version: 66.08
glider: 169
mission: 2
dive: 76
start: 9 27 110 9 53 28
data:
$ID,169
$MISSION,2
$DIVE,76
$N_DIVES,90
$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,-6773.9663
$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
$GPS1,270910,094826,2403.069,12611.703,11,1.4,11,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.0
$GPS2,270910,095302,2403.081,12611.688,13,1.5,13,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_S
$TGT_LATLONG,2402.000,12612.000
$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,171.8,2070,-21.0,-15.152
$D_GRID,2182
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.57,0.000,2,0.000,0.000,148,1995,3064,0,0,0,0,0,0
$GC,114,-0.72,-204.4,3.4,-5.7,12,148,9.35,1.75,-15.30,0.000,4,0.236,0.068,2491,869,3927,0,0,0,0,0,0
$GC,256,-0.72,-204.4,56.8,-27.7,34,266,0.00,1.85,0.00,0.000,6,0.000,0.057,2491,2036,3929,0,0,0,0,0,0
$GC,621,-0.71,-204.4,152.1,-21.0,95,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,2036,3931,0,0,0,0,0,0
$GC,975,-0.71,-204.4,227.5,-18.5,156,984,0.00,1.75,0.00,0.000,4,0.000,0.061,2491,3165,3932,0,0,0,0,0,0
$GC,1002,-0.70,-204.4,232.7,-19.6,160,1010,0.00,1.77,0.00,0.000,6,0.000,0.044,2492,2000,3932,0,0,0,0,0,0
$GC,1361,-0.70,-204.4,299.1,-19.1,221,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1999,3931,0,0,0,0,0,0
$GC,1687,-0.70,-204.4,358.4,-16.6,252,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2491,1999,3931,0,0,0,0,0,0
$GC,2006,-0.71,-204.4,408.9,-15.2,282,2009,0.00,1.80,0.00,0.000,4,0.000,0.060,2491,3169,3930,0,0,0,0,0,0
$GC,2075,-0.72,-204.4,418.6,-12.8,288,2079,0.00,1.73,0.00,0.000,6,0.000,0.044,2491,2002,3929,0,0,0,0,0,0
$GC,2408,-0.73,-204.4,465.9,-13.6,319,2412,0.00,1.80,0.00,0.000,4,0.000,0.059,2492,3169,3927,0,0,0,0,0,0
$GC,2481,-0.74,-204.4,475.0,-12.1,325,2484,0.00,1.73,0.00,0.000,6,0.000,0.044,2491,2002,3927,0,0,0,0,0,0
$STATE,2674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2674,begin apogee
$GC,2678,-0.18,0.0,500.7,12.8,343,2840,0.55,0.05,156.12,0.855,6,0.161,0.068,2661,2094,3090,0,0,0,0,0,0
$STATE,2841,end apogee,CONTROL_FINISHED_OK
$STATE,2841,begin climb
$GC,2842,0.72,204.4,509.8,0.0,356,3018,0.82,1.75,168.43,0.842,4,0.079,0.039,2963,966,2255,0,0,0,0,0,0
$GC,3079,0.71,204.4,497.1,15.5,376,3090,0.00,1.83,0.00,0.000,6,0.000,0.035,2962,2153,2248,0,0,0,0,0,0
$GC,3406,0.72,218.1,447.8,14.5,407,3422,0.00,1.67,10.93,0.715,4,0.000,0.040,2962,3278,2200,0,0,0,0,0,0
$GC,3484,0.71,218.1,434.1,18.0,413,3491,0.00,1.80,0.00,0.000,6,0.000,0.031,2971,2075,2196,0,0,0,0,0,0
$GC,3809,0.70,218.1,380.8,15.6,444,3813,0.00,1.80,0.00,0.000,4,0.000,0.043,2970,3274,2192,0,0,0,0,0,0
$GC,3924,0.69,218.1,361.9,16.3,454,3928,0.00,1.77,0.00,0.000,6,0.000,0.032,2979,2084,2191,0,0,0,0,0,0
$GC,4257,0.68,218.1,308.2,15.4,485,4260,0.00,1.62,0.00,0.000,4,0.000,0.043,2987,953,2189,0,0,0,0,0,0
$GC,4337,0.68,221.0,296.0,15.0,494,4346,0.10,1.77,0.00,0.000,6,0.159,0.036,2954,2154,2188,0,0,0,0,0,0
$GC,4697,0.74,274.9,248.4,12.5,555,4745,0.00,0.00,44.95,0.700,6,0.000,0.000,2955,2154,1969,0,0,0,0,0,0
$GC,5096,0.82,340.1,196.8,11.9,622,5154,0.12,1.88,51.90,0.660,4,0.086,0.042,3029,968,1702,0,0,0,0,0,0
$GC,5198,0.81,340.1,178.6,20.0,637,5205,0.12,1.75,0.00,0.000,6,0.176,0.034,2996,2153,1699,0,0,0,0,0,0
$GC,5555,0.81,340.1,111.4,17.0,698,5563,0.00,1.67,0.00,0.000,4,0.000,0.040,2996,3271,1694,0,0,0,0,0,0
$GC,5631,0.81,340.1,98.3,16.4,710,5639,0.00,1.77,0.00,0.000,6,0.000,0.031,3005,2077,1692,0,0,0,0,0,0
$GC,5995,0.93,428.2,50.3,10.8,771,6069,0.00,1.90,67.25,0.557,4,0.000,0.040,3005,3275,1343,0,0,0,0,0,0
$GC,6109,1.02,493.5,37.9,11.9,786,6167,0.08,1.80,51.15,0.536,6,0.047,0.031,3079,2078,1078,0,0,1,0,0,0
$STATE,6289,end climb,SURFACE_DEPTH_REACHED
$STATE,6290,begin surface coast
$FINISH,0.0,1.010779
$STATE,6310,end surface coast,CONTROL_FINISHED_OK
$STATE,6310,begin surface
$SM_CCo,6325,101.85,0.464,1,0,481,640.23
$SM_GC,0.76,0.00,0.00,101.85,0.000,0.000,0.464,149,2001,481,-8.06,-0.71,640.23
$IRIDIUM_FIX,2354.48,12613.96,270910,070758
$TT8_MAMPS,0.026215
$HUMID,43.81
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,11.874
$10V_AH,10.5,9.634
$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,19.650,39.350,550.725,101.850,0.000,30.458,36.212,117.904,0.000,0.000,14.273,1906.354,1571.914,608.466,2519.504,106.262,0.000,1435.454,0.000,2339.993,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,112.455,855.270,463.590,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,545.744,0.000,1705.874,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50325,817
$CAP_FILE_SIZE,83529,0
$CFSIZE,260165632,249974784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.073,356.3,1
$GPS,270910,114136,2402.279,12611.976,14,1.1,31,-3.6