version: 66.08
glider: 169
mission: 2
dive: 116
start: 9 30 110 8 43 58
data:
$ID,169
$MISSION,2
$DIVE,116
$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,651.51678
$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,-6826.2524
$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
$GPS1,300910,083307,2404.012,12611.790,31,1.0,31,-3.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.9
$GPS2,300910,084332,2404.149,12611.616,10,2.0,10,-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,165.8,7712,-21.0,-15.152
$D_GRID,1802
$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,-204.4,0.0,0.0,0,110,0.00,0.00,-93.10,0.000,2,0.000,0.000,150,2052,3005,0,0,0,0,0,0
$GC,112,-0.72,-204.4,3.1,-4.4,12,147,9.00,1.83,-16.90,0.000,4,0.223,0.065,2489,881,3928,0,0,0,0,0,0
$GC,259,-0.70,-204.4,59.4,-32.1,35,268,0.00,1.80,0.00,0.000,6,0.000,0.055,2489,2031,3929,0,0,0,0,0,0
$GC,621,-0.69,-204.4,165.1,-25.6,96,629,0.00,1.77,0.00,0.000,4,0.000,0.061,2489,3168,3931,0,0,0,0,0,0
$GC,655,-0.68,-204.4,173.6,-25.6,101,662,0.00,1.75,0.00,0.000,6,0.000,0.046,2489,2001,3931,0,0,0,0,0,0
$GC,1010,-0.68,-204.4,256.3,-20.2,162,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2000,3931,0,0,0,0,0,0
$GC,1362,-0.68,-204.4,328.0,-22.1,212,1366,0.00,1.83,0.00,0.000,4,0.000,0.060,2489,3166,3930,0,0,0,0,0,0
$GC,1444,-0.68,-204.4,343.2,-17.7,219,1447,0.00,1.73,0.00,0.000,6,0.000,0.044,2489,2002,3930,0,0,0,0,0,0
$GC,1773,-0.68,-204.4,401.8,-17.4,250,1777,0.00,1.77,0.00,0.000,4,0.000,0.059,2489,3167,3928,0,0,0,0,0,0
$GC,1797,-0.68,-204.4,405.5,-16.2,252,1800,0.00,1.75,0.00,0.000,6,0.000,0.044,2489,2002,3928,0,0,0,0,0,0
$GC,2129,-0.69,-204.4,459.8,-16.8,283,2133,0.00,1.67,0.00,0.000,4,0.000,0.052,2489,877,3926,0,0,0,0,0,0
$GC,2225,-0.70,-204.4,476.0,-15.7,291,2232,0.00,1.77,0.00,0.000,6,0.000,0.050,2489,2035,3926,0,0,0,0,0,0
$STATE,2400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2400,begin apogee
$GC,2404,-0.18,0.0,501.1,13.4,308,2565,0.55,0.08,155.25,0.851,6,0.150,0.109,2663,2090,3091,0,0,0,0,0,0
$STATE,2565,end apogee,CONTROL_FINISHED_OK
$STATE,2566,begin climb
$GC,2567,0.72,204.4,508.4,0.0,321,2741,0.82,0.00,167.40,0.838,6,0.075,0.000,2958,2089,2256,0,0,0,0,0,0
$GC,3058,0.71,204.4,447.5,16.1,366,3061,0.00,1.80,0.00,0.000,4,0.000,0.041,2958,3281,2243,0,0,0,0,0,0
$GC,3219,0.73,227.5,420.9,14.0,380,3242,0.00,1.77,18.12,0.752,6,0.000,0.033,2967,2081,2163,0,0,1,0,0,0
$GC,3570,0.75,251.8,371.4,13.9,413,3595,0.00,1.88,20.58,0.741,4,0.000,0.042,2964,3272,2063,0,0,0,0,0,0
$GC,3629,0.74,251.8,361.9,15.5,418,3633,0.00,1.75,0.00,0.000,6,0.000,0.033,2972,2085,2059,0,0,0,0,0,0
$GC,3961,0.74,251.8,307.9,16.3,449,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2085,2052,0,0,0,0,0,0
$GC,4294,0.73,251.8,252.0,15.3,504,4303,0.00,1.80,0.00,0.000,4,0.000,0.044,2973,3269,2049,0,0,0,0,0,0
$GC,4384,0.72,251.8,237.2,17.2,519,4392,0.00,1.75,0.00,0.000,6,0.000,0.034,2981,2077,2048,0,0,0,0,0,0
$GC,4730,0.72,251.8,181.3,15.2,580,4738,0.00,1.80,0.00,0.000,4,0.000,0.044,2979,3265,2047,0,0,0,0,0,0
$GC,4888,0.73,268.8,157.0,14.3,607,4905,0.00,1.73,12.60,0.594,6,0.000,0.034,2989,2084,1995,0,0,0,0,0,0
$GC,5259,0.73,271.1,105.2,15.0,669,5268,0.00,1.80,0.00,0.000,4,0.000,0.043,2989,3272,1989,0,0,0,0,0,0
$GC,5336,0.73,272.5,93.3,15.1,681,5346,0.08,1.77,3.83,0.374,6,0.158,0.034,2972,2080,1979,0,0,0,0,0,0
$GC,5696,0.93,431.2,56.7,7.3,742,5826,0.15,0.00,123.40,0.555,6,0.071,0.000,3061,2080,1331,0,0,0,0,0,0
$STATE,6036,end climb,SURFACE_DEPTH_REACHED
$STATE,6036,begin surface coast
$FINISH,0.2,1.021711
$STATE,6050,end surface coast,CONTROL_FINISHED_OK
$STATE,6050,begin surface
$SM_CCo,6065,146.15,0.055,0,0,435,651.52
$SM_GC,0.94,0.00,0.00,146.15,0.000,0.000,0.055,151,2000,435,-8.06,-0.71,651.52
$IRIDIUM_FIX,2347.41,12835.54,300910,080832
$TT8_MAMPS,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,16.983
$10V_AH,10.5,13.983
$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,18.775,35.850,501.175,146.150,0.000,143.302,149.920,0.000,0.000,0.000,11.319,1865.402,1674.928,605.469,2589.648,105.466,0.000,1396.268,0.000,2295.897,0.000,0.546,0.000
$DEVICE_MAMPS,223.380,109.395,851.445,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,532.412,0.000,1702.721,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334052
$DATA_FILE_SIZE,46994,796
$CAP_FILE_SIZE,79413,0
$CFSIZE,260165632,248107008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.129,312.2,1
$GPS,300910,102808,2403.494,12611.779,13,1.1,13,-3.6