version: 66.08
glider: 169
mission: 2
dive: 82
start: 9 27 110 21 15 28
data:
$ID,169
$MISSION,2
$DIVE,82
$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,-6781.5918
$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
$GPS1,270910,211032,2407.498,12611.677,13,1.4,13,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.8
$GPS2,270910,211502,2407.554,12611.653,15,1.5,15,-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,19.6,8255,-21.0,-15.152
$D_GRID,1710
$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,-102.18,0.000,2,0.000,0.000,151,2000,3309,0,0,0,0,0,0
$GC,121,-0.72,-204.4,4.6,-9.0,13,147,9.55,1.90,-10.00,0.000,4,0.243,0.080,2486,3166,3929,0,0,0,0,0,0
$GC,186,-0.69,-204.4,40.2,-47.3,22,194,0.00,1.80,0.00,0.000,6,0.000,0.051,2486,2020,3930,0,0,0,0,0,0
$GC,549,-0.68,-204.4,154.6,-26.1,83,556,0.00,1.80,0.00,0.000,4,0.000,0.064,2486,3167,3932,0,0,0,0,0,0
$GC,625,-0.68,-204.4,173.0,-20.3,96,634,0.00,1.77,0.00,0.000,6,0.000,0.045,2486,2005,3932,0,0,0,0,0,0
$GC,974,-0.67,-204.4,251.1,-24.3,157,981,0.00,1.83,0.00,0.000,4,0.000,0.065,2486,3170,3933,0,0,0,0,0,0
$GC,1004,-0.66,-204.4,258.7,-24.6,162,1012,0.00,1.77,0.00,0.000,6,0.000,0.048,2486,2010,3933,0,0,0,0,0,0
$GC,1350,-0.66,-204.4,325.0,-17.0,211,1353,0.00,1.67,0.00,0.000,4,0.000,0.054,2486,878,3933,0,0,0,0,0,0
$GC,1407,-0.67,-204.4,334.1,-14.5,216,1411,0.00,1.75,0.00,0.000,6,0.000,0.053,2486,2044,3932,0,0,0,0,0,0
$GC,1739,-0.67,-204.4,392.2,-18.5,247,1742,0.00,1.75,0.00,0.000,4,0.000,0.054,2486,867,3932,0,0,0,0,0,0
$GC,1786,-0.68,-204.4,400.9,-17.4,251,1790,0.00,1.77,0.00,0.000,6,0.000,0.052,2486,2051,3931,0,0,0,0,0,0
$GC,2116,-0.68,-204.4,457.2,-15.5,282,2120,0.00,1.70,0.00,0.000,4,0.000,0.061,2486,3166,3930,0,0,0,0,0,0
$GC,2197,-0.69,-204.4,468.1,-13.1,289,2200,0.00,1.73,0.00,0.000,6,0.000,0.044,2486,2002,3930,0,0,0,0,0,0
$STATE,2419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2419,begin apogee
$GC,2423,-0.18,0.0,501.2,14.5,310,2590,0.57,0.08,156.45,0.850,6,0.157,0.110,2666,2090,3090,0,0,0,0,0,0
$STATE,2591,end apogee,CONTROL_FINISHED_OK
$STATE,2591,begin climb
$GC,2592,0.72,204.4,509.4,0.0,324,2767,0.82,1.75,167.75,0.840,4,0.080,0.039,2966,966,2256,0,0,0,0,0,0
$GC,2943,0.72,213.1,478.9,14.7,353,2955,0.00,1.80,7.20,0.656,6,0.000,0.035,2964,2157,2222,0,0,0,0,0,0
$GC,3275,0.74,235.8,429.6,14.0,384,3301,0.00,1.67,19.95,0.766,4,0.000,0.041,2964,3277,2127,0,0,0,0,0,0
$GC,3418,0.74,235.8,407.0,15.9,396,3428,0.00,1.77,0.00,0.000,6,0.000,0.031,2972,2094,2122,0,0,0,0,0,0
$GC,3746,0.76,260.7,359.0,13.9,427,3772,0.00,1.75,20.33,0.739,4,0.000,0.043,2981,957,2027,0,0,0,0,0,0
$GC,3866,0.76,260.7,341.5,15.7,437,3869,0.00,1.75,0.00,0.000,6,0.000,0.037,2980,2151,2022,0,0,0,0,0,0
$GC,4197,0.75,260.7,285.9,17.3,474,4206,0.00,1.67,0.00,0.000,4,0.000,0.043,2980,3269,2017,0,0,0,0,0,0
$GC,4243,0.75,260.7,278.1,17.8,481,4250,0.00,1.73,0.00,0.000,6,0.000,0.032,2989,2076,2016,0,0,0,0,0,0
$GC,4599,0.74,260.7,217.7,15.4,542,4607,0.00,1.65,0.00,0.000,4,0.000,0.043,2998,958,2015,0,0,0,0,0,0
$GC,4633,0.74,260.7,212.3,16.5,547,4640,0.10,1.73,0.00,0.000,6,0.186,0.036,2972,2155,2014,0,0,0,0,0,0
$GC,4988,0.79,306.2,161.4,12.9,608,5031,0.00,1.67,35.97,0.639,4,0.000,0.040,2972,3281,1840,0,0,0,0,0,0
$GC,5120,0.79,306.2,142.1,15.2,629,5129,0.00,1.80,0.00,0.000,6,0.000,0.031,2981,2081,1835,0,0,0,0,0,0
$GC,5485,0.84,338.0,94.4,13.6,690,5518,0.00,1.83,25.77,0.581,4,0.000,0.038,2981,3268,1709,0,0,0,0,0,0
$GC,5562,0.92,403.6,85.1,11.9,701,5620,0.08,1.77,51.83,0.578,6,0.050,0.032,3051,2083,1444,0,0,0,0,0,0
$GC,5968,0.92,403.6,13.7,17.1,768,5977,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2084,1436,0,0,0,0,0,0
$STATE,6036,end climb,SURFACE_DEPTH_REACHED
$STATE,6036,begin surface coast
$FINISH,-0.1,1.022005
$STATE,6056,end surface coast,CONTROL_FINISHED_OK
$STATE,6056,begin surface
$SM_CCo,6070,154.65,0.056,0,0,481,640.23
$SM_GC,0.83,0.00,0.00,154.65,0.000,0.000,0.056,153,1978,481,-8.06,-1.33,640.23
$IRIDIUM_FIX,2359.20,12612.06,270910,191916
$TT8_MAMPS,0.027713
$HUMID,43.54
$INTERNAL_PRESSURE,9.25196
$TCM_TEMP,24.20
$XPDR_PINGS,0
$24V_AH,24.4,12.633
$10V_AH,10.5,10.316
$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,19.325,46.025,485.250,154.650,0.000,23.534,43.142,111.534,0.000,0.000,15.928,1833.363,1485.307,625.472,2455.730,99.455,0.000,1426.834,0.000,2269.661,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,110.160,849.915,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,522.558,0.000,1638.646,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333984
$DATA_FILE_SIZE,46967,782
$CAP_FILE_SIZE,82741,0
$CFSIZE,260165632,249675776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094,317.5,1
$GPS,270910,230007,2408.743,12611.730,28,1.0,28,-3.6