version: 66.08
glider: 169
mission: 2
dive: 79
start: 9 27 110 15 30 52
data:
$ID,169
$MISSION,2
$DIVE,79
$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,-6777.7314
$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
$GPS1,270910,152607,2404.285,12611.826,30,1.0,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.7
$GPS2,270910,153026,2404.276,12611.798,12,1.4,12,-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,6.2,14308,-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,-204.4,0.0,0.0,0,116,0.00,0.00,-99.43,0.000,2,0.000,0.000,152,1997,3215,0,0,0,0,0,0
$GC,118,-0.72,-204.4,4.1,-7.3,12,145,9.62,1.92,-11.93,0.000,4,0.248,0.082,2486,3170,3928,0,0,0,0,0,0
$GC,234,-0.71,-204.4,58.0,-29.8,30,243,0.00,1.83,0.00,0.000,6,0.000,0.050,2486,2004,3930,0,0,0,0,0,0
$GC,598,-0.70,-204.4,157.5,-25.3,91,604,0.00,1.80,0.00,0.000,4,0.000,0.064,2486,3168,3932,0,0,0,0,0,0
$GC,694,-0.70,-204.4,181.3,-22.2,107,701,0.00,1.75,0.00,0.000,6,0.000,0.046,2486,2003,3932,0,0,0,0,0,0
$GC,1049,-0.69,-204.4,262.8,-22.2,168,1057,0.00,1.83,0.00,0.000,4,0.000,0.062,2486,3165,3933,0,0,0,0,0,0
$GC,1118,-0.69,-204.4,276.7,-19.2,179,1124,0.00,1.73,0.00,0.000,6,0.000,0.045,2486,2002,3933,0,0,0,0,0,0
$GC,1457,-0.69,-204.4,345.4,-20.8,220,1461,0.00,1.67,0.00,0.000,4,0.000,0.052,2486,869,3932,0,0,0,0,0,0
$GC,1553,-0.70,-204.4,363.0,-16.4,228,1562,0.00,1.80,0.00,0.000,6,0.000,0.051,2486,2037,3932,0,0,0,0,0,0
$GC,1881,-0.70,-204.4,418.5,-15.9,259,1884,0.00,1.70,0.00,0.000,4,0.000,0.059,2486,3171,3931,0,0,0,0,0,0
$GC,1905,-0.70,-204.4,422.4,-15.8,261,1909,0.00,1.73,0.00,0.000,6,0.000,0.046,2486,2003,3931,0,0,0,0,0,0
$GC,2237,-0.71,-204.4,472.3,-14.5,292,2241,0.00,1.65,0.00,0.000,4,0.000,0.052,2486,874,3929,0,0,0,0,0,0
$GC,2285,-0.72,-204.4,478.9,-12.9,296,2288,0.00,1.75,0.00,0.000,6,0.000,0.050,2486,2048,3929,0,0,0,0,0,0
$STATE,2446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2446,begin apogee
$GC,2450,-0.18,0.0,501.0,13.6,311,2619,0.55,0.08,156.52,0.853,6,0.148,0.110,2662,2091,3090,0,0,0,0,0,0
$STATE,2620,end apogee,CONTROL_FINISHED_OK
$STATE,2620,begin climb
$GC,2621,0.72,204.4,509.5,0.0,325,2800,0.82,1.90,167.88,0.842,4,0.076,0.041,2957,3267,2255,0,0,0,0,0,0
$GC,2824,0.71,204.4,500.1,15.8,342,2827,0.00,1.77,0.00,0.000,6,0.000,0.031,2966,2077,2251,0,0,1,0,0,0
$GC,3156,0.71,210.7,447.4,14.8,373,3168,0.00,0.00,4.50,0.536,6,0.000,0.000,2966,2076,2231,0,0,0,0,0,0
$GC,3487,0.70,210.7,398.8,15.2,404,3488,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2076,2228,0,0,0,0,0,0
$GC,3806,0.74,248.3,352.0,13.3,434,3849,0.00,1.90,32.10,0.758,4,0.000,0.042,2966,3279,2075,0,0,0,0,0,0
$GC,3872,0.73,248.3,342.2,15.3,440,3875,0.00,1.77,0.00,0.000,6,0.000,0.034,2974,2083,2073,0,0,0,0,0,0
$GC,4201,0.73,248.3,290.1,15.5,476,4209,0.00,1.80,0.00,0.000,4,0.000,0.041,2975,3269,2067,0,0,0,0,0,0
$GC,4216,0.72,248.3,287.7,15.7,478,4225,0.00,1.77,0.00,0.000,6,0.000,0.033,2984,2081,2066,0,0,0,0,0,0
$GC,4568,0.73,255.4,233.6,14.8,539,4583,0.00,1.67,5.05,0.512,4,0.000,0.044,2993,968,2048,0,0,0,0,0,0
$GC,4619,0.72,255.4,225.6,15.7,547,4625,0.00,1.75,0.00,0.000,6,0.000,0.036,2991,2163,2047,0,0,0,0,0,0
$GC,4963,0.73,265.6,171.4,14.6,608,4979,0.00,1.70,9.60,0.585,4,0.000,0.041,2991,3276,2007,0,0,0,0,0,0
$GC,5123,0.72,265.6,147.7,15.3,635,5133,0.10,1.77,0.00,0.000,6,0.158,0.033,2967,2081,2003,0,0,0,0,0,0
$GC,5489,0.82,341.4,104.6,11.4,696,5556,0.00,1.88,60.55,0.600,4,0.000,0.040,2967,3272,1697,0,0,0,0,0,0
$GC,5645,0.91,405.0,84.8,12.0,719,5704,0.10,1.80,50.03,0.575,6,0.044,0.033,3045,2081,1437,0,0,0,0,0,0
$GC,6053,0.91,412.1,17.6,14.8,786,6063,0.00,1.85,5.78,0.418,4,0.000,0.038,3045,3277,1410,0,0,0,0,0,0
$STATE,6150,end climb,SURFACE_DEPTH_REACHED
$STATE,6150,begin surface coast
$FINISH,-0.0,1.012811
$STATE,6175,end surface coast,CONTROL_FINISHED_OK
$STATE,6175,begin surface
$SM_CCo,6191,147.60,0.479,1,0,481,640.23
$SM_GC,0.81,0.00,0.00,147.60,0.000,0.000,0.479,146,1982,481,-8.07,-1.22,640.23
$IRIDIUM_FIX,2352.12,12609.27,270910,131329
$TT8_MAMPS,0.026215
$HUMID,43.34
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.4,12.253
$10V_AH,10.5,9.974
$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,19.475,46.675,492.000,147.600,0.000,23.665,37.828,107.197,0.000,0.000,13.045,1887.629,1521.129,636.908,2460.537,101.690,0.000,1430.784,0.000,2294.410,0.000,0.544,0.000
$DEVICE_MAMPS,247.860,110.160,852.975,478.890,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,538.887,0.000,1705.867,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333980
$DATA_FILE_SIZE,46964,806
$CAP_FILE_SIZE,82648,0
$CFSIZE,260165632,249827328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.029,254.7,1
$GPS,270910,171714,2405.061,12611.706,13,1.7,13,-3.6