version: 66.08
glider: 169
mission: 2
dive: 85
start: 9 28 110 2 56 57
data:
$ID,169
$MISSION,2
$DIVE,85
$N_DIVES,95
$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,-6785.4536
$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
$GPS1,280910,025207,2411.399,12611.627,39,0.9,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.3
$GPS2,280910,025632,2411.456,12611.552,13,1.4,13,-3.6
$SPEED_LIMITS,0.262,0.346
$TGT_NAME,NWALL_N
$TGT_LATLONG,2420.000,12612.000
$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,19.0,15841,-21.0,-15.152
$D_GRID,1648
$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,-97.00,0.000,2,0.000,0.000,150,1993,3155,0,0,0,0,0,0
$GC,116,-0.72,-204.4,3.9,-6.9,12,151,9.40,1.92,-13.30,0.000,4,0.239,0.084,2486,3166,3928,0,0,0,0,0,0
$GC,224,-0.70,-204.4,53.6,-37.1,28,232,0.00,1.80,0.00,0.000,6,0.000,0.050,2486,2019,3929,0,0,0,0,0,0
$GC,587,-0.69,-204.4,164.1,-24.8,89,594,0.00,1.80,0.00,0.000,4,0.000,0.063,2487,3166,3931,0,0,0,0,0,0
$GC,648,-0.69,-204.4,178.8,-22.1,99,654,0.00,1.75,0.00,0.000,6,0.000,0.046,2486,2001,3931,0,0,0,0,0,0
$GC,991,-0.68,-204.4,259.6,-23.0,160,1000,0.00,1.70,0.00,0.000,4,0.000,0.053,2486,881,3932,0,0,0,0,0,0
$GC,1105,-0.69,-204.4,280.8,-17.4,179,1111,0.00,1.77,0.00,0.000,6,0.000,0.052,2486,2052,3932,0,0,0,0,0,0
$GC,1442,-0.69,-204.4,345.5,-19.4,219,1446,0.00,1.70,0.00,0.000,4,0.000,0.060,2486,3167,3931,0,0,0,0,0,0
$GC,1479,-0.69,-204.4,352.9,-18.1,222,1488,0.00,1.75,0.00,0.000,6,0.000,0.044,2487,2005,3931,0,0,0,0,0,0
$GC,1806,-0.69,-204.4,409.4,-16.1,253,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,2004,3930,0,0,0,0,0,0
$GC,2126,-0.70,-204.4,452.6,-13.3,283,2130,0.00,1.80,0.00,0.000,4,0.000,0.061,2486,3168,3929,0,0,0,0,0,0
$GC,2206,-0.71,-204.4,462.5,-11.4,290,2210,0.00,1.73,0.00,0.000,6,0.000,0.044,2486,2002,3928,0,0,0,0,0,0
$STATE,2506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2506,begin apogee
$GC,2509,-0.18,0.0,500.9,12.2,318,2672,0.55,0.05,156.35,0.856,6,0.150,0.067,2661,2094,3091,0,0,0,0,0,0
$STATE,2672,end apogee,CONTROL_FINISHED_OK
$STATE,2673,begin climb
$GC,2674,0.72,204.4,507.8,0.0,331,2849,0.82,1.92,167.85,0.845,4,0.075,0.041,2957,3270,2256,0,0,0,0,0,0
$GC,2922,0.71,204.4,492.2,15.6,352,2931,0.00,1.83,0.00,0.000,6,0.000,0.030,2966,2081,2247,0,0,0,0,0,0
$GC,3249,0.74,237.3,445.5,13.5,383,3285,0.00,1.90,26.55,0.791,4,0.000,0.041,2966,3275,2121,0,0,0,0,0,0
$GC,3420,0.73,237.3,418.1,16.5,398,3424,0.00,1.80,0.00,0.000,6,0.000,0.032,2974,2086,2115,0,0,0,0,0,0
$GC,3752,0.73,237.3,366.7,16.1,429,3755,0.00,1.77,0.00,0.000,4,0.000,0.042,2974,3278,2110,0,0,0,0,0,0
$GC,3789,0.72,237.3,359.4,17.6,432,3799,0.00,1.77,0.00,0.000,6,0.000,0.031,2983,2092,2109,0,0,0,0,0,0
$GC,4117,0.71,237.3,305.6,16.6,463,4120,0.00,1.77,0.00,0.000,4,0.000,0.041,2983,3279,2108,0,0,0,0,0,0
$GC,4192,0.70,237.3,292.3,17.8,473,4200,0.12,1.73,0.00,0.000,6,0.191,0.032,2961,2082,2107,0,0,0,0,0,0
$GC,4539,0.76,288.9,241.3,12.6,534,4590,0.00,1.88,40.15,0.698,4,0.000,0.041,2960,3277,1910,0,0,0,0,0,0
$GC,4683,0.80,315.9,221.4,13.8,557,4712,0.00,1.73,22.40,0.660,6,0.000,0.032,2970,2081,1802,0,0,1,0,0,0
$GC,5052,0.81,326.9,167.8,14.6,621,5067,0.00,1.73,9.32,0.572,4,0.000,0.042,2978,956,1757,0,0,0,0,0,0
$GC,5085,0.82,332.2,162.6,14.9,626,5101,0.00,1.80,6.20,0.503,6,0.000,0.035,2977,2153,1734,0,0,0,0,0,0
$GC,5449,0.89,390.0,109.9,12.3,688,5507,0.10,1.75,46.12,0.599,4,0.099,0.041,3033,3277,1497,0,0,0,0,0,0
$GC,5516,0.88,390.0,98.1,18.5,696,5525,0.00,1.80,0.00,0.000,6,0.000,0.031,3043,2074,1496,0,0,1,0,0,0
$GC,5880,0.89,394.4,39.2,14.9,757,5889,0.00,1.83,0.00,0.000,4,0.000,0.041,3043,3274,1490,0,0,0,0,0,0
$GC,5988,0.92,420.6,23.9,13.8,775,6022,0.00,1.77,23.80,0.522,6,0.000,0.031,3051,2080,1375,0,0,0,0,0,0
$STATE,6128,end climb,SURFACE_DEPTH_REACHED
$STATE,6128,begin surface coast
$FINISH,0.0,1.008897
$STATE,6147,end surface coast,CONTROL_FINISHED_OK
$STATE,6148,begin surface
$SM_CCo,6162,141.70,0.481,1,0,480,640.23
$SM_GC,0.84,0.00,0.00,141.70,0.000,0.000,0.481,148,1997,480,-8.07,-0.79,640.23
$IRIDIUM_FIX,2403.92,12608.24,280910,000058
$TT8_MAMPS,0.026215
$HUMID,42.91
$INTERNAL_PRESSURE,9.28126
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,24.4,13.011
$10V_AH,10.4,10.659
$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,19.200,46.875,498.750,141.700,0.000,31.142,35.866,109.275,0.000,0.000,14.553,1865.838,1512.431,638.312,2458.591,102.560,0.000,1445.969,0.000,2284.339,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,94.860,856.035,481.185,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,534.372,0.000,1664.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333992
$DATA_FILE_SIZE,46992,800
$CAP_FILE_SIZE,83137,0
$CFSIZE,260165632,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$CURRENT,0.129,298.9,1
$GPS,280910,044304,2412.607,12611.253,12,2.3,31,-3.6