version: 66.08
glider: 169
mission: 2
dive: 349
start: 10 22 110 9 38 12
data:
$ID,169
$MISSION,2
$DIVE,349
$N_DIVES,360
$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,-7128.2446
$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
$GPS1,221010,093130,2353.439,12610.934,37,1.2,42,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.5
$GPS2,221010,093744,2353.527,12610.906,16,2.0,16,-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,183.8,25121,-19.5,-13.889
$D_GRID,3064
$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,-0.69,-204.4,0.0,0.0,0,112,0.00,0.00,-95.10,0.000,2,0.000,0.000,128,1977,3084,0,0,0,0,0,0
$GC,115,-0.69,-204.4,4.2,-7.7,12,150,9.98,1.75,-14.30,0.000,4,0.239,0.065,2498,865,3929,0,0,0,0,0,0
$GC,177,-0.66,-204.4,32.4,-42.6,20,186,0.00,1.88,0.00,0.000,6,0.000,0.054,2498,2040,3930,0,0,0,0,0,0
$GC,543,-0.65,-204.4,133.1,-22.5,81,553,0.00,1.77,0.00,0.000,4,0.000,0.060,2498,3167,3932,0,0,0,0,0,0
$GC,620,-0.65,-204.4,148.7,-17.0,93,630,0.00,1.80,0.00,0.000,6,0.000,0.043,2498,2002,3933,0,0,0,0,0,0
$GC,968,-0.64,-204.4,213.6,-17.9,154,977,0.00,1.85,0.00,0.000,4,0.000,0.057,2498,3165,3934,0,0,0,0,0,0
$GC,1014,-0.65,-204.4,221.1,-16.2,161,1022,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,1999,3933,0,0,0,0,0,0
$GC,1361,-0.65,-204.4,279.1,-15.7,222,1369,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3163,3933,0,0,0,0,0,0
$GC,1428,-0.65,-204.4,288.7,-13.8,233,1436,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1999,3932,0,0,0,0,0,0
$GC,1760,-0.66,-204.4,336.9,-13.4,270,1763,0.00,1.83,0.00,0.000,4,0.000,0.056,2498,3168,3931,0,0,0,0,0,0
$GC,1832,-0.66,-204.4,346.1,-11.1,276,1841,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,2004,3931,0,0,0,0,0,0
$GC,2160,-0.67,-204.4,390.0,-13.3,307,2164,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3167,3931,0,0,0,0,0,0
$GC,2230,-0.68,-204.4,398.7,-11.3,313,2233,0.00,1.75,0.00,0.000,6,0.000,0.038,2498,1996,3930,0,0,0,0,0,0
$GC,2561,-0.69,-204.4,439.4,-11.5,344,2565,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3169,3928,0,0,0,0,0,0
$GC,2597,-0.70,-204.4,443.2,-10.7,347,2601,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2000,3928,0,0,0,0,0,0
$GC,2929,-0.71,-204.4,481.6,-11.7,378,2932,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3175,3926,0,0,0,0,0,0
$GC,2976,-0.72,-204.4,486.9,-11.3,382,2980,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1995,3925,0,0,0,0,0,0
$GC,3307,-0.73,-204.4,526.1,-11.1,413,3311,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3168,3922,0,0,0,0,0,0
$GC,3365,-0.75,-204.4,532.2,-10.2,418,3369,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1999,3922,0,0,0,0,0,0
$GC,3696,-0.75,-204.4,568.2,-10.9,449,3700,0.00,1.88,0.00,0.000,4,0.000,0.055,2498,3171,3920,0,0,0,0,0,0
$GC,3825,-0.77,-204.4,580.6,-9.3,460,3832,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,1996,3919,0,0,0,0,0,0
$GC,4148,-0.78,-204.4,615.0,-11.2,485,4152,0.00,1.83,0.00,0.000,4,0.000,0.056,2498,3168,3916,0,0,0,0,0,0
$GC,4198,-0.80,-204.4,620.4,-9.3,487,4202,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2001,3916,0,0,0,0,0,0
$GC,4527,-0.81,-204.4,656.9,-11.3,503,4530,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3169,3913,0,0,0,0,0,0
$GC,4621,-0.83,-204.4,666.3,-9.5,507,4626,0.10,1.77,0.00,0.000,6,0.115,0.042,2456,1985,3913,0,0,0,0,0,0
$GC,4950,-0.83,-204.4,708.7,-13.0,523,4954,0.00,1.90,0.00,0.000,4,0.000,0.060,2457,3167,3910,0,0,0,0,0,0
$GC,5011,-0.84,-204.4,716.4,-11.5,525,5019,0.00,1.80,0.00,0.000,6,0.000,0.043,2456,1981,3909,0,0,0,0,0,0
$GC,5328,-0.85,-204.4,756.0,-12.7,541,5331,0.00,1.90,0.00,0.000,4,0.000,0.059,2457,3172,3906,0,0,0,0,0,0
$GC,5429,-0.85,-204.4,768.0,-10.7,545,5432,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2003,3905,0,0,0,0,0,0
$GC,5751,-0.86,-204.4,808.3,-12.2,561,5755,0.00,1.83,0.00,0.000,4,0.000,0.059,2456,3168,3903,0,0,0,0,0,0
$GC,5829,-0.87,-204.4,817.1,-10.5,564,5832,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2000,3903,0,0,0,0,0,0
$GC,6151,-0.88,-204.4,852.7,-10.9,580,6154,0.00,1.85,0.00,0.000,4,0.000,0.058,2457,3167,3900,0,0,0,0,0,0
$GC,6234,-0.89,-204.4,860.7,-9.4,583,6241,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2000,3899,0,0,0,0,0,0
$GC,6550,-0.89,-204.4,892.8,-10.3,599,6554,0.00,1.70,0.00,0.000,4,0.000,0.054,2457,875,3897,0,0,0,0,0,0
$GC,6578,-0.90,-204.4,895.8,-10.5,600,6581,0.00,1.80,0.00,0.000,6,0.000,0.050,2457,2050,3897,0,0,0,0,0,0
$GC,6906,-0.91,-204.4,933.3,-12.0,616,6909,0.00,1.75,0.00,0.000,4,0.000,0.060,2457,3168,3895,0,0,0,0,0,0
$GC,6966,-0.92,-204.4,940.8,-11.8,618,6974,0.00,1.80,0.00,0.000,6,0.000,0.045,2457,1998,3894,0,0,0,0,0,0
$GC,7283,-0.93,-204.4,979.5,-12.8,634,7287,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3171,3893,0,0,0,0,0,0
$GC,7329,-0.94,-204.4,985.3,-11.2,636,7333,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,1998,3893,0,0,0,0,0,0
$STATE,7455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7455,begin apogee
$GC,7460,-0.18,0.0,1000.1,11.6,642,7637,0.65,0.08,171.48,1.278,6,0.131,0.106,2665,2093,3091,0,0,0,0,0,0
$STATE,7638,end apogee,CONTROL_FINISHED_OK
$STATE,7638,begin climb
$GC,7640,0.69,204.4,1009.1,0.0,650,7846,0.80,2.00,193.50,1.251,4,0.054,0.045,2957,3270,2254,0,0,0,0,0,0
$GC,7985,0.67,204.4,971.4,18.9,666,7989,0.00,1.83,0.00,0.000,6,0.000,0.036,2966,2094,2244,0,0,0,0,0,0
$GC,8312,0.66,204.4,914.3,17.2,682,8316,0.00,1.70,0.00,0.000,4,0.000,0.046,2975,967,2240,0,0,0,0,0,0
$GC,8385,0.64,204.4,901.6,17.3,685,8389,0.12,1.80,0.00,0.000,6,0.189,0.038,2943,2163,2239,0,0,0,0,0,0
$GC,8711,0.63,204.4,850.4,15.3,701,8715,0.00,1.80,0.00,0.000,4,0.000,0.046,2952,963,2236,0,0,0,0,0,0
$GC,8834,0.62,204.4,832.2,14.2,706,8838,0.00,1.77,0.00,0.000,6,0.000,0.040,2950,2157,2236,0,0,0,0,0,0
$GC,9156,0.62,215.4,786.5,13.4,722,9165,0.00,0.00,7.32,0.936,6,0.000,0.000,2950,2157,2213,0,0,0,0,0,0
$GC,9465,0.61,215.4,742.1,14.3,737,9469,0.00,1.70,0.00,0.000,4,0.000,0.048,2950,3273,2210,0,0,0,0,0,0
$GC,9504,0.60,215.4,736.1,14.8,738,9511,0.12,1.80,0.00,0.000,6,0.193,0.035,2929,2071,2210,0,0,0,0,0,0
$GC,9820,0.62,237.6,695.3,12.9,754,9848,0.00,1.75,22.00,1.054,4,0.000,0.047,2937,967,2121,0,0,0,0,0,0
$GC,9884,0.63,251.6,686.8,13.3,757,9906,0.00,1.77,14.27,0.995,6,0.000,0.040,2935,2148,2063,0,0,0,0,0,0
$GC,10216,0.65,264.5,641.4,13.3,773,10232,0.00,1.83,11.60,0.952,4,0.000,0.045,2944,962,2011,0,0,0,0,0,0
$GC,10316,0.65,264.5,627.1,14.6,776,10323,0.00,1.83,0.00,0.000,6,0.000,0.040,2944,2146,2008,0,0,0,0,0,0
$GC,10637,0.65,268.5,581.9,13.7,798,10649,0.00,1.85,3.92,0.620,4,0.000,0.046,2953,965,1996,0,0,0,0,0,0
$GC,10666,0.65,274.5,577.6,13.6,800,10683,0.00,1.80,8.00,0.854,6,0.000,0.039,2952,2155,1970,0,0,0,0,0,0
$GC,11002,0.64,274.5,527.5,14.8,832,11003,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2156,1965,0,0,0,0,0,0
$GC,11321,0.64,274.5,480.6,14.7,862,11325,0.00,1.80,0.00,0.000,4,0.000,0.046,2961,970,1964,0,0,0,0,0,0
$GC,11404,0.64,274.5,468.1,14.6,869,11411,0.00,1.77,0.00,0.000,6,0.000,0.039,2961,2140,1964,0,0,0,0,0,0
$GC,11731,0.63,274.5,421.0,14.4,900,11734,0.00,1.77,0.00,0.000,4,0.000,0.044,2970,968,1963,0,0,0,0,0,0
$GC,11844,0.64,282.1,404.6,13.5,910,11859,0.12,1.77,6.85,0.726,6,0.169,0.038,2934,2153,1941,0,0,0,0,0,0
$GC,12175,0.71,339.0,364.9,11.3,941,12228,0.00,0.00,50.28,0.840,6,0.000,0.000,2934,2153,1708,0,0,0,0,0,0
$GC,12551,0.77,384.3,320.1,11.8,975,12601,0.12,1.90,38.05,0.788,4,0.082,0.044,3010,961,1523,0,0,0,0,0,0
$GC,12688,0.76,384.3,296.5,17.6,988,12698,0.10,1.83,0.00,0.000,6,0.142,0.037,2976,2149,1518,0,0,0,0,0,0
$GC,13037,0.76,384.3,242.5,14.6,1049,13044,0.00,1.80,0.00,0.000,4,0.000,0.044,2985,961,1516,0,0,0,0,0,0
$GC,13121,0.78,397.0,230.9,13.3,1063,13137,0.00,1.77,11.18,0.660,6,0.000,0.035,2984,2153,1472,0,0,0,0,0,0
$GC,13479,0.78,397.7,177.8,13.9,1125,13486,0.00,1.80,0.00,0.000,4,0.000,0.043,2993,958,1469,0,0,0,0,0,0
$GC,13551,0.78,397.7,167.4,14.3,1137,13558,0.00,1.75,0.00,0.000,6,0.000,0.034,2993,2155,1468,0,0,0,0,0,0
$GC,13912,0.79,397.7,112.7,13.9,1198,13920,0.00,1.80,0.00,0.000,4,0.000,0.043,3000,974,1468,0,0,0,0,0,0
$GC,14018,0.85,438.5,99.0,12.0,1215,14060,0.00,1.75,35.30,0.614,6,0.000,0.034,2999,2150,1302,0,0,0,0,0,0
$GC,14417,0.98,539.4,54.3,9.3,1280,14506,0.12,1.85,80.82,0.581,4,0.080,0.039,3081,960,891,0,0,0,0,0,0
$GC,14570,1.01,555.7,34.0,13.1,1301,14596,0.00,1.80,14.10,0.521,6,0.000,0.031,3081,2150,823,0,0,0,0,0,0
$STATE,14776,end climb,SURFACE_DEPTH_REACHED
$STATE,14776,begin surface coast
$FINISH,-0.0,1.021710
$STATE,14797,end surface coast,CONTROL_FINISHED_OK
$STATE,14797,begin surface
$SM_CCo,14813,59.40,0.057,0,0,481,640.23
$SM_GC,0.93,0.00,0.00,59.40,0.000,0.000,0.057,148,1994,481,-8.06,-0.88,640.23
$IRIDIUM_FIX,2345.05,12611.17,221010,050506
$TT8_MAMPS,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.5,50.020
$10V_AH,10.0,42.386
$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,20.675,119.600,668.675,59.400,0.000,27.137,16.487,196.362,0.000,0.000,18.436,3344.252,7110.168,753.212,3748.373,281.136,0.000,2143.028,0.000,3507.454,0.000,0.542,0.000
$DEVICE_MAMPS,238.680,105.570,1278.315,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.734,0.000,1849.852,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333672
$DATA_FILE_SIZE,80256,1338
$CAP_FILE_SIZE,171043,0
$CFSIZE,260165632,235159552
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039, 26.3,1
$GPS,221010,134707,2351.437,12610.384,32,0.9,32,-3.5