version: 66.08
glider: 169
mission: 2
dive: 319
start: 10 16 110 23 53 0
data:
$ID,169
$MISSION,2
$DIVE,319
$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,-7084.7407
$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
$GPS1,161010,234531,2339.475,12612.666,40,1.1,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.3
$GPS2,161010,235234,2339.419,12612.651,16,3.1,35,-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,297.5,1542,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-73.7,0.0,0.0,0,108,0.00,0.00,-90.20,0.000,2,0.000,0.000,136,1983,2956,0,0,0,0,0,0
$GC,111,-0.77,-131.5,3.5,-5.3,11,138,9.77,1.80,-12.43,0.000,4,0.235,0.073,2471,879,3629,0,0,0,0,0,0
$GC,373,-0.76,-131.5,89.6,-30.5,54,381,0.00,1.85,0.00,0.000,6,0.000,0.057,2471,2036,3630,0,0,0,0,0,0
$GC,734,-0.76,-131.5,178.7,-23.9,115,741,0.00,1.75,0.00,0.000,4,0.000,0.059,2472,3172,3631,0,0,0,0,0,0
$GC,798,-0.77,-131.5,193.0,-19.4,126,807,0.00,1.83,0.00,0.000,6,0.000,0.047,2472,2003,3632,0,0,0,0,0,0
$GC,1150,-0.78,-131.5,261.0,-18.5,187,1157,0.00,1.80,0.00,0.000,4,0.000,0.058,2471,3167,3632,0,0,0,0,0,0
$GC,1193,-0.79,-131.5,269.0,-17.5,194,1201,0.00,1.80,0.00,0.000,6,0.000,0.044,2472,2002,3632,0,0,0,0,0,0
$GC,1538,-0.80,-131.5,332.4,-17.9,240,1541,0.00,1.70,0.00,0.000,4,0.000,0.052,2472,878,3631,0,0,0,0,0,0
$GC,1574,-0.81,-131.5,338.5,-17.1,243,1578,0.00,1.80,0.00,0.000,6,0.000,0.050,2472,2048,3631,0,0,0,0,0,0
$GC,1905,-0.82,-131.5,394.3,-17.1,274,1909,0.00,1.75,0.00,0.000,4,0.000,0.057,2472,3176,3630,0,0,0,0,0,0
$GC,1978,-0.83,-131.5,406.3,-14.7,280,1987,0.00,1.83,0.00,0.000,6,0.000,0.044,2472,2001,3629,0,0,0,0,0,0
$GC,2305,-0.85,-131.5,454.0,-14.0,311,2307,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2000,3628,0,0,0,0,0,0
$GC,2625,-0.86,-131.5,497.0,-14.1,341,2629,0.00,1.73,0.00,0.000,4,0.000,0.051,2472,879,3625,0,0,0,0,0,0
$GC,2651,-0.87,-131.5,500.7,-14.1,343,2655,0.00,1.80,0.00,0.000,6,0.000,0.050,2471,2037,3625,0,0,0,0,0,0
$GC,2982,-0.89,-131.5,546.4,-13.6,374,2985,0.00,1.73,0.00,0.000,4,0.000,0.060,2472,3166,3623,0,0,0,0,0,0
$GC,3076,-0.91,-131.5,558.0,-11.9,382,3083,0.10,1.80,0.00,0.000,6,0.122,0.043,2434,2000,3621,0,0,0,0,0,0
$GC,3400,-0.92,-131.5,607.2,-15.1,411,3403,0.00,1.70,0.00,0.000,4,0.000,0.053,2434,879,3619,0,0,0,0,0,0
$GC,3433,-0.93,-131.5,612.3,-14.7,412,3437,0.00,1.80,0.00,0.000,6,0.000,0.050,2434,2032,3619,0,0,0,0,0,0
$GC,3754,-0.94,-131.5,659.1,-14.5,428,3758,0.00,1.75,0.00,0.000,4,0.000,0.059,2434,3173,3616,0,0,0,0,0,0
$GC,3822,-0.96,-131.5,668.8,-13.2,431,3826,0.00,1.80,0.00,0.000,6,0.000,0.047,2434,2000,3615,0,0,0,0,0,0
$GC,4155,-0.97,-131.5,712.6,-13.0,447,4159,0.00,1.73,0.00,0.000,4,0.000,0.055,2434,868,3612,0,0,0,0,0,0
$GC,4193,-0.98,-131.5,717.8,-12.8,448,4200,0.00,1.83,0.00,0.000,6,0.000,0.051,2434,2036,3613,0,0,0,0,0,0
$GC,4510,-0.99,-131.5,761.3,-14.6,464,4514,0.00,1.77,0.00,0.000,4,0.000,0.060,2434,3171,3609,0,0,0,0,0,0
$GC,4559,-1.01,-131.5,768.6,-13.8,466,4563,0.00,1.83,0.00,0.000,6,0.000,0.048,2434,2004,3609,0,0,0,0,0,0
$GC,4887,-1.02,-131.5,817.3,-14.9,482,4891,0.00,1.75,0.00,0.000,4,0.000,0.057,2434,866,3605,0,0,0,0,0,0
$GC,4920,-1.03,-131.5,822.6,-14.8,483,4925,0.10,1.85,0.00,0.000,6,0.132,0.054,2397,2034,3604,0,0,0,0,0,0
$GC,5242,-1.04,-131.5,873.3,-15.1,499,5245,0.00,1.75,0.00,0.000,4,0.000,0.061,2397,3167,3602,0,0,0,0,0,0
$GC,5274,-1.05,-131.5,878.5,-14.5,500,5278,0.00,1.83,0.00,0.000,6,0.000,0.047,2397,2002,3601,0,0,0,0,0,0
$GC,5597,-1.06,-131.5,926.8,-14.9,516,5600,0.00,1.75,0.00,0.000,4,0.000,0.057,2397,868,3599,0,0,0,0,0,0
$GC,5651,-1.06,-131.5,935.7,-15.7,518,5655,0.00,1.85,0.00,0.000,6,0.000,0.054,2397,2034,3598,0,0,0,0,0,0
$GC,5974,-1.07,-131.5,985.5,-15.2,534,5977,0.00,1.77,0.00,0.000,4,0.000,0.057,2397,881,3596,0,0,0,0,0,0
$GC,6042,-1.08,-131.5,996.1,-14.9,537,6046,0.00,1.83,0.00,0.000,6,0.000,0.054,2397,2033,3595,0,0,0,0,0,0
$STATE,6083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6083,begin apogee
$GC,6088,-0.18,0.0,1002.3,14.8,539,6203,0.90,0.08,106.47,1.271,6,0.157,0.109,2665,2094,3091,0,0,0,0,0,0
$STATE,6204,end apogee,CONTROL_FINISHED_OK
$STATE,6204,begin climb
$GC,6206,0.77,131.5,1006.0,0.0,544,6334,0.85,0.00,124.45,1.240,6,0.060,0.000,2977,2094,2555,0,0,0,0,0,0
$GC,6629,0.76,131.5,958.9,15.1,565,6633,0.00,1.70,0.00,0.000,4,0.000,0.048,2985,970,2539,0,0,0,0,0,0
$GC,6707,0.76,131.5,946.9,14.4,568,6711,0.00,1.80,0.00,0.000,6,0.000,0.039,2977,2146,2538,0,0,0,0,0,0
$GC,7029,0.75,131.5,900.7,14.3,584,7033,0.00,1.80,0.00,0.000,4,0.000,0.047,2986,965,2534,0,0,0,0,0,0
$GC,7052,0.75,131.5,897.4,14.3,585,7056,0.00,1.77,0.00,0.000,6,0.000,0.039,2977,2159,2534,0,0,0,0,0,0
$GC,7385,0.74,131.5,851.1,14.3,601,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2159,2532,0,0,0,0,0,0
$GC,7694,0.73,131.5,808.0,13.8,616,7698,0.00,1.70,0.00,0.000,4,0.000,0.047,2977,3279,2531,0,0,0,0,0,0
$GC,7741,0.73,131.5,801.3,14.5,618,7744,0.00,1.80,0.00,0.000,6,0.000,0.037,2986,2089,2530,0,0,0,0,0,0
$GC,8074,0.72,131.5,754.5,13.5,634,8077,0.00,1.67,0.00,0.000,4,0.000,0.047,2995,958,2528,0,0,0,0,0,0
$GC,8097,0.71,131.5,751.3,13.5,635,8101,0.12,1.80,0.00,0.000,6,0.201,0.040,2961,2157,2528,0,0,0,0,0,0
$GC,8430,0.72,138.6,714.2,10.4,651,8431,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2157,2526,0,0,0,0,0,0
$GC,8740,0.73,142.4,680.9,10.7,666,8748,0.00,0.00,5.97,0.840,6,0.000,0.000,2961,2157,2510,0,0,0,0,0,0
$GC,9048,0.73,142.4,644.8,11.9,681,9049,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2157,2507,0,0,0,0,0,0
$GC,9358,0.73,142.9,609.2,11.1,696,9361,0.00,1.70,0.00,0.000,4,0.000,0.049,2961,3269,2506,0,0,0,0,0,0
$GC,9552,0.74,154.6,588.8,9.9,709,9571,0.00,1.80,12.98,0.949,6,0.000,0.037,2969,2091,2460,0,0,0,0,0,0
$GC,9889,0.74,154.6,551.1,11.5,741,9892,0.00,1.67,0.00,0.000,4,0.000,0.048,2978,968,2455,0,0,0,0,0,0
$GC,9983,0.74,155.2,540.5,11.0,749,9991,0.00,1.80,0.00,0.000,6,0.000,0.040,2976,2140,2454,0,0,0,0,0,0
$GC,10309,0.74,155.2,503.2,11.7,780,10312,0.00,1.77,0.00,0.000,4,0.000,0.046,2984,959,2454,0,0,0,0,0,0
$GC,10377,0.74,156.3,495.8,11.0,786,10381,0.00,1.77,0.00,0.000,6,0.000,0.041,2983,2150,2453,0,0,0,0,0,0
$GC,10709,0.74,156.3,459.9,11.7,817,10711,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2150,2453,0,0,0,0,0,0
$GC,11029,0.74,156.3,419.5,12.5,847,11033,0.00,1.83,0.00,0.000,4,0.000,0.045,2992,964,2453,0,0,0,0,0,0
$GC,11189,0.74,156.3,399.8,11.8,861,11193,0.00,1.80,0.00,0.000,6,0.000,0.040,2990,2146,2452,0,0,0,0,0,0
$GC,11520,0.77,177.6,365.1,9.0,892,11546,0.00,1.80,21.38,0.818,4,0.000,0.043,2999,958,2367,0,0,0,0,0,0
$GC,11585,0.79,199.5,359.3,8.9,897,11610,0.00,1.83,20.98,0.801,6,0.000,0.038,2991,2150,2277,0,0,0,0,0,0
$GC,11932,0.79,199.5,316.6,14.1,929,11936,0.00,1.75,0.00,0.000,4,0.000,0.045,2991,3274,2267,0,0,0,0,0,0
$GC,12050,0.79,199.5,297.5,16.7,940,12058,0.00,1.83,0.00,0.000,6,0.000,0.034,3000,2080,2266,0,0,0,0,0,0
$GC,12397,0.80,199.5,249.2,11.5,1001,12405,0.00,1.65,0.00,0.000,4,0.000,0.045,3009,967,2266,0,0,0,0,0,0
$GC,12549,0.80,202.2,232.1,10.8,1027,12556,0.00,1.77,0.00,0.000,6,0.000,0.037,3008,2156,2266,0,0,0,0,0,0
$GC,12899,0.81,202.2,192.3,11.6,1088,12908,0.00,1.83,0.00,0.000,4,0.000,0.043,3018,960,2265,0,0,0,0,0,0
$GC,12961,0.81,204.5,185.0,10.9,1098,12970,0.00,1.80,4.07,0.448,6,0.000,0.037,3018,2152,2257,0,0,0,0,0,0
$GC,13314,0.82,212.3,148.8,10.3,1159,13331,0.00,1.83,9.07,0.581,4,0.000,0.041,3027,960,2224,0,0,0,0,0,0
$GC,13468,0.83,212.3,130.0,13.0,1184,13476,0.00,1.80,0.00,0.000,6,0.000,0.035,3027,2154,2222,0,0,0,0,0,0
$GC,13835,0.88,249.9,92.9,7.3,1245,13876,0.00,0.00,32.65,0.607,6,0.000,0.000,3026,2154,2070,0,0,0,0,0,0
$GC,14227,0.93,285.3,59.2,7.5,1310,14262,0.00,1.88,28.67,0.569,4,0.000,0.042,3036,965,1927,0,0,0,0,0,0
$GC,14387,0.99,320.5,45.4,7.6,1335,14421,0.00,1.80,29.40,0.554,6,0.000,0.033,3036,2154,1783,0,0,0,0,0,0
$GC,14774,1.04,345.9,11.8,8.5,1399,14800,0.00,1.85,20.92,0.519,4,0.000,0.038,3040,961,1679,0,0,0,0,0,0
$GC,14832,1.12,388.0,7.6,6.9,1407,14874,0.10,1.80,34.12,0.523,6,0.047,0.031,3104,2165,1507,0,0,0,0,0,0
$STATE,14880,end climb,SURFACE_DEPTH_REACHED
$STATE,14881,begin surface coast
$FINISH,0.1,1.021722
$STATE,14915,end surface coast,CONTROL_FINISHED_OK
$STATE,14915,begin surface
$SM_CCo,14931,171.35,0.055,0,0,481,640.23
$SM_GC,1.00,0.00,0.00,171.35,0.000,0.000,0.055,146,1980,481,-8.06,-1.27,640.23
$IRIDIUM_FIX,2333.28,12613.58,161010,191932
$TT8_MAMPS,0.026215
$HUMID,40.74
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.0,44.808
$10V_AH,10.2,37.561
$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,20.400,107.400,451.150,171.350,0.000,30.284,42.793,196.794,0.000,0.000,37.345,3526.848,7100.383,685.798,3927.828,272.421,0.000,1996.471,0.000,3647.241,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,109.395,1270.665,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,961.504,0.000,2131.542,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333880
$DATA_FILE_SIZE,83566,1418
$CAP_FILE_SIZE,162421,0
$CFSIZE,260165632,237633536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050, 59.7,1
$GPS,171010,040606,2340.523,12611.343,55,0.9,55,-3.5