version: 66.08
glider: 169
mission: 2
dive: 338
start: 10 20 110 12 30 39
data:
$ID,169
$MISSION,2
$DIVE,338
$N_DIVES,348
$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,240
$T_MISSION,300
$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,-7108.9404
$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
$GPS1,201010,122254,2348.671,12615.088,38,1.1,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-71.8
$GPS2,201010,123013,2348.743,12615.151,15,1.6,32,-3.5
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,NWALL_MID
$TGT_LATLONG,2400.000,12612.000
$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,343.5,21519,-19.5,-13.889
$D_GRID,4470
$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,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,116,0.00,0.00,-96.97,0.000,2,0.000,0.000,149,1981,3139,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.2,-7.6,12,153,9.85,1.75,-13.18,0.000,4,0.238,0.068,2498,878,3930,0,0,0,0,0,0
$GC,342,-0.68,-204.4,78.8,-23.0,48,350,0.00,1.83,0.00,0.000,6,0.000,0.051,2498,2035,3931,0,0,0,0,0,0
$GC,706,-0.67,-204.4,164.5,-21.7,109,713,0.00,1.75,0.00,0.000,4,0.000,0.057,2498,3168,3932,0,0,0,0,0,0
$GC,819,-0.67,-204.4,185.1,-15.7,128,827,0.00,1.80,0.00,0.000,6,0.000,0.043,2498,2004,3933,0,0,0,0,0,0
$GC,1180,-0.67,-204.4,248.4,-17.3,189,1186,0.00,1.83,0.00,0.000,4,0.000,0.057,2498,3167,3933,0,0,0,0,0,0
$GC,1300,-0.67,-204.4,266.5,-13.4,209,1307,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,2000,3933,0,0,0,0,0,0
$GC,1650,-0.67,-204.4,323.6,-15.6,258,1654,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3932,0,0,0,0,0,0
$GC,1733,-0.68,-204.4,334.8,-13.1,265,1737,0.00,1.77,0.00,0.000,6,0.000,0.039,2498,1997,3931,0,0,0,0,0,0
$GC,2064,-0.69,-204.4,385.2,-14.4,296,2068,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3171,3930,0,0,0,0,0,0
$GC,2157,-0.70,-204.4,397.0,-12.3,304,2161,0.00,1.80,0.00,0.000,6,0.000,0.041,2499,2002,3930,0,0,0,0,0,0
$GC,2489,-0.70,-204.4,441.8,-14.0,335,2493,0.00,1.80,0.00,0.000,4,0.000,0.054,2498,3168,3928,0,0,0,0,0,0
$GC,2584,-0.71,-204.4,453.1,-11.2,343,2588,0.00,1.77,0.00,0.000,6,0.000,0.039,2498,1992,3927,0,0,0,0,0,0
$GC,2915,-0.72,-204.4,495.2,-12.4,374,2919,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3925,0,0,0,0,0,0
$GC,2975,-0.73,-204.4,501.6,-10.2,379,2978,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1997,3924,0,0,0,0,0,0
$GC,3306,-0.74,-204.4,540.1,-12.0,410,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1995,3922,0,0,0,0,0,0
$GC,3626,-0.75,-204.4,577.2,-11.4,440,3630,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3167,3920,0,0,0,0,0,0
$GC,3738,-0.77,-204.4,588.0,-8.6,450,3742,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,2000,3919,0,0,0,0,0,0
$GC,4075,-0.78,-204.4,621.0,-9.7,472,4079,0.00,1.83,0.00,0.000,4,0.000,0.055,2499,3173,3916,0,0,0,0,0,0
$GC,4125,-0.80,-204.4,625.9,-8.8,474,4129,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1989,3915,0,0,0,0,0,0
$GC,4453,-0.81,-204.4,658.8,-10.1,490,4456,0.00,1.85,0.00,0.000,4,0.000,0.057,2499,3167,3913,0,0,0,0,0,0
$GC,4548,-0.83,-204.4,667.5,-8.9,494,4552,0.10,1.80,0.00,0.000,6,0.118,0.041,2458,1963,3912,0,0,0,0,0,0
$GC,4876,-0.83,-204.4,709.4,-13.3,510,4880,0.00,1.90,0.00,0.000,4,0.000,0.061,2458,3167,3909,0,0,0,0,0,0
$GC,4926,-0.84,-204.4,715.9,-11.7,512,4929,0.00,1.83,0.00,0.000,6,0.000,0.045,2457,1980,3909,0,0,0,0,0,0
$GC,5253,-0.84,-204.4,756.4,-12.2,528,5257,0.00,1.90,0.00,0.000,4,0.000,0.060,2458,3171,3905,0,0,0,0,0,0
$GC,5337,-0.85,-204.4,766.1,-11.0,531,5344,0.00,1.80,0.00,0.000,6,0.000,0.047,2458,2005,3905,0,0,0,0,0,0
$GC,5654,-0.86,-204.4,804.6,-12.3,547,5657,0.00,1.83,0.00,0.000,4,0.000,0.062,2458,3167,3903,0,0,0,0,0,0
$GC,5738,-0.87,-204.4,814.6,-11.4,550,5746,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2002,3902,0,0,0,0,0,0
$GC,6054,-0.87,-204.4,851.0,-11.4,566,6058,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3166,3899,0,0,0,0,0,0
$GC,6093,-0.88,-204.4,855.4,-10.9,567,6100,0.00,1.80,0.00,0.000,6,0.000,0.043,2458,2006,3899,0,0,0,0,0,0
$GC,6410,-0.89,-204.4,890.7,-11.6,583,6413,0.00,1.85,0.00,0.000,4,0.000,0.061,2458,3173,3897,0,0,0,0,0,0
$GC,6465,-0.90,-204.4,897.0,-10.3,585,6469,0.00,1.83,0.00,0.000,6,0.000,0.047,2458,2004,3896,0,0,0,0,0,0
$GC,6788,-0.91,-204.4,933.5,-11.5,601,6791,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3174,3894,0,0,0,0,0,0
$GC,6859,-0.92,-204.4,941.9,-10.6,604,6863,0.00,1.80,0.00,0.000,6,0.000,0.046,2458,1996,3894,0,0,0,0,0,0
$GC,7187,-0.93,-204.4,980.1,-11.8,620,7191,0.00,1.88,0.00,0.000,4,0.000,0.060,2457,3168,3892,0,0,0,0,0,0
$GC,7215,-0.94,-204.4,983.5,-11.4,621,7219,0.00,1.80,0.00,0.000,6,0.000,0.045,2458,2003,3891,0,0,0,0,0,0
$STATE,7375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7375,begin apogee
$GC,7380,-0.18,0.0,1001.8,11.4,629,7557,0.65,0.08,170.98,1.275,6,0.139,0.105,2662,2093,3091,0,0,0,0,0,0
$STATE,7557,end apogee,CONTROL_FINISHED_OK
$STATE,7558,begin climb
$GC,7559,0.69,204.4,1011.6,0.0,637,7760,0.80,1.95,192.98,1.249,4,0.053,0.047,2965,971,2256,0,0,0,0,0,0
$GC,7852,0.67,204.4,986.3,16.2,651,7856,0.00,1.83,0.00,0.000,6,0.000,0.040,2963,2146,2247,0,0,0,0,0,0
$GC,8185,0.66,204.4,928.8,16.9,667,8189,0.00,1.80,0.00,0.000,4,0.000,0.047,2972,962,2240,0,0,0,0,0,0
$GC,8235,0.65,204.4,919.8,17.3,669,8239,0.10,1.83,0.00,0.000,6,0.168,0.041,2941,2145,2240,0,0,0,0,0,0
$GC,8563,0.64,204.4,870.0,15.3,685,8566,0.00,1.77,0.00,0.000,4,0.000,0.047,2950,967,2237,0,0,0,0,0,0
$GC,8578,0.63,204.4,867.4,15.3,685,8585,0.00,1.80,0.00,0.000,6,0.000,0.041,2948,2143,2237,0,0,0,0,0,0
$GC,8895,0.62,204.4,820.5,14.3,701,8898,0.00,1.77,0.00,0.000,4,0.000,0.047,2957,964,2235,0,0,0,0,0,0
$GC,8941,0.61,204.4,813.8,14.6,703,8946,0.12,1.77,0.00,0.000,6,0.180,0.041,2925,2153,2236,0,0,0,0,0,0
$GC,9276,0.64,236.6,771.7,12.4,719,9307,0.00,1.75,26.98,1.105,4,0.000,0.046,2925,3271,2125,0,0,0,0,0,0
$GC,9364,0.64,236.6,759.3,14.0,723,9368,0.00,1.80,0.00,0.000,6,0.000,0.035,2934,2084,2120,0,0,0,0,0,0
$GC,9692,0.66,259.0,714.8,12.9,739,9717,0.00,1.77,20.23,1.050,4,0.000,0.048,2942,971,2034,0,0,0,0,0,0
$GC,9745,0.65,259.0,707.2,14.6,741,9749,0.00,1.80,0.00,0.000,6,0.000,0.041,2942,2152,2031,0,0,0,0,0,0
$GC,10067,0.65,259.0,659.6,14.8,757,10071,0.00,1.83,0.00,0.000,4,0.000,0.046,2951,958,2025,0,0,0,0,0,0
$GC,10136,0.65,259.0,649.6,15.2,760,10139,0.00,1.83,0.00,0.000,6,0.000,0.041,2951,2142,2024,0,0,0,0,0,0
$GC,10468,0.64,259.0,601.2,14.3,776,10472,0.00,1.75,0.00,0.000,4,0.000,0.048,2951,3267,2022,0,0,0,0,0,0
$GC,10495,0.63,259.0,596.8,15.6,777,10502,0.00,1.80,0.00,0.000,6,0.000,0.035,2960,2088,2022,0,0,0,0,0,0
$GC,10820,0.63,259.0,546.8,15.3,808,10824,0.00,1.70,0.00,0.000,4,0.000,0.046,2968,964,2021,0,0,0,0,0,0
$GC,10888,0.62,259.0,536.4,15.2,814,10892,0.12,1.80,0.00,0.000,6,0.173,0.041,2934,2157,2021,0,0,0,0,0,0
$GC,11221,0.63,264.0,489.8,13.7,845,11225,0.00,1.80,0.00,0.000,4,0.000,0.045,2943,957,2020,0,0,0,0,0,0
$GC,11328,0.66,289.3,475.1,12.7,854,11362,0.00,1.83,25.98,0.915,6,0.000,0.040,2942,2150,1910,0,0,0,0,0,0
$GC,11679,0.70,323.8,429.7,12.3,887,11713,0.00,0.00,30.67,0.881,6,0.000,0.000,2943,2151,1770,0,0,0,0,0,0
$GC,12031,0.72,341.1,382.2,13.1,920,12055,0.00,1.90,15.27,0.806,4,0.000,0.046,2948,969,1698,0,0,0,0,0,0
$GC,12095,0.77,376.6,373.8,12.3,925,12131,0.00,1.83,31.27,0.828,6,0.000,0.037,2948,2153,1555,0,0,0,0,0,0
$GC,12451,0.79,389.0,324.3,13.3,958,12467,0.10,1.88,10.82,0.725,4,0.096,0.043,3015,967,1504,0,0,0,0,0,0
$GC,12563,0.79,389.0,306.1,16.7,967,12567,0.12,1.80,0.00,0.000,6,0.168,0.037,2982,2157,1502,0,0,0,0,0,0
$GC,12914,0.79,389.0,250.6,16.5,1024,12923,0.00,1.83,0.00,0.000,4,0.000,0.044,2991,968,1500,0,0,0,0,0,0
$GC,12949,0.79,389.0,245.1,16.8,1029,12955,0.00,1.77,0.00,0.000,6,0.000,0.037,2990,2154,1500,0,0,0,0,0,0
$GC,13305,0.79,389.0,185.0,17.1,1090,13315,0.00,1.83,0.00,0.000,4,0.000,0.044,2999,965,1499,0,0,0,0,0,0
$GC,13426,0.79,389.0,165.1,15.8,1110,13435,0.00,1.80,0.00,0.000,6,0.000,0.037,2999,2158,1499,0,0,0,0,0,0
$GC,13791,0.84,431.1,111.0,12.0,1171,13833,0.00,1.90,35.88,0.626,4,0.000,0.044,3008,964,1332,0,0,0,0,0,0
$GC,14011,0.89,462.0,83.7,12.5,1206,14045,0.00,1.80,26.12,0.595,6,0.000,0.035,3008,2152,1205,0,0,0,0,0,0
$GC,14397,1.07,598.4,44.9,7.7,1270,14512,0.17,1.85,107.75,0.571,4,0.067,0.038,3109,969,649,0,0,0,0,0,0
$GC,14633,1.08,598.4,6.2,16.5,1304,14642,0.08,1.80,0.00,0.000,6,0.136,0.033,3082,2155,647,0,0,0,0,0,0
$STATE,14655,end climb,SURFACE_DEPTH_REACHED
$STATE,14655,begin surface coast
$FINISH,-0.0,1.021706
$STATE,14681,end surface coast,CONTROL_FINISHED_OK
$STATE,14681,begin surface
$SM_CCo,14698,31.42,0.058,0,0,481,640.23
$SM_GC,0.87,0.00,0.00,31.42,0.000,0.000,0.058,144,1990,481,-8.08,-0.99,640.23
$IRIDIUM_FIX,2335.63,12613.58,201010,080859
$TT8_MAMPS,0.026964
$HUMID,45.23
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.6,47.811
$10V_AH,10.0,40.738
$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,20.700,120.250,694.925,31.425,0.000,29.619,24.976,234.097,0.000,0.000,32.987,3268.756,7189.260,706.029,3713.839,278.275,0.000,2072.363,0.000,3418.837,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,104.805,1275.255,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.586,0.000,1814.611,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,76974,1311
$CAP_FILE_SIZE,165732,0
$CFSIZE,260165632,236052480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062, 92.3,1
$GPS,201010,163706,2350.846,12615.799,29,1.6,29,-3.5