version: 66.08
glider: 169
mission: 2
dive: 95
start: 9 28 110 18 8 27
data:
$ID,169
$MISSION,2
$DIVE,95
$N_DIVES,105
$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,-6798.5601
$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
$GPS1,280910,180155,2419.838,12611.751,38,2.0,38,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.9
$GPS2,280910,180801,2419.886,12611.702,13,1.0,13,-3.7
$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,183.6,36832,-21.0,-15.152
$D_GRID,1664
$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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.85,0.000,2,0.000,0.000,153,1999,3132,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.7,-5.8,12,151,9.30,1.77,-13.73,0.000,4,0.236,0.073,2486,871,3929,0,0,0,0,0,0
$GC,247,-0.70,-204.4,62.4,-33.9,32,256,0.00,1.83,0.00,0.000,6,0.000,0.055,2486,2033,3929,0,0,0,0,0,0
$GC,611,-0.69,-204.4,175.3,-28.3,93,617,0.00,1.75,0.00,0.000,4,0.000,0.060,2486,3171,3932,0,0,0,0,0,0
$GC,696,-0.69,-204.4,193.2,-17.4,107,702,0.00,1.77,0.00,0.000,6,0.000,0.050,2486,2004,3932,0,0,0,0,0,0
$GC,1051,-0.69,-204.4,268.5,-18.7,168,1059,0.00,1.73,0.00,0.000,4,0.000,0.055,2486,869,3932,0,0,0,0,0,0
$GC,1097,-0.69,-204.4,277.0,-18.9,175,1104,0.00,1.77,0.00,0.000,6,0.000,0.051,2486,2039,3932,0,0,0,0,0,0
$GC,1432,-0.69,-204.4,342.4,-19.6,216,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2039,3932,0,0,0,0,0,0
$GC,1752,-0.69,-204.4,398.7,-17.8,246,1755,0.00,1.73,0.00,0.000,4,0.000,0.060,2486,3168,3931,0,0,0,0,0,0
$GC,1798,-0.70,-204.4,406.3,-15.2,250,1801,0.00,1.73,0.00,0.000,6,0.000,0.047,2486,2003,3931,0,0,0,0,0,0
$GC,2130,-0.71,-204.4,459.8,-15.7,281,2134,0.00,1.70,0.00,0.000,4,0.000,0.055,2486,885,3928,0,0,0,0,0,0
$GC,2256,-0.72,-204.4,477.7,-12.6,292,2260,0.00,1.73,0.00,0.000,6,0.000,0.049,2486,2046,3928,0,0,0,0,0,0
$STATE,2425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2425,begin apogee
$GC,2429,-0.18,0.0,501.5,13.7,308,2592,0.55,0.05,156.43,0.851,6,0.148,0.071,2661,2092,3090,0,0,0,0,0,0
$STATE,2593,end apogee,CONTROL_FINISHED_OK
$STATE,2593,begin climb
$GC,2595,0.72,204.4,509.6,0.0,321,2777,0.82,1.92,167.62,0.841,4,0.077,0.041,2956,3272,2253,0,0,0,0,0,0
$GC,2824,0.71,204.4,494.7,17.2,341,2828,0.00,1.77,0.00,0.000,6,0.000,0.031,2965,2089,2249,0,0,0,0,0,0
$GC,3156,0.70,204.4,441.5,15.6,372,3160,0.00,1.80,0.00,0.000,4,0.000,0.042,2965,3279,2243,0,0,0,0,0,0
$GC,3205,0.69,204.4,433.0,16.6,376,3214,0.00,1.77,0.00,0.000,6,0.000,0.031,2974,2090,2242,0,0,0,0,0,0
$GC,3533,0.71,232.3,387.3,13.8,407,3565,0.00,1.88,22.10,0.759,4,0.000,0.042,2974,3280,2140,0,0,0,0,0,0
$GC,3626,0.71,232.3,372.2,16.0,415,3633,0.00,1.80,0.00,0.000,6,0.000,0.032,2983,2084,2136,0,0,0,0,0,0
$GC,3951,0.70,232.3,320.7,17.0,446,3955,0.00,1.80,0.00,0.000,4,0.000,0.042,2979,3280,2131,0,0,0,0,0,0
$GC,4131,0.69,232.3,290.3,18.3,467,4138,0.12,1.75,0.00,0.000,6,0.190,0.033,2956,2073,2129,0,0,0,0,0,0
$GC,4476,0.72,257.0,239.4,13.9,528,4501,0.00,1.88,19.38,0.673,4,0.000,0.043,2955,3272,2042,0,0,0,0,0,0
$GC,4708,0.74,277.9,205.6,14.1,567,4730,0.00,1.75,17.80,0.643,6,0.000,0.032,2965,2085,1958,0,0,0,0,0,0
$GC,5073,0.80,324.9,160.3,12.8,630,5116,0.00,1.75,38.05,0.631,4,0.000,0.041,2973,956,1765,0,0,0,0,0,0
$GC,5238,0.86,365.0,139.0,13.2,657,5281,0.00,1.80,32.15,0.605,6,0.000,0.036,2973,2151,1602,0,0,0,0,0,0
$GC,5631,0.94,423.1,88.2,12.3,722,5680,0.17,0.00,45.70,0.573,6,0.067,0.000,3063,2151,1364,0,0,0,0,0,0
$GC,6029,0.94,423.1,16.6,16.3,788,6038,0.12,1.77,0.00,0.000,4,0.175,0.040,3038,964,1358,0,0,0,0,0,0
$GC,6088,0.96,437.7,7.5,14.4,797,6107,0.00,1.77,11.90,0.477,6,0.000,0.034,3038,2158,1305,0,0,0,0,0,0
$STATE,6125,end climb,SURFACE_DEPTH_REACHED
$STATE,6125,begin surface coast
$FINISH,-0.0,1.021883
$STATE,6150,end surface coast,CONTROL_FINISHED_OK
$STATE,6150,begin surface
$SM_CCo,6165,131.12,0.472,1,0,481,640.23
$SM_GC,0.89,0.00,0.00,131.12,0.000,0.000,0.472,151,1995,481,-8.06,-0.85,640.23
$IRIDIUM_FIX,2413.38,12611.03,280910,181836
$TT8_MAMPS,0.026215
$HUMID,43.42
$INTERNAL_PRESSURE,9.29102
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,14.205
$10V_AH,10.5,11.649
$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,19.275,43.150,511.125,131.125,0.000,54.169,48.014,112.925,0.000,0.000,13.924,1890.271,1541.246,620.821,2506.358,112.402,0.000,1425.251,0.000,2298.076,0.000,0.545,0.000
$DEVICE_MAMPS,235.620,101.745,850.680,472.005,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.534,0.000,1677.074,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,47037,806
$CAP_FILE_SIZE,83497,0
$CFSIZE,260165632,249090048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052, 19.4,1
$GPS,280910,195407,2419.135,12611.824,8,1.1,13,-3.7