version: 66.08
glider: 169
mission: 2
dive: 81
start: 9 27 110 19 16 48
data:
$ID,169
$MISSION,2
$DIVE,81
$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,-6780.3379
$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
$GPS1,270910,191200,2406.296,12611.764,37,1.3,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-73.6
$GPS2,270910,191622,2406.342,12611.702,11,3.1,30,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2412.000,12612.000
$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,13.7,10491,-21.0,-15.152
$D_GRID,1752
$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,-204.4,0.0,0.0,0,118,0.00,0.00,-101.97,0.000,2,0.000,0.000,152,2051,3315,0,0,0,0,0,0
$GC,120,-0.72,-204.4,4.6,-8.5,13,147,9.62,1.83,-9.85,0.000,4,0.248,0.086,2486,3167,3929,0,0,0,0,0,0
$GC,167,-0.66,-204.4,33.0,-61.1,19,176,0.00,1.83,0.00,0.000,6,0.000,0.054,2486,2008,3931,0,0,0,0,0,0
$GC,532,-0.65,-204.4,148.6,-26.0,80,541,0.12,1.85,0.00,0.000,4,0.211,0.066,2515,3158,3932,0,0,0,0,0,0
$GC,626,-0.66,-204.4,168.9,-17.2,96,635,0.00,1.77,0.00,0.000,6,0.000,0.047,2516,2005,3933,0,0,0,0,0,0
$GC,975,-0.66,-204.4,233.5,-18.2,157,981,0.00,1.80,0.00,0.000,4,0.000,0.063,2516,3167,3933,0,0,0,0,0,0
$GC,1034,-0.66,-204.4,243.9,-16.6,167,1042,0.00,1.75,0.00,0.000,6,0.000,0.046,2516,2003,3934,0,0,0,0,0,0
$GC,1380,-0.67,-204.4,304.3,-17.6,226,1383,0.00,1.67,0.00,0.000,4,0.000,0.053,2515,875,3933,0,0,0,0,0,0
$GC,1429,-0.68,-204.4,311.8,-13.9,230,1438,0.00,1.77,0.00,0.000,6,0.000,0.051,2516,2034,3933,0,0,0,0,0,0
$GC,1756,-0.69,-204.4,360.6,-15.4,261,1759,0.00,1.73,0.00,0.000,4,0.000,0.059,2516,3168,3932,0,0,0,0,0,0
$GC,1794,-0.70,-204.4,366.6,-13.8,264,1802,0.00,1.77,0.00,0.000,6,0.000,0.044,2516,2001,3932,0,0,0,0,0,0
$GC,2121,-0.71,-204.4,411.9,-12.7,295,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2000,3931,0,0,0,0,0,0
$GC,2440,-0.72,-204.4,449.9,-11.1,325,2444,0.00,1.83,0.00,0.000,4,0.000,0.059,2516,3168,3929,0,0,0,0,0,0
$GC,2500,-0.73,-204.4,456.2,-8.7,330,2510,0.00,1.75,0.00,0.000,6,0.000,0.043,2516,2005,3929,0,0,0,0,0,0
$GC,2828,-0.75,-204.4,488.9,-10.3,361,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2004,3927,0,0,0,0,0,0
$STATE,2932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2932,begin apogee
$GC,2936,-0.18,0.0,500.0,10.5,371,3098,0.47,0.08,156.30,0.857,6,0.148,0.112,2667,2092,3091,0,0,0,0,0,0
$STATE,3098,end apogee,CONTROL_FINISHED_OK
$STATE,3099,begin climb
$GC,3100,0.72,204.4,508.4,0.0,384,3276,0.82,1.92,168.20,0.844,4,0.083,0.041,2956,3275,2255,0,0,0,0,0,0
$GC,3536,0.71,204.4,466.9,15.6,421,3539,0.00,1.77,0.00,0.000,6,0.000,0.032,2964,2089,2244,0,0,0,0,0,0
$GC,3866,0.72,217.4,415.2,14.5,452,3882,0.00,1.85,10.15,0.705,4,0.000,0.042,2965,3273,2203,0,0,0,0,0,0
$GC,4089,0.72,223.6,382.4,14.8,471,4101,0.00,1.75,6.18,0.613,6,0.000,0.033,2973,2076,2179,0,0,0,0,0,0
$GC,4419,0.72,232.3,333.3,14.7,502,4433,0.00,1.70,8.48,0.654,4,0.000,0.043,2982,962,2143,0,0,0,0,0,0
$GC,4495,0.72,232.3,321.4,15.5,508,4505,0.00,1.77,0.00,0.000,6,0.000,0.036,2982,2153,2140,0,0,0,0,0,0
$GC,4837,0.73,252.9,272.7,14.1,555,4867,0.00,1.83,18.33,0.691,4,0.000,0.042,2990,961,2058,0,0,0,0,0,0
$GC,4916,0.76,274.9,261.2,14.1,567,4945,0.00,1.77,18.77,0.676,6,0.000,0.036,2990,2164,1968,0,0,0,0,0,0
$GC,5295,0.75,274.9,201.1,15.2,631,5301,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2164,1961,0,0,0,0,0,0
$GC,5653,0.76,284.7,145.4,14.7,692,5671,0.00,1.67,7.78,0.540,4,0.000,0.042,2990,3270,1929,0,0,0,0,0,0
$GC,5768,0.79,312.2,129.6,13.8,710,5802,0.00,1.75,23.75,0.602,6,0.000,0.031,2999,2091,1816,0,0,0,0,0,0
$GC,6150,0.91,406.2,82.5,10.5,774,6231,0.00,1.83,73.20,0.578,4,0.000,0.038,2999,3271,1433,0,0,0,0,0,0
$GC,6328,0.99,463.5,61.8,12.3,800,6379,0.08,1.80,45.08,0.549,6,0.049,0.031,3069,2081,1200,0,0,0,0,0,0
$STATE,6634,end climb,SURFACE_DEPTH_REACHED
$STATE,6634,begin surface coast
$FINISH,-0.0,1.014145
$STATE,6648,end surface coast,CONTROL_FINISHED_OK
$STATE,6648,begin surface
$SM_CCo,6663,117.60,0.469,1,0,480,640.23
$SM_GC,0.92,0.00,0.00,117.60,0.000,0.000,0.469,152,2000,480,-8.06,-0.71,640.23
$IRIDIUM_FIX,2356.84,12613.96,270910,171728
$TT8_MAMPS,0.026215
$HUMID,42.75
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,12.515
$10V_AH,10.5,10.207
$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,19.475,43.175,536.200,117.600,0.000,31.246,14.729,109.249,0.000,0.000,32.495,1993.981,1707.859,624.960,2619.677,105.000,0.000,1498.990,0.000,2445.906,0.000,0.544,0.000
$DEVICE_MAMPS,247.860,111.690,856.800,468.945,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,569.394,0.000,1757.073,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333952
$DATA_FILE_SIZE,50270,852
$CAP_FILE_SIZE,87957,0
$CFSIZE,260165632,249720832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.107,322.6,1
$GPS,270910,211032,2407.498,12611.677,13,1.4,13,-3.6