version: 66.08
glider: 169
mission: 2
dive: 78
start: 9 27 110 13 39 13
data:
$ID,169
$MISSION,2
$DIVE,78
$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,-6776.4775
$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
$GPS1,270910,133422,2403.340,12611.782,12,2.7,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.9
$GPS2,270910,133847,2403.348,12611.766,20,2.8,39,-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,8.0,16029,-21.0,-15.152
$D_GRID,1793
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-95.38,0.000,2,0.000,0.000,149,1980,3118,0,0,0,0,0,0
$GC,114,-0.72,-204.4,4.0,-7.5,12,148,9.32,1.92,-13.93,0.000,4,0.239,0.085,2486,3165,3929,0,0,0,0,0,0
$GC,209,-0.70,-204.4,46.8,-34.6,26,219,0.00,1.80,0.00,0.000,6,0.000,0.049,2486,2010,3931,0,0,0,0,0,0
$GC,574,-0.69,-204.4,148.2,-25.2,87,583,0.00,1.83,0.00,0.000,4,0.000,0.066,2486,3159,3932,0,0,0,0,0,0
$GC,618,-0.69,-204.4,159.6,-24.4,94,628,0.00,1.77,0.00,0.000,6,0.000,0.048,2487,2005,3932,0,0,0,0,0,0
$GC,978,-0.68,-204.4,247.4,-24.8,155,985,0.00,1.83,0.00,0.000,4,0.000,0.065,2486,3171,3933,0,0,0,0,0,0
$GC,1016,-0.68,-204.4,256.9,-24.6,161,1023,0.00,1.75,0.00,0.000,6,0.000,0.049,2487,2002,3933,0,0,0,0,0,0
$GC,1357,-0.68,-204.4,331.1,-19.5,208,1361,0.00,1.80,0.00,0.000,4,0.000,0.061,2486,3167,3933,0,0,0,0,0,0
$GC,1394,-0.68,-204.4,337.9,-19.9,211,1398,0.00,1.77,0.00,0.000,6,0.000,0.045,2486,2002,3933,0,0,0,0,0,0
$GC,1723,-0.68,-204.4,396.3,-15.8,242,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2001,3932,0,0,0,0,0,0
$GC,2043,-0.68,-204.4,445.9,-15.1,272,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2000,3931,0,0,0,0,0,0
$GC,2362,-0.69,-204.4,495.7,-16.3,302,2365,0.00,1.65,0.00,0.000,4,0.000,0.054,2486,878,3929,0,0,0,0,0,0
$STATE,2388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2388,begin apogee
$GC,2393,-0.18,0.0,500.6,16.3,304,2556,0.55,0.08,156.65,0.854,6,0.145,0.108,2663,2090,3091,0,0,0,0,0,0
$STATE,2557,end apogee,CONTROL_FINISHED_OK
$STATE,2557,begin climb
$GC,2558,0.72,204.4,513.0,0.0,317,2734,0.85,1.83,168.30,0.845,4,0.080,0.041,2958,3271,2256,0,0,0,0,0,0
$GC,2851,0.71,204.4,491.3,17.1,342,2860,0.00,1.80,0.00,0.000,6,0.000,0.031,2967,2093,2246,0,0,0,0,0,0
$GC,3178,0.70,204.4,437.5,16.4,373,3182,0.00,1.65,0.00,0.000,4,0.000,0.042,2975,956,2243,0,0,0,0,0,0
$GC,3250,0.71,219.5,426.0,14.4,379,3270,0.00,1.77,11.57,0.722,6,0.000,0.035,2974,2145,2196,0,0,0,0,0,0
$GC,3588,0.70,219.5,374.1,15.3,411,3591,0.00,1.73,0.00,0.000,4,0.000,0.041,2983,963,2190,0,0,0,0,0,0
$GC,3667,0.70,227.3,362.2,14.8,418,3682,0.00,1.73,7.40,0.643,6,0.000,0.036,2984,2153,2164,0,0,0,0,0,0
$GC,3998,0.69,227.3,314.8,15.3,449,3999,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2153,2158,0,0,0,0,0,0
$GC,4329,0.70,237.9,264.2,14.6,499,4345,0.00,1.73,9.50,0.637,4,0.000,0.042,2984,3279,2120,0,0,0,0,0,0
$GC,4407,0.69,237.9,251.1,17.0,512,4416,0.12,1.77,0.00,0.000,6,0.160,0.032,2953,2081,2117,0,0,0,0,0,0
$GC,4756,0.75,290.1,208.5,12.6,573,4804,0.00,0.00,42.90,0.672,6,0.000,0.000,2953,2080,1906,0,0,0,0,0,0
$GC,5144,0.87,380.9,158.7,10.6,640,5226,0.15,1.90,71.12,0.633,4,0.073,0.041,3031,3274,1536,0,0,0,0,0,0
$GC,5300,0.86,380.9,130.1,21.3,663,5309,0.10,1.83,0.00,0.000,6,0.158,0.033,3008,2081,1531,0,0,0,0,0,0
$GC,5663,0.86,380.9,68.5,15.2,724,5672,0.00,1.80,0.00,0.000,4,0.000,0.041,3008,3268,1526,0,0,0,0,0,0
$GC,5840,0.94,440.8,45.9,12.2,753,5897,0.00,1.77,46.08,0.549,6,0.000,0.033,3017,2075,1291,0,0,0,0,0,0
$STATE,6187,end climb,SURFACE_DEPTH_REACHED
$STATE,6187,begin surface coast
$FINISH,0.1,1.021942
$STATE,6213,end surface coast,CONTROL_FINISHED_OK
$STATE,6213,begin surface
$SM_CCo,6228,130.60,0.055,0,0,481,640.23
$SM_GC,0.97,0.00,0.00,130.60,0.000,0.000,0.055,152,1997,481,-8.06,-0.79,640.23
$IRIDIUM_FIX,2352.12,12610.66,270910,111148
$TT8_MAMPS,0.026215
$HUMID,43.03
$INTERNAL_PRESSURE,9.27149
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,24.4,12.118
$10V_AH,10.5,9.862
$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,19.300,39.550,513.525,130.600,0.000,22.512,16.263,111.278,0.000,0.000,41.204,1888.766,1523.393,619.036,2495.473,101.339,0.000,1423.560,0.000,2324.351,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,107.865,853.740,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.808,0.000,1709.046,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,50319,814
$CAP_FILE_SIZE,80838,0
$CFSIZE,260165632,249880576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,3
$CURRENT,0.033,194.8,1
$GPS,270910,152607,2404.285,12611.826,30,1.0,30,-3.6