version: 66.08
glider: 169
mission: 2
dive: 118
start: 9 30 110 12 22 11
data:
$ID,169
$MISSION,2
$DIVE,118
$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,-6828.8599
$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
$GPS1,300910,121725,2402.984,12611.732,41,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.7
$GPS2,300910,122144,2403.015,12611.729,10,1.3,10,-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,168.7,5602,-21.0,-15.152
$D_GRID,1985
$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,12,begin dive
$GC,14,-0.72,-204.4,0.0,0.0,0,113,0.00,0.00,-96.68,0.000,2,0.000,0.000,139,1999,3121,0,0,0,0,0,0
$GC,115,-0.72,-204.4,3.5,-5.2,12,149,9.40,1.73,-13.85,0.000,4,0.236,0.067,2492,882,3929,0,0,0,0,0,0
$GC,291,-0.70,-204.4,75.8,-30.7,40,300,0.00,1.80,0.00,0.000,6,0.000,0.053,2492,2034,3930,0,0,0,0,0,0
$GC,654,-0.70,-204.4,180.1,-24.9,101,661,0.00,1.73,0.00,0.000,4,0.000,0.058,2492,3174,3932,0,0,0,0,0,0
$GC,681,-0.69,-204.4,186.6,-24.5,105,688,0.00,1.75,0.00,0.000,6,0.000,0.046,2492,2002,3932,0,0,0,0,0,0
$GC,1036,-0.69,-204.4,264.7,-19.1,166,1045,0.00,1.83,0.00,0.000,4,0.000,0.060,2492,3165,3933,0,0,0,0,0,0
$GC,1098,-0.69,-204.4,275.6,-16.1,176,1106,0.00,1.77,0.00,0.000,6,0.000,0.044,2492,2003,3933,0,0,0,0,0,0
$GC,1440,-0.69,-204.4,342.8,-18.9,218,1444,0.00,1.67,0.00,0.000,4,0.000,0.052,2492,875,3932,0,0,0,0,0,0
$GC,1514,-0.70,-204.4,355.3,-15.9,224,1523,0.00,1.80,0.00,0.000,6,0.000,0.050,2492,2046,3932,0,0,0,0,0,0
$GC,1842,-0.70,-204.4,410.8,-15.8,255,1845,0.00,1.75,0.00,0.000,4,0.000,0.061,2492,3161,3930,0,0,0,0,0,0
$GC,1867,-0.70,-204.4,414.6,-14.9,257,1870,0.00,1.77,0.00,0.000,6,0.000,0.044,2492,2002,3930,0,0,0,0,0,0
$GC,2197,-0.71,-204.4,465.3,-15.4,288,2200,0.00,1.67,0.00,0.000,4,0.000,0.052,2492,877,3929,0,0,0,0,0,0
$GC,2243,-0.72,-204.4,471.7,-13.3,292,2247,0.00,1.77,0.00,0.000,6,0.000,0.049,2492,2051,3929,0,0,0,0,0,0
$STATE,2455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2455,begin apogee
$GC,2459,-0.18,0.0,501.1,14.3,312,2621,0.55,0.08,156.12,0.852,6,0.155,0.110,2664,2089,3091,0,0,0,0,0,0
$STATE,2622,end apogee,CONTROL_FINISHED_OK
$STATE,2622,begin climb
$GC,2624,0.72,204.4,510.3,0.0,325,2800,0.82,1.80,167.43,0.844,4,0.077,0.041,2966,967,2256,0,0,0,0,0,0
$GC,2947,0.71,204.4,480.2,17.2,352,2950,0.00,1.75,0.00,0.000,6,0.000,0.037,2964,2152,2247,0,0,0,0,0,0
$GC,3279,0.70,204.4,423.9,15.7,383,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2152,2242,0,0,0,0,0,0
$GC,3598,0.70,209.4,375.5,14.9,413,3601,0.00,1.65,0.00,0.000,4,0.000,0.042,2964,3278,2239,0,0,0,0,0,0
$GC,3633,0.69,209.6,370.0,15.1,416,3637,0.00,1.75,0.00,0.000,6,0.000,0.034,2972,2077,2238,0,0,0,0,0,0
$GC,3966,0.70,226.9,322.3,14.3,447,3991,0.00,1.67,16.80,0.716,4,0.000,0.042,2981,968,2164,0,0,0,0,0,0
$GC,4071,0.72,242.0,307.0,14.4,456,4089,0.00,1.73,13.80,0.689,6,0.000,0.037,2980,2153,2104,0,0,0,0,0,0
$GC,4426,0.71,242.0,251.6,15.4,514,4435,0.00,1.67,0.00,0.000,4,0.000,0.041,2980,3268,2093,0,0,0,0,0,0
$GC,4494,0.70,242.0,240.6,16.3,525,4502,0.12,1.73,0.00,0.000,6,0.187,0.035,2957,2081,2093,0,0,0,0,0,0
$GC,4843,0.71,251.2,192.9,14.7,586,4858,0.00,1.83,7.38,0.562,4,0.000,0.042,2957,3268,2066,0,0,0,0,0,0
$GC,4994,0.74,280.6,170.7,13.7,612,5024,0.00,1.77,25.15,0.635,6,0.000,0.034,2966,2080,1946,0,0,0,0,0,0
$GC,5375,0.83,351.9,120.2,11.6,676,5440,0.00,1.88,56.40,0.608,4,0.000,0.040,2966,3270,1654,0,0,0,0,0,0
$GC,5461,0.89,393.5,110.1,13.1,687,5503,0.08,1.80,33.70,0.583,6,0.050,0.034,3033,2089,1484,0,0,1,0,0,0
$GC,5853,0.94,431.8,45.4,13.2,752,5887,0.00,1.88,29.65,0.538,4,0.000,0.040,3033,3279,1329,0,0,0,0,0,0
$GC,5915,0.97,458.2,37.1,13.8,760,5941,0.00,1.80,21.75,0.519,6,0.000,0.034,3042,2084,1222,0,0,1,0,0,0
$STATE,6132,end climb,SURFACE_DEPTH_REACHED
$STATE,6132,begin surface coast
$FINISH,-0.0,1.009697
$STATE,6156,end surface coast,CONTROL_FINISHED_OK
$STATE,6157,begin surface
$SM_CCo,6172,122.15,0.055,0,0,481,640.23
$SM_GC,0.82,0.00,0.00,122.15,0.000,0.000,0.055,146,1994,481,-8.07,-0.88,640.23
$IRIDIUM_FIX,2354.48,12608.76,300910,101024
$TT8_MAMPS,0.026215
$HUMID,44.05
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,17.234
$10V_AH,10.5,14.206
$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,19.075,46.075,528.175,122.150,0.000,30.817,37.733,105.268,0.000,0.000,11.771,1882.548,1504.212,605.094,2459.926,107.248,0.000,1422.571,0.000,2290.449,0.000,0.546,0.000
$DEVICE_MAMPS,235.620,110.160,852.210,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.850,0.000,1673.836,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,47071,800
$CAP_FILE_SIZE,84375,0
$CFSIZE,260165632,248029184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.095,346.7,1
$GPS,300910,140758,2402.318,12611.991,8,2.8,27,-3.6