version: 66.08
glider: 169
mission: 2
dive: 73
start: 9 27 110 4 26 20
data:
$ID,169
$MISSION,2
$DIVE,73
$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,-6770.2007
$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
$GPS1,270910,042050,2400.744,12612.370,12,1.7,12,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.4
$GPS2,270910,042543,2400.758,12612.342,16,1.8,32,-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,358.1,2371,-23.0,-15.152
$D_GRID,1884
$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,-170.5,0.0,0.0,0,114,0.00,0.00,-96.43,0.000,2,0.000,0.000,145,1992,3144,0,0,0,0,0,0
$GC,116,-0.76,-204.4,3.9,-6.4,12,150,9.32,1.90,-13.55,0.000,4,0.239,0.083,2473,3165,3929,0,0,0,0,0,0
$GC,227,-0.75,-204.4,51.7,-35.8,29,236,0.00,1.80,0.00,0.000,6,0.000,0.051,2473,2017,3931,0,0,0,0,0,0
$GC,589,-0.74,-204.4,163.9,-28.2,90,599,0.00,1.75,0.00,0.000,4,0.000,0.057,2474,874,3932,0,0,0,0,0,0
$GC,721,-0.74,-204.4,195.0,-21.1,112,729,0.00,1.80,0.00,0.000,6,0.000,0.055,2473,2034,3933,0,0,0,0,0,0
$GC,1079,-0.74,-204.4,276.4,-22.6,173,1085,0.00,1.70,0.00,0.000,4,0.000,0.060,2473,3167,3933,0,0,0,0,0,0
$GC,1116,-0.74,-204.4,284.8,-22.0,179,1123,0.00,1.73,0.00,0.000,6,0.000,0.045,2473,2002,3933,0,0,0,0,0,0
$GC,1448,-0.74,-204.4,351.8,-18.3,216,1451,0.00,1.80,0.00,0.000,4,0.000,0.060,2473,3168,3932,0,0,0,0,0,0
$GC,1508,-0.75,-204.4,362.8,-18.5,221,1512,0.00,1.75,0.00,0.000,6,0.000,0.045,2473,2002,3932,0,0,0,0,0,0
$GC,1838,-0.75,-204.4,425.7,-17.7,252,1842,0.00,1.65,0.00,0.000,4,0.000,0.052,2473,873,3931,0,0,0,0,0,0
$GC,1865,-0.76,-204.4,430.8,-17.8,254,1876,0.00,1.80,0.00,0.000,6,0.000,0.051,2473,2046,3930,0,0,0,0,0,0
$GC,2193,-0.76,-204.4,488.7,-17.7,285,2196,0.00,1.73,0.00,0.000,4,0.000,0.061,2473,3163,3929,0,0,0,0,0,0
$GC,2208,-0.77,-204.4,492.0,-17.7,286,2218,0.00,1.75,0.00,0.000,6,0.000,0.046,2473,2005,3929,0,0,0,0,0,0
$STATE,2266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2266,begin apogee
$GC,2270,-0.18,0.0,501.5,16.2,292,2433,0.62,0.05,156.60,0.847,6,0.158,0.068,2668,2093,3090,0,0,0,0,0,0
$STATE,2434,end apogee,CONTROL_FINISHED_OK
$STATE,2434,begin climb
$GC,2435,0.76,204.4,508.8,0.0,305,2611,0.85,1.92,168.25,0.835,4,0.082,0.041,2966,3275,2256,0,0,0,0,0,0
$GC,2704,0.75,204.4,487.5,17.2,327,2708,0.00,1.75,0.00,0.000,6,0.000,0.031,2975,2082,2247,0,0,1,0,0,0
$GC,3036,0.77,224.2,436.0,14.0,358,3061,0.00,1.70,16.25,0.748,4,0.000,0.043,2984,969,2174,0,0,0,0,0,0
$GC,3075,0.77,231.6,430.3,14.7,361,3089,0.00,1.75,7.53,0.646,6,0.000,0.035,2984,2162,2146,0,0,0,0,0,0
$GC,3405,0.77,231.6,369.3,18.0,392,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2163,2137,0,0,0,0,0,0
$GC,3726,0.77,239.9,317.8,14.7,422,3740,0.00,1.67,6.68,0.604,4,0.000,0.040,2984,3274,2112,0,0,0,0,0,0
$GC,3925,0.76,239.9,283.0,17.4,448,3934,0.00,1.77,0.00,0.000,6,0.000,0.033,2992,2078,2108,0,0,0,0,0,0
$GC,4273,0.75,239.9,226.4,16.1,509,4280,0.00,1.77,0.00,0.000,4,0.000,0.041,2992,3274,2106,0,0,0,0,0,0
$GC,4395,0.75,239.9,206.1,15.6,530,4404,0.08,1.77,0.00,0.000,6,0.178,0.033,2977,2076,2104,0,0,0,0,0,0
$GC,4743,0.81,293.7,161.6,11.9,591,4792,0.00,1.73,43.40,0.637,4,0.000,0.043,2986,959,1892,0,0,0,0,0,0
$GC,4842,0.85,320.4,148.2,13.6,606,4876,0.00,1.80,22.38,0.604,6,0.000,0.034,2984,2156,1782,0,0,0,0,0,0
$GC,5225,0.94,390.7,89.0,11.0,670,5291,0.15,1.73,54.65,0.580,4,0.076,0.038,3060,3272,1495,0,0,0,0,0,0
$GC,5345,0.94,390.7,65.9,18.7,687,5355,0.10,1.77,0.00,0.000,6,0.155,0.032,3036,2089,1491,0,0,1,0,0,0
$GC,5709,0.97,409.4,15.9,14.0,748,5728,0.00,1.73,14.60,0.496,4,0.000,0.042,3043,963,1421,0,0,0,0,0,0
$GC,5760,0.99,418.6,8.6,14.6,755,5777,0.00,1.77,8.93,0.453,6,0.000,0.031,3043,2159,1382,0,0,0,0,0,0
$STATE,5802,end climb,SURFACE_DEPTH_REACHED
$STATE,5802,begin surface coast
$FINISH,0.1,1.021725
$STATE,5822,end surface coast,CONTROL_FINISHED_OK
$STATE,5822,begin surface
$SM_CCo,5837,144.90,0.055,0,0,481,640.23
$SM_GC,0.99,0.00,0.00,144.90,0.000,0.000,0.055,150,1983,481,-8.06,-1.22,640.23
$IRIDIUM_FIX,2352.12,12607.37,270910,020200
$TT8_MAMPS,0.026964
$HUMID,42.55
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,24.4,11.460
$10V_AH,10.5,9.296
$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,19.375,46.300,499.250,144.900,0.000,27.399,42.962,114.222,0.000,0.000,33.811,1799.352,1366.466,633.585,2391.764,99.184,0.000,1417.609,0.000,2189.509,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,82.620,846.855,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,510.117,0.000,1609.860,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,46905,764
$CAP_FILE_SIZE,81278,0
$CFSIZE,260165632,250118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.112,334.9,1
$GPS,270910,060707,2401.981,12611.935,40,1.0,40,-3.6