version: 66.08
glider: 169
mission: 2
dive: 113
start: 9 30 110 3 11 22
data:
$ID,169
$MISSION,2
$DIVE,113
$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,-6822.3022
$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
$GPS1,300910,030636,2407.088,12612.207,11,1.1,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.2
$GPS2,300910,031055,2407.106,12612.183,11,1.2,11,-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,185.1,13163,-21.0,-15.152
$D_GRID,1798
$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,14,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-95.90,0.000,2,0.000,0.000,149,1996,3123,0,0,0,0,0,0
$GC,115,-0.72,-204.4,4.0,-7.5,12,149,9.07,1.75,-13.80,0.000,4,0.226,0.070,2483,881,3929,0,0,0,0,0,0
$GC,250,-0.71,-204.4,63.3,-33.1,33,259,0.00,1.83,0.00,0.000,6,0.000,0.054,2483,2039,3931,0,0,0,0,0,0
$GC,612,-0.70,-204.4,168.9,-27.1,94,621,0.00,1.77,0.00,0.000,4,0.000,0.063,2483,3167,3933,0,0,0,0,0,0
$GC,635,-0.68,-204.4,174.8,-26.7,97,642,0.00,1.75,0.00,0.000,6,0.000,0.046,2483,2002,3933,0,0,0,0,0,0
$GC,990,-0.68,-204.4,257.2,-21.0,158,999,0.00,1.70,0.00,0.000,4,0.000,0.051,2483,881,3934,0,0,0,0,0,0
$GC,1059,-0.68,-204.4,270.0,-17.6,169,1065,0.00,1.77,0.00,0.000,6,0.000,0.050,2483,2052,3934,0,0,0,0,0,0
$GC,1400,-0.68,-204.4,335.6,-19.3,213,1403,0.00,1.70,0.00,0.000,4,0.000,0.060,2483,3167,3933,0,0,0,0,0,0
$GC,1450,-0.68,-204.4,345.6,-17.7,217,1457,0.00,1.77,0.00,0.000,6,0.000,0.045,2483,2003,3933,0,0,0,0,0,0
$GC,1775,-0.68,-204.4,406.3,-18.9,248,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,2002,3931,0,0,0,0,0,0
$GC,2094,-0.68,-204.4,463.8,-18.4,278,2098,0.00,1.67,0.00,0.000,4,0.000,0.054,2483,865,3930,0,0,0,0,0,0
$GC,2118,-0.68,-204.4,468.1,-18.4,280,2121,0.00,1.77,0.00,0.000,6,0.000,0.050,2483,2040,3930,0,0,0,0,0,0
$STATE,2322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2322,begin apogee
$GC,2326,-0.18,0.0,500.9,16.3,299,2489,0.57,0.05,156.40,0.850,6,0.155,0.066,2663,2093,3091,0,0,0,0,0,0
$STATE,2489,end apogee,CONTROL_FINISHED_OK
$STATE,2489,begin climb
$GC,2491,0.72,204.4,509.8,0.0,312,2669,0.82,1.77,167.90,0.839,4,0.074,0.039,2969,970,2256,0,0,0,0,0,0
$GC,2773,0.71,204.4,486.7,15.5,336,2777,0.00,1.75,0.00,0.000,6,0.000,0.035,2967,2152,2248,0,0,0,0,0,0
$GC,3105,0.74,234.7,438.1,13.6,367,3134,0.00,1.80,24.58,0.776,4,0.000,0.040,2976,958,2133,0,0,0,0,0,0
$GC,3193,0.77,267.2,425.2,13.5,374,3232,0.00,1.80,27.50,0.770,6,0.000,0.037,2974,2144,1998,0,0,0,0,0,0
$GC,3548,0.76,267.2,361.3,19.1,407,3551,0.00,1.67,0.00,0.000,4,0.000,0.042,2974,3274,1988,0,0,0,0,0,0
$GC,3644,0.76,267.2,342.1,19.3,415,3651,0.00,1.77,0.00,0.000,6,0.000,0.034,2983,2091,1987,0,0,0,0,0,0
$GC,3979,0.75,267.2,278.6,18.7,455,3986,0.00,1.77,0.00,0.000,4,0.000,0.042,2983,3276,1985,0,0,0,0,0,0
$GC,4045,0.74,267.2,265.6,19.3,466,4054,0.00,1.77,0.00,0.000,6,0.000,0.034,2992,2090,1984,0,0,0,0,0,0
$GC,4405,0.74,273.9,202.3,14.8,527,4421,0.00,1.83,3.88,0.425,4,0.000,0.042,2990,3273,1973,0,0,0,0,0,0
$GC,4447,0.73,273.9,195.7,15.9,533,4454,0.12,1.75,0.00,0.000,6,0.181,0.034,2966,2083,1973,0,0,0,0,0,0
$GC,4805,0.80,329.9,148.4,12.4,594,4863,0.00,1.73,46.17,0.630,4,0.000,0.042,2974,958,1744,0,0,0,0,0,0
$GC,4937,0.84,356.6,130.7,13.8,613,4970,0.00,1.80,22.00,0.591,6,0.000,0.035,2974,2150,1634,0,0,0,0,0,0
$GC,5320,0.90,400.5,77.0,13.0,677,5362,0.12,1.70,34.42,0.566,4,0.081,0.039,3047,3275,1456,0,0,0,0,0,0
$GC,5435,0.89,400.5,57.3,18.3,694,5445,0.10,1.77,0.00,0.000,6,0.148,0.032,3023,2087,1452,0,0,1,0,0,0
$GC,5802,0.98,467.3,9.9,11.8,755,5860,0.00,1.70,51.62,0.518,4,0.000,0.040,3029,960,1183,0,0,0,0,0,0
$STATE,5866,end climb,SURFACE_DEPTH_REACHED
$STATE,5867,begin surface coast
$FINISH,-0.0,1.010361
$STATE,5892,end surface coast,CONTROL_FINISHED_OK
$STATE,5892,begin surface
$SM_CCo,5908,117.38,0.467,1,0,481,640.23
$SM_GC,0.97,0.00,0.00,117.38,0.000,0.000,0.467,149,2052,481,-8.07,0.74,640.23
$IRIDIUM_FIX,2359.20,12613.96,300910,010148
$TT8_MAMPS,0.026215
$HUMID,43.38
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,16.591
$10V_AH,10.5,13.646
$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,18.950,45.775,534.475,117.375,0.000,27.584,37.463,108.026,0.000,0.000,12.085,1785.957,1389.692,628.311,2387.743,104.737,0.000,1430.546,0.000,2218.746,0.000,0.545,0.000
$DEVICE_MAMPS,225.675,91.035,849.915,467.415,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.732,0.000,1638.635,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46923,767
$CAP_FILE_SIZE,81142,0
$CFSIZE,260165632,248262656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.025,209.3,1
$GPS,300910,045257,2406.028,12612.173,19,5.5,38,-3.6