version: 66.08
glider: 169
mission: 2
dive: 114
start: 9 30 110 4 58 1
data:
$ID,169
$MISSION,2
$DIVE,114
$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,-6823.6514
$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
$GPS1,300910,045257,2406.028,12612.173,19,5.5,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.8
$GPS2,300910,045734,2406.031,12612.138,13,2.1,32,-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,182.9,11171,-21.0,-15.152
$D_GRID,1793
$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,-204.4,0.0,0.0,0,110,0.00,0.00,-93.20,0.000,2,0.000,0.000,147,2053,3009,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.2,-4.7,12,146,9.30,1.85,-16.67,0.000,4,0.233,0.070,2489,882,3928,0,0,0,0,0,0
$GC,368,-0.71,-204.4,92.1,-23.0,54,378,0.00,1.80,0.00,0.000,6,0.000,0.053,2489,2034,3930,0,0,0,0,0,0
$GC,732,-0.70,-204.4,191.6,-24.6,115,739,0.00,1.73,0.00,0.000,4,0.000,0.050,2489,871,3932,0,0,0,0,0,0
$GC,759,-0.70,-204.4,198.2,-24.3,119,765,0.00,1.77,0.00,0.000,6,0.000,0.051,2489,2049,3932,0,0,0,0,0,0
$GC,1113,-0.69,-204.4,275.6,-20.6,180,1121,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2049,3932,0,0,0,0,0,0
$GC,1457,-0.69,-204.4,341.7,-19.2,222,1460,0.00,1.73,0.00,0.000,4,0.000,0.062,2489,3174,3931,0,0,0,0,0,0
$GC,1495,-0.70,-204.4,349.3,-18.0,225,1503,0.00,1.80,0.00,0.000,6,0.000,0.047,2489,2002,3931,0,0,0,0,0,0
$GC,1820,-0.70,-204.4,407.2,-18.1,256,1821,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2001,3930,0,0,0,0,0,0
$GC,2140,-0.70,-204.4,459.2,-15.5,286,2143,0.00,1.67,0.00,0.000,4,0.000,0.053,2489,878,3928,0,0,0,0,0,0
$GC,2190,-0.71,-204.4,467.1,-13.6,290,2200,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2034,3928,0,0,0,0,0,0
$STATE,2439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2439,begin apogee
$GC,2443,-0.18,0.0,500.3,12.8,314,2606,0.55,0.05,155.82,0.852,6,0.150,0.064,2663,2094,3090,0,0,0,0,0,0
$STATE,2607,end apogee,CONTROL_FINISHED_OK
$STATE,2607,begin climb
$GC,2608,0.72,204.4,506.9,0.0,327,2783,0.85,1.75,167.52,0.839,4,0.079,0.039,2971,961,2256,0,0,0,0,0,0
$GC,2989,0.71,204.4,468.4,15.4,360,2999,0.00,1.80,0.00,0.000,6,0.000,0.035,2971,2153,2245,0,0,0,0,0,0
$GC,3317,0.70,204.4,417.3,17.1,391,3321,0.00,1.77,0.00,0.000,4,0.000,0.041,2980,970,2241,0,0,0,0,0,0
$GC,3351,0.69,204.4,411.5,16.3,394,3354,0.00,1.75,0.00,0.000,6,0.000,0.036,2980,2159,2241,0,0,0,0,0,0
$GC,3683,0.68,207.0,359.0,15.0,425,3687,0.00,1.67,0.00,0.000,4,0.000,0.043,2980,3278,2238,0,0,0,0,0,0
$GC,3743,0.67,207.0,348.6,17.0,430,3753,0.12,1.77,0.00,0.000,6,0.162,0.033,2949,2088,2237,0,0,0,0,0,0
$GC,4070,0.74,268.9,308.6,12.1,461,4130,0.00,1.90,49.88,0.738,4,0.000,0.043,2948,3279,1992,0,0,0,0,0,0
$GC,4194,0.74,269.1,291.7,15.1,476,4202,0.00,1.80,0.00,0.000,6,0.000,0.034,2956,2083,1986,0,0,1,0,0,0
$GC,4544,0.74,272.0,237.5,15.0,537,4551,0.00,1.83,0.00,0.000,4,0.000,0.044,2952,3276,1982,0,0,0,0,0,0
$GC,4661,0.75,279.1,220.0,14.8,557,4676,0.00,1.75,7.82,0.581,6,0.000,0.034,2961,2074,1952,0,0,0,0,0,0
$GC,5016,0.81,322.9,171.5,13.0,619,5060,0.00,1.67,36.50,0.639,4,0.000,0.041,2970,956,1771,0,0,0,0,0,0
$GC,5131,0.84,346.8,156.2,14.0,637,5160,0.00,1.80,19.73,0.603,6,0.000,0.036,2969,2147,1675,0,0,0,0,0,0
$GC,5516,0.85,350.0,98.7,15.0,701,5525,0.10,0.00,0.00,0.000,6,0.096,0.000,3029,2147,1668,0,0,0,0,0,0
$GC,5881,0.93,412.4,41.7,12.0,762,5939,0.00,1.70,50.65,0.546,4,0.000,0.038,3029,3273,1407,0,0,0,0,0,0
$GC,5971,0.96,435.9,29.9,14.0,774,5997,0.00,1.77,19.48,0.512,6,0.000,0.031,3039,2084,1312,0,0,1,0,0,0
$STATE,6164,end climb,SURFACE_DEPTH_REACHED
$STATE,6165,begin surface coast
$FINISH,-0.0,0.998395
$STATE,6190,end surface coast,CONTROL_FINISHED_OK
$STATE,6190,begin surface
$SM_CCo,6205,133.88,0.474,1,0,481,640.23
$SM_GC,0.99,0.00,0.00,133.88,0.000,0.000,0.474,148,1995,481,-8.07,-0.82,640.23
$IRIDIUM_FIX,2354.48,12610.66,300910,030348
$TT8_MAMPS,0.026215
$HUMID,43.58
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,24.4,16.726
$10V_AH,10.4,13.760
$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,19.025,39.175,507.400,133.875,0.000,30.635,37.374,101.036,0.000,0.000,33.879,1889.108,1488.141,627.996,2515.228,106.749,0.000,1435.460,0.000,2329.531,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,96.390,852.210,473.535,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.308,0.000,1705.861,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50319,810
$CAP_FILE_SIZE,81375,0
$CFSIZE,260165632,248213504
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.073,227.8,1
$GPS,300910,064420,2404.864,12611.989,10,1.6,10,-3.6