version: 66.08
glider: 169
mission: 2
dive: 110
start: 9 29 110 21 45 22
data:
$ID,169
$MISSION,2
$DIVE,110
$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,-6818.251
$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
$GPS1,290910,214027,2409.583,12612.095,12,3.3,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.4
$GPS2,290910,214455,2409.627,12612.074,15,1.4,20,-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,189.1,17830,-21.0,-15.152
$D_GRID,1710
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-95.12,0.000,2,0.000,0.000,142,2053,3065,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.2,-4.9,12,148,9.20,1.85,-15.35,0.000,4,0.230,0.071,2485,885,3927,0,0,0,0,0,0
$GC,290,-0.70,-204.4,68.8,-28.7,40,299,0.00,1.80,0.00,0.000,6,0.000,0.053,2486,2035,3929,0,0,0,0,0,0
$GC,654,-0.69,-204.4,174.3,-25.8,101,660,0.00,1.75,0.00,0.000,4,0.000,0.050,2486,876,3931,0,0,0,0,0,0
$GC,738,-0.69,-204.4,194.2,-21.6,115,745,0.00,1.75,0.00,0.000,6,0.000,0.053,2486,2039,3932,0,0,0,0,0,0
$GC,1094,-0.69,-204.4,275.0,-21.1,176,1102,0.00,1.77,0.00,0.000,4,0.000,0.051,2486,879,3932,0,0,0,0,0,0
$GC,1120,-0.69,-204.4,280.5,-20.4,180,1129,0.00,1.80,0.00,0.000,6,0.000,0.052,2486,2047,3932,0,0,0,0,0,0
$GC,1458,-0.69,-204.4,346.7,-19.8,219,1461,0.00,1.73,0.00,0.000,4,0.000,0.061,2485,3176,3931,0,0,0,0,0,0
$GC,1496,-0.69,-204.4,355.1,-18.6,222,1507,0.00,1.77,0.00,0.000,6,0.000,0.047,2486,2010,3931,0,0,0,0,0,0
$GC,1823,-0.69,-204.4,414.0,-16.4,253,1826,0.00,1.80,0.00,0.000,4,0.000,0.062,2486,3166,3930,0,0,0,0,0,0
$GC,1861,-0.69,-204.4,420.5,-15.2,256,1870,0.00,1.77,0.00,0.000,6,0.000,0.045,2486,2001,3929,0,0,0,0,0,0
$GC,2189,-0.70,-204.4,469.8,-14.6,287,2193,0.00,1.80,0.00,0.000,4,0.000,0.060,2486,3167,3928,0,0,0,0,0,0
$GC,2247,-0.71,-204.4,477.8,-12.8,292,2250,0.00,1.73,0.00,0.000,6,0.000,0.044,2486,2002,3928,0,0,0,0,0,0
$STATE,2416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2416,begin apogee
$GC,2420,-0.18,0.0,500.9,14.3,308,2581,0.57,0.08,155.43,0.853,6,0.159,0.109,2664,2091,3091,0,0,0,0,0,0
$STATE,2582,end apogee,CONTROL_FINISHED_OK
$STATE,2582,begin climb
$GC,2583,0.72,204.4,507.6,0.0,321,2766,0.85,1.80,168.35,0.838,4,0.076,0.040,2969,966,2255,0,0,0,0,0,0
$GC,2815,0.75,235.4,496.3,13.6,341,2850,0.00,1.77,26.17,0.793,6,0.000,0.034,2967,2153,2129,0,0,0,0,0,0
$GC,3168,0.74,235.4,440.5,15.9,374,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2153,2120,0,0,0,0,0,0
$GC,3488,0.73,235.4,387.6,15.9,404,3492,0.00,1.67,0.00,0.000,4,0.000,0.042,2967,3280,2116,0,0,0,0,0,0
$GC,3686,0.72,235.4,353.4,16.8,421,3694,0.00,1.77,0.00,0.000,6,0.000,0.033,2976,2088,2114,0,0,0,0,0,0
$GC,4013,0.71,235.4,302.7,17.0,452,4017,0.00,1.77,0.00,0.000,4,0.000,0.041,2974,3277,2113,0,0,0,0,0,0
$GC,4187,0.71,235.4,273.5,16.7,480,4196,0.00,1.77,0.00,0.000,6,0.000,0.034,2983,2089,2111,0,0,0,0,0,0
$GC,4546,0.77,294.2,219.5,12.2,541,4603,0.00,1.75,45.35,0.679,4,0.000,0.043,2992,964,1888,0,0,0,0,0,0
$GC,4621,0.79,311.3,208.9,14.3,552,4645,0.00,1.80,15.07,0.619,6,0.000,0.036,2991,2149,1819,0,0,0,0,0,0
$GC,4995,0.79,314.6,151.8,15.0,615,5002,0.00,1.77,0.00,0.000,4,0.000,0.043,3000,960,1812,0,0,0,0,0,0
$GC,5056,0.79,314.6,141.6,17.2,625,5065,0.00,1.77,0.00,0.000,6,0.000,0.036,3000,2147,1811,0,0,0,0,0,0
$GC,5420,0.95,446.6,87.9,8.6,686,5535,0.10,1.88,104.12,0.580,4,0.101,0.043,3067,970,1268,0,0,0,0,0,0
$GC,5642,0.95,446.6,52.7,17.2,718,5652,0.00,1.80,0.00,0.000,6,0.000,0.035,3066,2152,1264,0,0,0,0,0,0
$STATE,5918,end climb,SURFACE_DEPTH_REACHED
$STATE,5918,begin surface coast
$FINISH,0.0,1.010145
$STATE,5938,end surface coast,CONTROL_FINISHED_OK
$STATE,5938,begin surface
$SM_CCo,5952,128.55,0.055,0,0,482,640.23
$SM_GC,0.91,0.00,0.00,128.55,0.000,0.000,0.055,147,2001,482,-8.07,-0.68,640.23
$IRIDIUM_FIX,2401.56,12613.45,290910,191936
$TT8_MAMPS,0.026215
$HUMID,43.93
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,16.179
$10V_AH,10.5,13.317
$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,18.925,43.200,514.500,128.550,0.000,31.029,39.537,103.463,0.000,0.000,21.087,1780.919,1467.447,625.290,2383.383,98.820,0.000,1413.757,0.000,2200.164,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,109.395,852.975,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.714,0.000,1606.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,47006,767
$CAP_FILE_SIZE,78663,0
$CFSIZE,260165632,248397824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084, 25.1,1
$GPS,290910,232736,2408.841,12612.188,12,1.1,28,-3.6