version: 66.08
glider: 169
mission: 2
dive: 314
start: 10 16 110 1 20 3
data:
$ID,169
$MISSION,2
$DIVE,314
$N_DIVES,327
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1090
$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,300
$T_MISSION,375
$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,1
$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,-7077.5146
$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,330
$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
$GPS1,161010,010724,2340.708,12612.559,38,1.1,38,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.1
$GPS2,161010,011938,2340.717,12612.539,16,1.5,16,-3.5
$SPEED_LIMITS,0.192,0.313
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12612.000
$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,239.2,1612,-27.4,-11.111
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.70,-73.7,0.0,0.0,0,110,0.00,0.00,-91.40,0.000,2,0.000,0.000,136,1990,2985,0,0,0,0,0,0
$GC,112,-0.77,-134.9,3.5,-4.9,12,140,9.68,1.77,-12.38,0.000,4,0.236,0.068,2471,877,3645,0,0,0,0,0,0
$GC,329,-0.77,-134.9,73.8,-25.1,47,338,0.00,1.83,0.00,0.000,6,0.000,0.055,2471,2033,3646,0,0,0,0,0,0
$GC,686,-0.77,-134.9,162.2,-25.2,108,695,0.00,1.80,0.00,0.000,4,0.000,0.049,2471,866,3647,0,0,0,0,0,0
$GC,766,-0.78,-134.9,179.6,-20.1,121,773,0.00,1.80,0.00,0.000,6,0.000,0.051,2471,2038,3647,0,0,0,0,0,0
$GC,1112,-0.79,-134.9,250.9,-19.0,182,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2038,3647,0,0,0,0,0,0
$GC,1457,-0.80,-134.9,313.3,-17.2,236,1461,0.00,1.75,0.00,0.000,4,0.000,0.062,2472,3170,3647,0,0,0,0,0,0
$GC,1515,-0.81,-134.9,322.5,-15.3,241,1519,0.00,1.80,0.00,0.000,6,0.000,0.047,2471,1997,3647,0,0,0,0,0,0
$GC,1848,-0.82,-134.9,375.6,-14.7,272,1851,0.00,1.70,0.00,0.000,4,0.000,0.050,2471,866,3646,0,0,0,0,0,0
$GC,1884,-0.83,-134.9,381.0,-15.2,275,1887,0.00,1.80,0.00,0.000,6,0.000,0.051,2471,2040,3646,0,0,0,0,0,0
$GC,2216,-0.84,-134.9,431.6,-15.8,306,2220,0.00,1.77,0.00,0.000,4,0.000,0.060,2471,3176,3644,0,0,0,0,0,0
$GC,2297,-0.86,-134.9,443.5,-14.5,313,2301,0.00,1.80,0.00,0.000,6,0.000,0.045,2471,2000,3643,0,0,0,0,0,0
$GC,2628,-0.88,-134.9,492.6,-13.8,344,2632,0.00,1.70,0.00,0.000,4,0.000,0.050,2471,868,3640,0,0,0,0,0,0
$GC,2711,-0.89,-134.9,503.9,-13.3,351,2718,0.00,1.83,0.00,0.000,6,0.000,0.049,2472,2045,3640,0,0,0,0,0,0
$GC,3037,-0.91,-134.9,547.8,-13.6,382,3041,0.10,1.75,0.00,0.000,4,0.125,0.059,2433,3170,3637,0,0,0,0,0,0
$GC,3075,-0.92,-134.9,553.9,-15.3,385,3083,0.00,1.80,0.00,0.000,6,0.000,0.045,2433,2004,3637,0,0,0,0,0,0
$GC,3410,-0.93,-134.9,606.4,-15.1,415,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2002,3634,0,0,0,0,0,0
$GC,3720,-0.94,-134.9,649.7,-13.8,430,3723,0.00,1.85,0.00,0.000,4,0.000,0.059,2433,3170,3630,0,0,0,0,0,0
$GC,3814,-0.96,-134.9,662.3,-13.1,434,3817,0.00,1.83,0.00,0.000,6,0.000,0.047,2433,2001,3630,0,0,0,0,0,0
$GC,4141,-0.97,-134.9,708.7,-14.8,450,4145,0.00,1.73,0.00,0.000,4,0.000,0.053,2433,865,3627,0,0,0,0,0,0
$GC,4180,-0.98,-134.9,714.6,-14.4,451,4187,0.00,1.85,0.00,0.000,6,0.000,0.051,2433,2055,3627,0,0,0,0,0,0
$GC,4496,-0.99,-134.9,759.8,-14.2,467,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2056,3624,0,0,0,0,0,0
$GC,4806,-1.01,-134.9,802.3,-13.5,482,4810,0.00,1.85,0.00,0.000,4,0.000,0.053,2433,871,3620,0,0,0,0,0,0
$GC,4861,-1.02,-134.9,810.2,-13.9,484,4865,0.00,1.83,0.00,0.000,6,0.000,0.051,2433,2034,3620,0,0,0,0,0,0
$GC,5183,-1.03,-134.9,853.3,-13.2,500,5187,0.10,1.80,0.00,0.000,4,0.126,0.060,2392,3172,3617,0,0,0,0,0,0
$GC,5229,-1.04,-134.9,860.3,-16.4,502,5232,0.00,1.83,0.00,0.000,6,0.000,0.050,2393,1998,3616,0,0,0,0,0,0
$GC,5562,-1.05,-134.9,917.5,-17.2,518,5565,0.00,1.73,0.00,0.000,4,0.000,0.055,2392,870,3613,0,0,0,0,0,0
$GC,5630,-1.06,-134.9,929.7,-17.8,521,5634,0.00,1.85,0.00,0.000,6,0.000,0.053,2392,2040,3613,0,0,0,0,0,0
$GC,5962,-1.06,-134.9,987.6,-17.6,537,5966,0.00,1.85,0.00,0.000,4,0.000,0.057,2393,871,3610,0,0,0,0,0,0
$GC,5995,-1.07,-134.9,993.7,-17.3,538,5999,0.00,1.85,0.00,0.000,6,0.000,0.054,2392,2035,3610,0,0,0,0,0,0
$STATE,6047,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6047,begin apogee
$GC,6052,-0.18,0.0,1002.6,17.4,541,6168,0.90,0.05,109.40,1.261,6,0.152,0.067,2666,2094,3090,0,0,0,0,0,0
$STATE,6169,end apogee,CONTROL_FINISHED_OK
$STATE,6169,begin climb
$GC,6171,0.77,134.9,1009.0,0.0,546,6302,0.85,0.00,125.28,1.233,6,0.053,0.000,2989,2094,2540,0,0,0,0,0,0
$GC,6597,0.77,134.9,966.6,15.0,567,6601,0.00,1.83,0.00,0.000,4,0.000,0.046,2987,3271,2525,0,0,0,0,0,0
$GC,6647,0.76,134.9,958.4,16.1,569,6651,0.00,1.80,0.00,0.000,6,0.000,0.034,2995,2096,2524,0,0,0,0,0,0
$GC,6975,0.75,134.9,908.4,15.6,585,6978,0.00,1.67,0.00,0.000,4,0.000,0.046,3004,968,2520,0,0,0,0,0,0
$GC,6998,0.74,134.9,904.6,16.2,586,7003,0.12,1.77,0.00,0.000,6,0.206,0.039,2973,2152,2520,0,0,0,0,0,0
$GC,7332,0.73,134.9,854.3,15.1,602,7333,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2152,2518,0,0,0,0,0,0
$GC,7640,0.73,134.9,809.3,14.5,617,7644,0.00,1.70,0.00,0.000,4,0.000,0.047,2973,3274,2516,0,0,0,0,0,0
$GC,7700,0.72,134.9,799.5,16.1,619,7707,0.00,1.80,0.00,0.000,6,0.000,0.034,2982,2077,2515,0,0,0,0,0,0
$GC,8017,0.71,134.9,754.9,13.6,635,8021,0.00,1.65,0.00,0.000,4,0.000,0.046,2990,961,2514,0,0,0,0,0,0
$GC,8055,0.71,134.9,749.2,14.3,636,8063,0.08,1.80,0.00,0.000,6,0.187,0.039,2966,2148,2513,0,0,0,0,0,0
$GC,8372,0.71,134.9,711.8,11.7,652,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2149,2512,0,0,0,0,0,0
$GC,8681,0.70,134.9,676.6,11.2,667,8682,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2149,2512,0,0,0,0,0,0
$GC,8990,0.70,134.9,640.8,11.6,682,8994,0.00,1.70,0.00,0.000,4,0.000,0.047,2966,3271,2510,0,0,0,0,0,0
$GC,9017,0.70,134.9,637.4,12.3,683,9021,0.00,1.80,0.00,0.000,6,0.000,0.034,2974,2081,2510,0,0,0,0,0,0
$GC,9344,0.70,134.9,599.5,11.2,699,9348,0.00,1.83,0.00,0.000,4,0.000,0.045,2974,3280,2509,0,0,0,0,0,0
$GC,9497,0.70,141.1,582.2,10.5,712,9503,0.00,1.80,0.00,0.000,6,0.000,0.034,2983,2075,2509,0,0,0,0,0,0
$GC,9822,0.70,147.3,550.0,10.5,743,9832,0.00,0.00,6.35,0.793,6,0.000,0.000,2983,2075,2490,0,0,0,0,0,0
$GC,10151,0.70,147.3,510.1,12.3,774,10155,0.00,1.85,0.00,0.000,4,0.000,0.046,2977,3279,2489,0,0,0,0,0,0
$GC,10310,0.70,147.3,490.8,12.1,788,10314,0.12,1.80,0.00,0.000,6,0.202,0.034,2956,2077,2489,0,0,0,0,0,0
$GC,10643,0.74,183.1,461.4,7.5,819,10682,0.00,1.75,34.22,0.908,4,0.000,0.046,2964,962,2343,0,0,0,0,0,0
$GC,10804,0.77,195.4,447.0,9.9,833,10820,0.00,1.83,11.77,0.819,6,0.000,0.038,2962,2159,2294,0,0,0,0,0,0
$GC,11148,0.78,201.4,409.4,10.5,865,11162,0.00,1.70,5.80,0.672,4,0.000,0.043,2962,3281,2269,0,0,0,0,0,0
$GC,11189,0.78,201.4,404.1,12.2,868,11198,0.00,1.83,0.00,0.000,6,0.000,0.033,2971,2082,2267,0,0,0,0,0,0
$GC,11517,0.79,201.4,363.0,13.8,899,11520,0.00,1.80,0.00,0.000,4,0.000,0.043,2964,3273,2266,0,0,0,0,0,0
$GC,11611,0.80,201.4,349.6,15.1,907,11614,0.00,1.77,0.00,0.000,6,0.000,0.033,2972,2085,2264,0,0,0,0,0,0
$GC,11943,0.82,213.2,309.6,9.9,938,11960,0.00,1.73,11.93,0.731,4,0.000,0.044,2980,964,2220,0,0,0,0,0,0
$GC,12043,0.82,213.2,298.7,11.6,947,12050,0.00,1.77,0.00,0.000,6,0.000,0.036,2975,2151,2217,0,0,0,0,0,0
$GC,12392,0.83,213.2,255.5,12.5,1008,12400,0.00,1.73,0.00,0.000,4,0.000,0.043,2975,3277,2215,0,0,0,0,0,0
$GC,12426,0.84,213.2,251.0,14.3,1013,12434,0.00,1.77,0.00,0.000,6,0.000,0.031,2984,2084,2215,0,0,0,0,0,0
$GC,12776,0.85,213.2,208.9,11.3,1074,12784,0.00,1.70,0.00,0.000,4,0.000,0.042,2993,960,2214,0,0,0,0,0,0
$GC,12870,0.85,213.2,197.8,12.0,1090,12879,0.00,1.80,0.00,0.000,6,0.000,0.034,2990,2157,2214,0,0,0,0,0,0
$GC,13221,0.87,223.4,159.0,10.1,1151,13235,0.00,0.00,9.77,0.591,6,0.000,0.000,2990,2157,2180,0,0,0,0,0,0
$GC,13583,0.93,260.2,124.0,7.4,1213,13626,0.10,1.85,32.03,0.624,4,0.100,0.041,3053,964,2027,0,0,0,0,0,0
$GC,13659,0.93,260.2,115.2,13.4,1223,13667,0.00,1.80,0.00,0.000,6,0.000,0.034,3048,2149,2025,0,0,0,0,0,0
$GC,14024,0.94,260.2,69.6,12.3,1284,14033,0.00,1.80,0.00,0.000,4,0.000,0.039,3058,963,2020,0,0,0,0,0,0
$GC,14296,0.96,274.9,41.7,9.6,1330,14313,0.00,1.77,12.38,0.515,6,0.000,0.033,3057,2153,1970,0,0,0,0,0,0
$GC,14666,1.04,327.0,14.7,5.8,1392,14716,0.00,1.80,43.12,0.528,4,0.000,0.034,3066,952,1754,0,0,0,0,0,0
$STATE,14811,end climb,SURFACE_DEPTH_REACHED
$STATE,14811,begin surface coast
$FINISH,1.6,1.021686
$STATE,14824,end surface coast,CONTROL_FINISHED_OK
$STATE,14824,begin surface
$SM_CCo,14842,210.62,0.496,1,0,480,640.23
$SM_GC,0.98,0.00,0.00,210.62,0.000,0.000,0.496,136,2066,480,-8.06,1.16,640.23
$IRIDIUM_FIX,2330.93,12615.48,161010,010100
$TT8_MAMPS,0.025466
$HUMID,43.06
$INTERNAL_PRESSURE,9.25196
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.4,44.125
$10V_AH,10.1,36.702
$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,20.400,103.600,402.050,210.625,0.000,52.699,82.971,386.915,0.000,0.000,17.739,3529.192,7095.934,698.544,4177.119,291.169,0.000,2002.174,0.000,3653.858,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,91.035,1261.485,496.485,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,960.657,0.000,2134.721,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333920
$DATA_FILE_SIZE,83583,1416
$CAP_FILE_SIZE,164964,0
$CFSIZE,260165632,238059520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,333.3,1
$GPS,161010,053307,2339.844,12610.740,98,1.0,98,-3.5