version: 66.08
glider: 169
mission: 2
dive: 104
start: 9 29 110 10 41 53
data:
$ID,169
$MISSION,2
$DIVE,104
$N_DIVES,115
$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,-6810.333
$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
$GPS1,290910,103708,2414.088,12611.662,13,1.6,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.0
$GPS2,290910,104126,2414.155,12611.620,16,1.9,16,-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,168.6,26223,-21.0,-15.152
$D_GRID,1645
$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,-204.4,0.0,0.0,0,111,0.00,0.00,-93.72,0.000,2,0.000,0.000,153,1998,3063,0,0,0,0,0,0
$GC,113,-0.72,-204.4,3.8,-7.0,12,147,9.73,1.73,-15.02,0.000,4,0.250,0.064,2488,881,3928,0,0,0,0,0,0
$GC,254,-0.70,-204.4,62.8,-34.1,34,264,0.00,1.83,0.00,0.000,6,0.000,0.056,2488,2036,3929,0,0,0,0,0,0
$GC,619,-0.69,-204.4,176.1,-25.2,95,625,0.00,1.73,0.00,0.000,4,0.000,0.060,2488,3171,3932,0,0,0,0,0,0
$GC,669,-0.69,-204.4,188.2,-23.7,103,675,0.00,1.75,0.00,0.000,6,0.000,0.048,2488,2004,3932,0,0,0,0,0,0
$GC,1023,-0.68,-204.4,270.8,-21.4,164,1032,0.00,1.70,0.00,0.000,4,0.000,0.054,2488,884,3932,0,0,0,0,0,0
$GC,1162,-0.68,-204.4,297.6,-19.5,187,1168,0.00,1.75,0.00,0.000,6,0.000,0.050,2488,2039,3932,0,0,0,0,0,0
$GC,1495,-0.68,-204.4,357.4,-16.6,219,1499,0.00,1.75,0.00,0.000,4,0.000,0.053,2488,878,3932,0,0,0,0,0,0
$GC,1557,-0.69,-204.4,367.2,-13.9,224,1566,0.00,1.77,0.00,0.000,6,0.000,0.050,2488,2034,3932,0,0,0,0,0,0
$GC,1885,-0.69,-204.4,415.0,-15.0,255,1889,0.00,1.75,0.00,0.000,4,0.000,0.058,2488,3170,3930,0,0,0,0,0,0
$GC,1912,-0.70,-204.4,419.7,-14.6,257,1919,0.00,1.77,0.00,0.000,6,0.000,0.045,2488,2003,3931,0,0,0,0,0,0
$GC,2237,-0.71,-204.4,468.8,-15.3,288,2240,0.00,1.80,0.00,0.000,4,0.000,0.060,2488,3167,3929,0,0,0,0,0,0
$GC,2296,-0.72,-204.4,476.8,-13.1,293,2300,0.00,1.73,0.00,0.000,6,0.000,0.044,2488,2001,3928,0,0,0,0,0,0
$STATE,2468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2468,begin apogee
$GC,2472,-0.18,0.0,500.6,13.6,309,2634,0.57,0.08,156.23,0.856,6,0.164,0.110,2663,2091,3091,0,0,0,0,0,0
$STATE,2634,end apogee,CONTROL_FINISHED_OK
$STATE,2634,begin climb
$GC,2636,0.72,204.4,508.7,0.0,322,2813,0.85,1.80,167.80,0.845,4,0.072,0.041,2972,967,2256,0,0,0,0,0,0
$GC,2961,0.71,204.4,480.3,15.2,350,2965,0.00,1.75,0.00,0.000,6,0.000,0.037,2971,2151,2248,0,0,0,0,0,0
$GC,3294,0.70,204.4,427.6,15.6,381,3298,0.00,1.67,0.00,0.000,4,0.000,0.042,2972,3267,2243,0,0,0,0,0,0
$GC,3547,0.69,204.4,386.2,16.2,403,3550,0.00,1.73,0.00,0.000,6,0.000,0.032,2980,2071,2240,0,0,0,0,0,0
$GC,3877,0.69,216.1,337.3,14.6,434,3892,0.00,1.62,7.90,0.651,4,0.000,0.040,2989,961,2209,0,0,0,0,0,0
$GC,3927,0.68,216.6,329.9,15.1,438,3931,0.12,1.73,0.00,0.000,6,0.185,0.037,2955,2153,2208,0,0,0,0,0,0
$GC,4265,0.74,261.2,282.4,12.9,479,4307,0.00,0.00,37.58,0.724,6,0.000,0.000,2955,2153,2025,0,0,0,0,0,0
$GC,4657,0.78,299.7,228.8,13.2,545,4693,0.00,1.75,30.90,0.679,4,0.000,0.041,2955,3273,1868,0,0,0,0,0,0
$GC,4717,0.79,303.7,220.2,15.0,554,4727,0.00,1.77,4.57,0.464,6,0.000,0.031,2964,2084,1852,0,0,1,0,0,0
$GC,5078,0.85,350.4,168.1,12.8,615,5122,0.10,1.90,38.15,0.640,4,0.096,0.042,3019,3278,1660,0,0,0,0,0,0
$GC,5184,0.84,350.4,148.7,19.4,631,5192,0.00,1.80,0.00,0.000,6,0.000,0.032,3028,2078,1656,0,0,1,0,0,0
$GC,5541,0.84,350.4,79.2,16.1,692,5550,0.00,1.65,0.00,0.000,4,0.000,0.041,3037,964,1651,0,0,0,0,0,0
$GC,5594,0.86,366.3,71.3,14.4,700,5612,0.08,1.77,12.52,0.536,6,0.153,0.034,3011,2162,1596,0,0,0,0,0,0
$GC,5962,0.93,417.2,28.7,12.6,762,6012,0.00,1.85,40.17,0.534,4,0.000,0.041,3017,960,1388,0,0,0,0,0,0
$GC,6090,1.05,504.5,12.2,10.8,781,6150,0.10,1.77,54.35,0.517,2,0.044,0.032,3092,2154,1105,0,0,0,0,0,0
$STATE,6151,end climb,SURFACE_DEPTH_REACHED
$STATE,6151,begin surface coast
$FINISH,0.1,1.009729
$STATE,6170,end surface coast,CONTROL_FINISHED_OK
$STATE,6170,begin surface
$SM_CCo,6185,106.28,0.463,1,0,480,640.23
$SM_GC,0.95,0.00,0.00,106.28,0.000,0.000,0.463,152,2000,480,-8.06,-0.71,640.23
$IRIDIUM_FIX,2406.29,12614.85,290910,080833
$TT8_MAMPS,0.026215
$HUMID,43.54
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.4,15.390
$10V_AH,10.5,12.652
$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,19.900,46.175,550.175,106.275,0.000,23.188,43.698,101.716,0.000,0.000,17.419,1848.709,1549.448,611.621,2447.070,104.341,0.000,1431.251,0.000,2274.014,0.000,0.544,0.000
$DEVICE_MAMPS,250.155,110.160,856.035,462.825,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,527.835,0.000,1648.248,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46982,791
$CAP_FILE_SIZE,84221,0
$CFSIZE,260165632,248668160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.130,325.6,1
$GPS,290910,122755,2413.531,12611.686,40,1.7,40,-3.6