version: 66.08
glider: 169
mission: 2
dive: 346
start: 10 21 110 20 58 23
data:
$ID,169
$MISSION,2
$DIVE,346
$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,-7122.6177
$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
$GPS1,211010,205107,2359.268,12613.329,39,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.7
$GPS2,211010,205756,2359.347,12613.379,15,1.3,15,-3.6
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12612.000
$TGT_RADIUS,2000.000
$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,200.5,35908,-19.5,-13.889
$D_GRID,2764
$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,16,-0.69,-204.4,0.0,0.0,0,114,0.00,0.00,-95.57,0.000,2,0.000,0.000,136,1977,3090,0,0,0,0,0,0
$GC,117,-0.69,-204.4,4.2,-7.2,12,151,10.00,1.75,-14.20,0.000,4,0.240,0.068,2498,868,3929,0,0,0,0,0,0
$GC,183,-0.66,-204.4,34.2,-38.8,21,193,0.00,1.85,0.00,0.000,6,0.000,0.054,2498,2034,3930,0,0,0,0,0,0
$GC,550,-0.65,-204.4,130.8,-19.8,82,559,0.00,1.77,0.00,0.000,4,0.000,0.056,2497,3169,3931,0,0,0,0,0,0
$GC,666,-0.65,-204.4,153.0,-19.2,101,673,0.00,1.77,0.00,0.000,6,0.000,0.044,2497,1997,3931,0,0,0,0,0,0
$GC,1014,-0.65,-204.4,221.1,-17.1,162,1022,0.00,1.88,0.00,0.000,4,0.000,0.057,2497,3170,3932,0,0,0,0,0,0
$GC,1059,-0.65,-204.4,228.7,-17.6,169,1067,0.00,1.75,0.00,0.000,6,0.000,0.042,2497,2003,3932,0,0,0,0,0,0
$GC,1406,-0.65,-204.4,285.2,-15.7,230,1415,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3167,3931,0,0,0,0,0,0
$GC,1479,-0.66,-204.4,295.6,-13.8,242,1488,0.00,1.77,0.00,0.000,6,0.000,0.038,2497,2003,3931,0,0,0,0,0,0
$GC,1811,-0.66,-204.4,347.0,-15.6,275,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2001,3930,0,0,0,0,0,0
$GC,2130,-0.66,-204.4,392.9,-14.0,305,2134,0.00,1.80,0.00,0.000,4,0.000,0.054,2497,3168,3928,0,0,0,0,0,0
$GC,2225,-0.67,-204.4,405.2,-10.8,313,2232,0.00,1.75,0.00,0.000,6,0.000,0.038,2498,1996,3928,0,0,0,0,0,0
$GC,2550,-0.68,-204.4,445.5,-13.1,344,2554,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3168,3926,0,0,0,0,0,0
$GC,2590,-0.69,-204.4,450.9,-12.5,347,2596,0.00,1.75,0.00,0.000,6,0.000,0.038,2497,1999,3925,0,0,0,0,0,0
$GC,2916,-0.70,-204.4,494.2,-13.1,378,2919,0.00,1.85,0.00,0.000,4,0.000,0.053,2498,3175,3924,0,0,0,0,0,0
$GC,2955,-0.71,-204.4,499.2,-12.0,381,2963,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,1991,3923,0,0,0,0,0,0
$GC,3281,-0.72,-204.4,535.6,-11.0,412,3284,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3922,0,0,0,0,0,0
$GC,3316,-0.73,-204.4,539.2,-10.1,415,3320,0.00,1.75,0.00,0.000,6,0.000,0.039,2497,1999,3921,0,0,0,0,0,0
$GC,3648,-0.74,-204.4,575.5,-11.5,446,3652,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3178,3918,0,0,0,0,0,0
$GC,3740,-0.76,-204.4,585.3,-10.4,454,3744,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1999,3918,0,0,0,0,0,0
$GC,4077,-0.77,-204.4,622.9,-11.0,476,4081,0.00,1.88,0.00,0.000,4,0.000,0.054,2498,3168,3915,0,0,0,0,0,0
$GC,4132,-0.79,-204.4,628.6,-9.3,478,4136,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,2001,3915,0,0,0,0,0,0
$GC,4454,-0.80,-204.4,661.1,-10.3,494,4458,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3173,3912,0,0,0,0,0,0
$GC,4510,-0.82,-204.4,666.6,-8.9,496,4514,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1999,3911,0,0,0,0,0,0
$GC,4832,-0.83,-204.4,699.2,-10.2,512,4835,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3171,3908,0,0,0,0,0,0
$GC,4949,-0.85,-204.4,709.3,-7.6,517,4954,0.12,1.77,0.00,0.000,6,0.101,0.043,2446,1997,3907,0,0,0,0,0,0
$GC,5278,-0.85,-204.4,750.3,-12.8,533,5282,0.00,1.88,0.00,0.000,4,0.000,0.059,2446,3159,3904,0,0,0,0,0,0
$GC,5305,-0.85,-204.4,754.2,-12.1,534,5309,0.00,1.75,0.00,0.000,6,0.000,0.045,2446,2004,3904,0,0,0,0,0,0
$GC,5634,-0.86,-204.4,794.1,-12.7,550,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2004,3902,0,0,0,0,0,0
$GC,5942,-0.86,-204.4,837.5,-14.3,565,5945,0.00,1.88,0.00,0.000,4,0.000,0.060,2446,3168,3898,0,0,0,0,0,0
$GC,5981,-0.87,-204.4,843.0,-13.1,566,5987,0.00,1.77,0.00,0.000,6,0.000,0.046,2446,2004,3899,0,0,0,0,0,0
$GC,6297,-0.87,-204.4,884.8,-13.0,582,6301,0.00,1.85,0.00,0.000,4,0.000,0.061,2446,3166,3897,0,0,0,0,0,0
$GC,6358,-0.88,-204.4,892.4,-11.7,584,6365,0.00,1.77,0.00,0.000,6,0.000,0.046,2446,2003,3896,0,0,0,0,0,0
$GC,6675,-0.88,-204.4,927.4,-10.9,600,6679,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3171,3894,0,0,0,0,0,0
$GC,6753,-0.89,-204.4,935.4,-9.8,603,6757,0.00,1.80,0.00,0.000,6,0.000,0.047,2446,2004,3893,0,0,0,0,0,0
$GC,7075,-0.90,-204.4,971.4,-11.6,619,7079,0.00,1.88,0.00,0.000,4,0.000,0.063,2446,3172,3891,0,0,0,0,0,0
$GC,7136,-0.91,-204.4,978.2,-10.2,621,7144,0.00,1.80,0.00,0.000,6,0.000,0.047,2446,1999,3891,0,0,0,0,0,0
$STATE,7326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7326,begin apogee
$GC,7331,-0.18,0.0,1001.5,12.4,631,7510,0.70,0.08,170.75,1.271,6,0.135,0.106,2668,2092,3090,0,0,0,0,0,0
$STATE,7511,end apogee,CONTROL_FINISHED_OK
$STATE,7511,begin climb
$GC,7512,0.69,204.4,1009.9,0.0,639,7717,0.77,2.05,192.40,1.248,4,0.048,0.046,2961,3267,2254,0,0,0,0,0,0
$GC,7825,0.67,204.4,979.2,18.8,653,7832,0.00,1.85,0.00,0.000,6,0.000,0.036,2969,2090,2245,0,0,0,0,0,0
$GC,8141,0.65,204.4,922.6,17.6,669,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2088,2240,0,0,0,0,0,0
$GC,8450,0.64,204.4,871.7,16.4,684,8455,0.12,1.85,0.00,0.000,4,0.199,0.045,2935,3280,2238,0,0,0,0,0,0
$GC,8541,0.63,204.4,858.2,14.5,688,8544,0.00,1.80,0.00,0.000,6,0.000,0.036,2944,2087,2237,0,0,0,0,0,0
$GC,8873,0.62,204.8,812.1,13.9,704,8877,0.00,1.67,0.00,0.000,4,0.000,0.047,2952,958,2235,0,0,0,0,0,0
$GC,8987,0.61,204.8,796.1,13.9,709,8991,0.00,1.77,0.00,0.000,6,0.000,0.040,2951,2153,2235,0,0,0,0,0,0
$GC,9320,0.60,204.8,746.6,14.7,725,9323,0.00,1.80,0.00,0.000,4,0.000,0.047,2960,967,2234,0,0,0,0,0,0
$GC,9369,0.59,204.8,738.9,14.6,727,9374,0.12,1.77,0.00,0.000,6,0.178,0.039,2926,2171,2234,0,0,0,0,0,0
$GC,9698,0.63,243.0,698.6,12.1,743,9740,0.00,1.95,32.42,1.070,4,0.000,0.047,2935,961,2099,0,0,0,0,0,0
$GC,9756,0.63,243.0,690.5,13.9,745,9764,0.00,1.83,0.00,0.000,6,0.000,0.038,2934,2152,2096,0,0,0,0,0,0
$GC,10072,0.62,243.0,645.6,14.8,761,10076,0.00,1.80,0.00,0.000,4,0.000,0.047,2941,963,2090,0,0,0,0,0,0
$GC,10141,0.62,243.0,635.8,14.5,764,10144,0.00,1.77,0.00,0.000,6,0.000,0.040,2941,2152,2090,0,0,0,0,0,0
$GC,10466,0.62,243.0,587.9,14.7,783,10470,0.00,1.80,0.00,0.000,4,0.000,0.046,2947,965,2087,0,0,0,0,0,0
$GC,10516,0.62,250.5,580.3,13.6,787,10527,0.00,1.80,6.45,0.808,6,0.000,0.038,2947,2146,2069,0,0,0,0,0,0
$GC,10847,0.62,250.5,532.0,14.9,818,10851,0.00,1.67,0.00,0.000,4,0.000,0.047,2947,3270,2063,0,0,0,0,0,0
$GC,10950,0.61,250.5,516.2,14.9,827,10953,0.00,1.77,0.00,0.000,6,0.000,0.034,2956,2083,2062,0,0,0,0,0,0
$GC,11281,0.61,250.5,469.8,13.9,858,11285,0.12,1.70,0.00,0.000,4,0.187,0.047,2932,965,2062,0,0,0,0,0,0
$GC,11353,0.68,310.0,461.0,11.2,864,11411,0.00,1.80,52.25,0.920,6,0.000,0.037,2932,2149,1827,0,0,0,0,0,0
$GC,11728,0.77,379.8,419.0,10.7,899,11792,0.12,1.85,59.12,0.877,4,0.084,0.043,3008,971,1541,0,0,0,0,0,0
$GC,11878,0.77,379.8,393.4,16.6,911,11886,0.12,1.83,0.00,0.000,6,0.169,0.037,2976,2149,1535,0,0,0,0,0,0
$GC,12204,0.76,379.8,342.7,15.2,942,12208,0.00,1.80,0.00,0.000,4,0.000,0.045,2984,971,1531,0,0,0,0,0,0
$GC,12339,0.76,379.8,321.8,14.9,954,12343,0.00,1.75,0.00,0.000,6,0.000,0.037,2984,2152,1530,0,0,0,0,0,0
$GC,12678,0.76,379.8,266.0,16.2,1002,12687,0.00,1.83,0.00,0.000,4,0.000,0.045,2993,963,1529,0,0,0,0,0,0
$GC,12802,0.76,379.8,247.1,14.5,1023,12809,0.00,1.80,0.00,0.000,6,0.000,0.037,2993,2153,1528,0,0,0,0,0,0
$GC,13149,0.76,379.8,194.7,15.3,1084,13157,0.00,1.80,0.00,0.000,4,0.000,0.043,3002,974,1528,0,0,0,0,0,0
$GC,13272,0.76,379.8,176.7,14.1,1105,13280,0.00,1.73,0.00,0.000,6,0.000,0.035,3001,2153,1528,0,0,0,0,0,0
$GC,13631,0.76,379.8,127.2,13.9,1166,13640,0.00,1.80,0.00,0.000,4,0.000,0.042,3011,968,1528,0,0,0,0,0,0
$GC,13667,0.77,383.0,122.3,13.7,1171,13676,0.08,1.77,0.00,0.000,6,0.134,0.035,2983,2154,1528,0,0,0,0,0,0
$GC,14032,0.87,460.2,81.9,10.4,1232,14105,0.00,1.88,64.30,0.604,4,0.000,0.041,2983,964,1213,0,0,0,0,0,0
$GC,14192,1.13,650.0,69.8,5.2,1255,14356,0.25,1.80,149.57,0.585,6,0.037,0.036,3109,2143,438,0,0,0,0,0,0
$STATE,14554,end climb,SURFACE_DEPTH_REACHED
$STATE,14554,begin surface coast
$FINISH,0.1,1.021702
$STATE,14573,end surface coast,CONTROL_FINISHED_OK
$STATE,14573,begin surface
$SM_CCo,14650,0.00,0.000,0,0,434,651.76
$SM_GC,0.90,8.40,0.00,0.00,0.082,0.000,0.000,150,1988,434,-8.04,-1.05,651.76
$IRIDIUM_FIX,2352.12,12609.27,211010,171758
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.6,49.388
$10V_AH,10.0,41.925
$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,20.950,116.050,727.275,0.000,0.000,27.497,37.731,214.350,0.000,0.000,16.501,3237.666,7127.238,709.791,3690.107,285.982,0.000,2098.619,0.000,3423.088,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,105.570,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.805,0.000,1808.234,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333780
$DATA_FILE_SIZE,77092,1312
$CAP_FILE_SIZE,164569,0
$CFSIZE,260165632,235413504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,110.9,1
$GPS,221010,010336,2357.218,12612.490,37,1.1,37,-3.6