0.00,1.65,0.00,0.000,4,0.000,0.043,2994,963,2081,0,0,0,0,0,0
$GC,4634,0.70,249.6,220.5,15.0,555,4641,0.12,1.73,0.00,0.000,6,0.179,0.036,2958,2159,2081,0,0,0,0,0,0
$GC,4991,0.74,287.3,175.5,13.3,616,5030,0.00,1.73,33.83,0.646,4,0.000,0.041,2958,3274,1917,0,0,0,0,0,0
$GC,5079,0.79,327.8,164.4,13.1,629,5121,0.00,1.75,33.28,0.629,6,0.000,0.032,2967,2080,1751,0,0,1,0,0,0
$GC,5477,0.82,349.0,106.7,14.1,695,5503,0.00,1.67,16.80,0.568,4,0.000,0.041,2975,971,1667,0,0,0,0,0,0
$GC,5523,0.91,413.3,100.9,12.0,701,5581,0.10,1.77,51.20,0.584,6,0.046,0.034,3045,2154,1405,0,0,0,0,0,0
$GC,5930,0.91,413.3,24.7,15.6,768,5939,0.00,1.80,0.00,0.000,4,0.000,0.041,3054,958,1397,0,0,0,0,0,0
$GC,6007,0.91,413.3,12.7,15.6,780,6016,0.08,1.77,0.00,0.000,6,0.148,0.034,3028,2153,1397,0,0,0,0,0,0
$STATE,6076,end climb,SURFACE_DEPTH_REACHED
$STATE,6076,begin surface coast
$FINISH,-0.2,1.000400
$STATE,6101,end surface coast,CONTROL_FINISHED_OK
$STATE,6102,begin surface
$SM_CCo,6117,147.38,0.055,0,0,481,640.23
$SM_GC,0.85,0.00,0.00,147.38,0.000,0.000,0.055,145,2000,481,-8.08,-0.71,640.23
$IRIDIUM_FIX,2403.92,12608.24,290910,161647
$TT8_MAMPS,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.4,15.919
$10V_AH,10.4,13.100
$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,19.125,42.775,492.575,147.375,0.000,24.195,39.092,109.631,0.000,0.000,32.188,1859.188,1500.901,617.407,2458.423,113.333,0.000,1413.844,0.000,2273.432,0.000,0.544,0.000
$DEVICE_MAMPS,236.385,76.500,851.445,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.267,0.000,1654.650,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46971,795
$CAP_FILE_SIZE,82269,0
$CFSIZE,260165632,248483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.075, 62.9,1
$GPS,290910,195222,2410.260,12612.237,13,2.3,32,-3.6