version: 66.08
glider: 169
mission: 2
dive: 71
start: 9 27 110 0 43 57
data:
$ID,169
$MISSION,2
$DIVE,71
$N_DIVES,80
$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,-6767.6895
$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
$GPS1,270910,003901,2358.630,12613.844,39,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.0
$GPS2,270910,004331,2358.649,12613.824,11,1.0,11,-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,336.8,6930,-21.0,-15.152
$D_GRID,2517
$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,-96.25,0.000,2,0.000,0.000,151,1992,3134,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.9,-7.1,12,150,9.40,1.90,-13.70,0.000,4,0.238,0.080,2486,3165,3930,0,0,0,0,0,0
$GC,193,-0.70,-204.4,37.7,-35.2,23,202,0.00,1.83,0.00,0.000,6,0.000,0.052,2486,2009,3930,0,0,0,0,0,0
$GC,556,-0.69,-204.4,153.0,-22.9,84,564,0.00,1.73,0.00,0.000,4,0.000,0.056,2486,883,3932,0,0,0,0,0,0
$GC,675,-0.69,-204.4,178.7,-19.4,104,684,0.00,1.77,0.00,0.000,6,0.000,0.051,2486,2033,3933,0,0,0,0,0,0
$GC,1034,-0.69,-204.4,260.6,-22.7,165,1041,0.00,1.73,0.00,0.000,4,0.000,0.060,2486,3177,3933,0,0,0,0,0,0
$GC,1073,-0.69,-204.4,268.8,-21.6,171,1080,0.00,1.77,0.00,0.000,6,0.000,0.048,2486,2003,3933,0,0,0,0,0,0
$GC,1418,-0.69,-204.4,337.4,-18.1,215,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2002,3932,0,0,0,0,0,0
$GC,1736,-0.69,-204.4,392.6,-17.4,245,1740,0.00,1.77,0.00,0.000,4,0.000,0.061,2486,3167,3932,0,0,0,0,0,0
$GC,1797,-0.70,-204.4,402.9,-14.5,250,1807,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2000,3931,0,0,0,0,0,0
$GC,2124,-0.70,-204.4,455.6,-15.4,281,2128,0.00,1.83,0.00,0.000,4,0.000,0.060,2486,3167,3930,0,0,0,0,0,0
$GC,2174,-0.71,-204.4,463.3,-13.0,285,2181,0.00,1.77,0.00,0.000,6,0.000,0.044,2486,2000,3929,0,0,0,0,0,0
$STATE,2433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2434,begin apogee
$GC,2438,-0.18,0.0,500.5,14.7,310,2600,0.57,0.08,156.20,0.850,6,0.153,0.109,2668,2092,3090,0,0,0,0,0,0
$STATE,2601,end apogee,CONTROL_FINISHED_OK
$STATE,2601,begin climb
$GC,2602,0.72,204.4,509.0,0.0,323,2777,0.80,1.92,167.93,0.839,4,0.076,0.041,2954,3271,2256,0,0,0,0,0,0
$GC,2838,0.71,204.4,496.3,16.3,343,2846,0.00,1.80,0.00,0.000,6,0.000,0.031,2963,2088,2248,0,0,1,0,0,0
$GC,3164,0.71,215.7,447.0,14.6,374,3179,0.00,1.85,8.90,0.692,4,0.000,0.041,2962,3274,2210,0,0,0,0,0,0
$GC,3213,0.70,215.7,438.9,17.2,378,3217,0.00,1.75,0.00,0.000,6,0.000,0.033,2971,2084,2208,0,0,0,0,0,0
$GC,3545,0.69,215.7,385.7,16.9,409,3549,0.00,1.80,0.00,0.000,4,0.000,0.041,2971,3271,2205,0,0,0,0,0,0
$GC,3602,0.68,215.7,376.3,16.0,414,3606,0.12,1.73,0.00,0.000,6,0.192,0.033,2949,2080,2203,0,0,0,0,0,0
$GC,3934,0.73,255.5,332.5,13.2,445,3973,0.00,1.88,33.00,0.745,4,0.000,0.041,2948,3272,2045,0,0,0,0,0,0
$GC,4140,0.73,264.1,303.2,14.7,463,4154,0.00,1.75,6.93,0.601,6,0.000,0.034,2958,2081,2013,0,0,0,0,0,0
$GC,4491,0.73,264.1,247.7,15.4,523,4498,0.00,1.65,0.00,0.000,4,0.000,0.044,2966,960,2008,0,0,0,0,0,0
$GC,4522,0.74,274.2,242.7,14.6,528,4537,0.00,1.77,9.43,0.620,6,0.000,0.036,2965,2152,1973,0,0,0,0,0,0
$GC,4876,0.74,274.2,189.0,16.3,590,4884,0.00,1.67,0.00,0.000,4,0.000,0.041,2966,3275,1966,0,0,0,0,0,0
$GC,4992,0.77,295.5,171.1,14.1,610,5016,0.00,1.77,18.00,0.624,6,0.000,0.033,2974,2084,1884,0,0,0,0,0,0
$GC,5365,0.79,311.2,118.1,14.4,673,5383,0.00,1.73,13.50,0.574,4,0.000,0.044,2983,957,1822,0,0,0,0,0,0
$GC,5445,0.86,371.1,108.2,12.2,685,5502,0.00,1.77,48.25,0.597,6,0.000,0.034,2983,2151,1576,0,0,0,0,0,0
$GC,5851,0.99,466.9,67.0,10.4,752,5934,0.17,1.70,74.03,0.560,4,0.067,0.037,3074,3273,1185,0,0,0,0,0,0
$GC,5950,0.99,466.9,49.5,21.6,764,5959,0.10,1.80,0.00,0.000,6,0.151,0.032,3051,2089,1183,0,0,1,0,0,0
$STATE,6195,end climb,SURFACE_DEPTH_REACHED
$STATE,6195,begin surface coast
$FINISH,0.1,1.021850
$STATE,6215,end surface coast,CONTROL_FINISHED_OK
$STATE,6215,begin surface
$SM_CCo,6230,116.53,0.056,0,0,481,640.23
$SM_GC,0.91,0.00,0.00,116.53,0.000,0.000,0.056,148,1978,481,-8.07,-1.33,640.23
$IRIDIUM_FIX,2347.41,12605.98,260910,222238
$TT8_MAMPS,0.026215
$HUMID,42.95
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,24.4,11.224
$10V_AH,10.5,9.076
$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,19.425,46.650,536.150,116.525,0.000,31.292,37.645,118.070,0.000,0.000,11.955,1889.702,1505.140,618.051,2506.636,101.325,0.000,1441.404,0.000,2325.919,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,109.395,849.915,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.687,0.000,1699.435,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334096
$DATA_FILE_SIZE,46955,808
$CAP_FILE_SIZE,84480,0
$CFSIZE,260165632,250208256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.072,329.1,1
$GPS,270910,023037,2359.715,12613.037,28,1.2,28,-3.6