version: 66.08
glider: 169
mission: 2
dive: 341
start: 10 21 110 1 12 35
data:
$ID,169
$MISSION,2
$DIVE,341
$N_DIVES,353
$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,-7113.6079
$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
$GPS1,211010,010531,2355.226,12615.429,41,1.3,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-70.1
$GPS2,211010,011207,2355.263,12615.481,10,1.3,15,-3.6
$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,322.0,10567,-19.5,-13.889
$D_GRID,3293
$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,15,-0.69,-204.4,0.0,0.0,0,113,0.00,0.00,-96.10,0.000,2,0.000,0.000,139,1973,3108,0,0,0,0,0,0
$GC,116,-0.69,-204.4,4.1,-7.5,12,150,9.82,1.73,-13.80,0.000,4,0.236,0.065,2496,879,3928,0,0,0,0,0,0
$GC,287,-0.68,-204.4,64.0,-26.1,39,295,0.00,1.83,0.00,0.000,6,0.000,0.052,2496,2035,3930,0,0,0,0,0,0
$GC,650,-0.67,-204.4,156.0,-20.2,100,659,0.00,1.77,0.00,0.000,4,0.000,0.057,2496,3168,3931,0,0,0,0,0,0
$GC,747,-0.67,-204.4,175.4,-17.9,116,755,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,2002,3932,0,0,0,0,0,0
$GC,1109,-0.67,-204.4,247.8,-17.4,177,1115,0.00,1.80,0.00,0.000,4,0.000,0.055,2496,3167,3932,0,0,0,0,0,0
$GC,1148,-0.67,-204.4,254.2,-15.5,183,1154,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,1996,3932,0,0,0,0,0,0
$GC,1501,-0.67,-204.4,312.7,-15.9,238,1505,0.00,1.83,0.00,0.000,4,0.000,0.057,2496,3173,3931,0,0,0,0,0,0
$GC,1548,-0.67,-204.4,319.9,-14.2,242,1551,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2001,3931,0,0,0,0,0,0
$GC,1880,-0.67,-204.4,370.3,-15.9,273,1884,0.00,1.73,0.00,0.000,4,0.000,0.047,2496,865,3931,0,0,0,0,0,0
$GC,1929,-0.68,-204.4,377.2,-13.7,277,1932,0.00,1.83,0.00,0.000,6,0.000,0.047,2496,2050,3931,0,0,0,0,0,0
$GC,2260,-0.69,-204.4,425.8,-14.3,308,2263,0.00,1.70,0.00,0.000,4,0.000,0.056,2496,3172,3929,0,0,0,0,0,0
$GC,2310,-0.70,-204.4,433.0,-12.6,312,2319,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,1997,3929,0,0,0,0,0,0
$GC,2639,-0.70,-204.4,477.3,-13.1,343,2643,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3165,3927,0,0,0,0,0,0
$GC,2677,-0.72,-204.4,482.4,-11.2,346,2687,0.00,1.77,0.00,0.000,6,0.000,0.038,2496,2003,3926,0,0,0,0,0,0
$GC,3002,-0.72,-204.4,515.3,-9.0,377,3006,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3167,3924,0,0,0,0,0,0
$GC,3085,-0.74,-204.4,522.6,-8.4,384,3092,0.00,1.77,0.00,0.000,6,0.000,0.038,2496,1994,3924,0,0,0,0,0,0
$GC,3412,-0.75,-204.4,559.5,-12.3,415,3415,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3170,3921,0,0,0,0,0,0
$GC,3450,-0.76,-204.4,564.3,-11.7,418,3458,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,1997,3921,0,0,0,0,0,0
$GC,3776,-0.77,-204.4,600.9,-10.1,449,3780,0.00,1.83,0.00,0.000,4,0.000,0.055,2496,3175,3918,0,0,0,0,0,0
$GC,3860,-0.79,-204.4,609.0,-9.0,452,3867,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,1987,3917,0,0,0,0,0,0
$GC,4176,-0.80,-204.4,641.0,-10.7,468,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1986,3915,0,0,0,0,0,0
$GC,4487,-0.81,-204.4,672.2,-9.8,483,4490,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3168,3913,0,0,0,0,0,0
$GC,4632,-0.83,-204.4,684.9,-8.4,489,4636,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,1998,3911,0,0,0,0,0,0
$GC,4954,-0.84,-204.4,712.8,-8.9,505,4958,0.12,1.85,0.00,0.000,4,0.113,0.057,2449,3168,3908,0,0,0,0,0,0
$GC,5054,-0.85,-204.4,724.3,-12.0,509,5058,0.00,1.77,0.00,0.000,6,0.000,0.044,2449,2003,3907,0,0,0,0,0,0
$GC,5376,-0.85,-204.4,768.7,-13.5,525,5380,0.00,1.83,0.00,0.000,4,0.000,0.060,2449,3168,3905,0,0,0,0,0,0
$GC,5423,-0.86,-204.4,774.6,-11.7,527,5427,0.00,1.80,0.00,0.000,6,0.000,0.044,2449,1999,3904,0,0,0,0,0,0
$GC,5757,-0.86,-204.4,815.2,-11.9,543,5761,0.00,1.85,0.00,0.000,4,0.000,0.059,2449,3167,3902,0,0,0,0,0,0
$GC,5790,-0.87,-204.4,819.3,-11.2,544,5794,0.00,1.80,0.00,0.000,6,0.000,0.044,2449,2003,3901,0,0,0,0,0,0
$GC,6112,-0.88,-204.4,859.0,-13.4,560,6116,0.00,1.83,0.00,0.000,4,0.000,0.060,2449,3167,3899,0,0,0,0,0,0
$GC,6145,-0.88,-204.4,863.3,-12.4,561,6149,0.00,1.80,0.00,0.000,6,0.000,0.045,2449,2001,3899,0,0,0,0,0,0
$GC,6467,-0.89,-204.4,902.9,-11.9,577,6471,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3174,3896,0,0,0,0,0,0
$GC,6514,-0.90,-204.4,907.9,-10.4,579,6518,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,2000,3896,0,0,0,0,0,0
$GC,6848,-0.90,-204.4,945.6,-11.8,595,6851,0.00,1.85,0.00,0.000,4,0.000,0.060,2448,3172,3894,0,0,0,0,0,0
$GC,6948,-0.91,-204.4,956.8,-10.8,599,6952,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,2002,3893,0,0,0,0,0,0
$GC,7270,-0.92,-204.4,996.3,-12.3,615,7274,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3169,3892,0,0,0,0,0,0
$STATE,7296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7296,begin apogee
$GC,7302,-0.18,0.0,1000.1,12.5,616,7481,0.70,0.05,173.80,1.275,6,0.140,0.072,2667,2136,3090,0,0,0,0,0,0
$STATE,7482,end apogee,CONTROL_FINISHED_OK
$STATE,7482,begin climb
$GC,7484,0.69,204.4,1009.4,0.0,624,7690,0.77,2.00,196.15,1.247,4,0.056,0.047,2949,3273,2255,0,0,0,0,0,0
$GC,7824,0.67,204.4,973.1,17.7,640,7828,0.00,1.85,0.00,0.000,6,0.000,0.036,2958,2084,2244,0,0,0,0,0,0
$GC,8146,0.66,204.4,920.3,15.9,656,8149,0.00,1.70,0.00,0.000,4,0.000,0.046,2967,960,2240,0,0,0,0,0,0
$GC,8161,0.65,204.4,917.5,15.1,656,8168,0.00,1.83,0.00,0.000,6,0.000,0.040,2963,2152,2239,0,0,0,0,0,0
$GC,8478,0.63,204.4,863.9,17.8,672,8482,0.00,1.70,0.00,0.000,4,0.000,0.048,2964,3270,2238,0,0,0,0,0,0
$GC,8547,0.62,204.4,851.5,18.1,675,8551,0.15,1.80,0.00,0.000,6,0.190,0.037,2934,2080,2236,0,0,0,0,0,0
$GC,8880,0.61,204.4,801.1,15.0,691,8883,0.00,1.65,0.00,0.000,4,0.000,0.047,2942,970,2235,0,0,0,0,0,0
$GC,9009,0.61,210.4,782.3,13.6,696,9015,0.00,1.75,0.00,0.000,6,0.000,0.041,2938,2149,2235,0,0,0,0,0,0
$GC,9325,0.62,231.6,739.0,12.9,712,9354,0.00,1.90,22.55,1.078,4,0.000,0.046,2947,961,2145,0,0,0,0,0,0
$GC,9398,0.62,232.7,728.7,13.8,715,9402,0.00,1.83,0.00,0.000,6,0.000,0.041,2946,2138,2142,0,0,0,0,0,0
$GC,9720,0.61,232.7,682.9,14.7,731,9724,0.00,1.77,0.00,0.000,4,0.000,0.045,2955,963,2137,0,0,0,0,0,0
$GC,9783,0.61,232.7,673.8,14.3,733,9789,0.00,1.80,0.00,0.000,6,0.000,0.041,2948,2149,2137,0,0,0,0,0,0
$GC,10098,0.60,232.7,628.0,14.9,749,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2149,2135,0,0,0,0,0,0
$GC,10412,0.59,232.7,580.7,14.8,770,10415,0.00,1.77,0.00,0.000,4,0.000,0.045,2957,965,2134,0,0,0,0,0,0
$GC,10480,0.59,232.7,570.2,14.7,776,10485,0.10,1.80,0.00,0.000,6,0.153,0.041,2924,2143,2134,0,0,0,0,0,0
$GC,10812,0.60,242.8,526.8,13.4,807,10827,0.00,1.85,9.60,0.862,4,0.000,0.046,2934,962,2100,0,0,0,0,0,0
$GC,10893,0.63,270.3,515.9,12.6,814,10924,0.00,1.80,25.70,0.938,6,0.000,0.039,2933,2142,1989,0,0,0,0,0,0
$GC,11244,0.71,335.9,472.9,10.9,847,11307,0.00,1.90,57.03,0.920,4,0.000,0.047,2938,974,1720,0,0,0,0,0,0
$GC,11342,0.77,380.2,461.8,11.9,855,11392,0.12,1.83,38.20,0.887,6,0.081,0.037,3002,2154,1540,0,0,0,0,0,0
$GC,11709,0.77,380.2,389.7,20.0,889,11713,0.00,1.85,0.00,0.000,4,0.000,0.045,3012,968,1531,0,0,0,0,0,0
$GC,11851,0.76,380.2,363.1,19.4,901,11856,0.12,1.77,0.00,0.000,6,0.165,0.038,2977,2150,1530,0,0,0,0,0,0
$GC,12182,0.76,380.2,306.3,17.5,932,12185,0.00,1.80,0.00,0.000,4,0.000,0.045,2986,968,1528,0,0,0,0,0,0
$GC,12329,0.76,380.2,282.8,15.1,953,12336,0.00,1.77,0.00,0.000,6,0.000,0.037,2986,2158,1527,0,0,0,0,0,0
$GC,12684,0.76,380.2,223.1,16.5,1014,12694,0.00,1.83,0.00,0.000,4,0.000,0.044,2995,962,1527,0,0,0,0,0,0
$GC,12826,0.78,393.2,202.7,13.3,1037,12842,0.00,1.75,10.57,0.640,6,0.000,0.036,2995,2157,1486,0,0,0,0,0,0
$GC,13192,0.78,393.2,146.5,14.9,1099,13202,0.00,1.83,0.00,0.000,4,0.000,0.044,3002,964,1485,0,0,0,0,0,0
$GC,13258,0.79,400.1,137.1,13.6,1109,13276,0.00,1.77,7.03,0.539,6,0.000,0.035,3002,2147,1460,0,0,0,0,0,0
$GC,13631,0.84,437.9,86.0,12.2,1171,13672,0.00,1.83,32.92,0.605,4,0.000,0.040,3010,974,1303,0,0,0,0,0,0
$GC,13787,0.98,540.8,68.8,9.2,1195,13877,0.08,1.77,82.75,0.591,6,0.054,0.033,3065,2153,885,0,0,0,0,0,0
$GC,14228,1.00,552.8,6.0,13.3,1266,14246,0.00,1.83,10.30,0.483,4,0.000,0.040,3072,966,835,0,0,0,0,0,0
$STATE,14253,end climb,SURFACE_DEPTH_REACHED
$STATE,14253,begin surface coast
$FINISH,-0.0,1.007875
$STATE,14278,end surface coast,CONTROL_FINISHED_OK
$STATE,14278,begin surface
$SM_CCo,14296,60.20,0.057,0,0,481,640.23
$SM_GC,0.73,0.00,0.00,60.20,0.000,0.000,0.057,150,2059,481,-8.06,0.96,640.23
$IRIDIUM_FIX,2347.41,12611.17,201010,202003
$TT8_MAMPS,0.026215
$HUMID,44.95
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.6,48.451
$10V_AH,10.0,41.193
$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,20.350,118.850,666.600,60.200,0.000,29.903,38.268,195.866,0.000,0.000,17.320,3173.867,6991.169,723.003,3587.822,266.767,0.000,2064.512,0.000,3324.695,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,71.910,1275.255,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,861.327,0.000,1731.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,77049,1273
$CAP_FILE_SIZE,161814,0
$CFSIZE,260165632,235810816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 60.2,1
$GPS,211010,051301,2357.606,12615.327,41,1.2,41,-3.6