version: 66.08
glider: 169
mission: 2
dive: 320
start: 10 17 110 4 13 52
data:
$ID,169
$MISSION,2
$DIVE,320
$N_DIVES,333
$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,-7086.0015
$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
$GPS1,171010,040606,2340.523,12611.343,55,0.9,55,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-64.8
$GPS2,171010,041326,2340.510,12611.252,12,1.4,12,-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,143.9,1582,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.70,-73.7,0.0,0.0,0,110,0.00,0.00,-93.03,0.000,2,0.000,0.000,138,1980,3072,0,0,0,0,0,0
$GC,113,-0.74,-107.4,4.3,-7.7,12,139,9.77,1.73,-8.27,0.000,4,0.234,0.067,2482,870,3531,0,0,0,0,0,0
$GC,271,-0.73,-107.4,61.2,-35.4,37,279,0.00,1.88,0.00,0.000,6,0.000,0.056,2482,2038,3533,0,0,0,0,0,0
$GC,636,-0.73,-107.4,146.3,-21.7,98,645,0.00,1.83,0.00,0.000,4,0.000,0.051,2482,875,3534,0,0,0,0,0,0
$GC,664,-0.73,-107.4,152.5,-21.8,102,673,0.00,1.85,0.00,0.000,6,0.000,0.054,2482,2043,3534,0,0,0,0,0,0
$GC,1025,-0.74,-107.4,220.7,-17.0,163,1032,0.00,1.73,0.00,0.000,4,0.000,0.060,2482,3167,3534,0,0,0,0,0,0
$GC,1057,-0.74,-107.4,226.4,-17.1,168,1065,0.00,1.80,0.00,0.000,6,0.000,0.044,2482,2003,3534,0,0,0,0,0,0
$GC,1417,-0.75,-107.4,286.1,-16.3,229,1424,0.00,1.85,0.00,0.000,4,0.000,0.059,2482,3161,3534,0,0,0,0,0,0
$GC,1471,-0.77,-107.4,295.0,-14.9,238,1481,0.00,1.80,0.00,0.000,6,0.000,0.044,2483,2002,3534,0,0,0,0,0,0
$GC,1809,-0.78,-107.4,342.7,-12.9,272,1812,0.00,1.70,0.00,0.000,4,0.000,0.051,2482,865,3532,0,0,0,0,0,0
$GC,1894,-0.79,-107.4,353.8,-12.3,279,1901,0.00,1.83,0.00,0.000,6,0.000,0.051,2482,2033,3532,0,0,0,0,0,0
$GC,2219,-0.80,-107.4,397.7,-14.3,310,2223,0.00,1.75,0.00,0.000,4,0.000,0.057,2482,3174,3530,0,0,0,0,0,0
$GC,2281,-0.82,-107.4,406.6,-13.4,315,2288,0.00,1.80,0.00,0.000,6,0.000,0.045,2482,2009,3529,0,0,0,0,0,0
$GC,2607,-0.83,-107.4,450.3,-13.0,346,2611,0.00,1.70,0.00,0.000,4,0.000,0.054,2482,879,3528,0,0,0,0,0,0
$GC,2669,-0.85,-107.4,458.6,-12.5,351,2676,0.00,1.80,0.00,0.000,6,0.000,0.050,2482,2033,3527,0,0,0,0,0,0
$GC,2995,-0.87,-107.4,496.9,-11.7,382,2999,0.00,1.73,0.00,0.000,4,0.000,0.058,2482,3167,3525,0,0,0,0,0,0
$GC,3035,-0.88,-107.4,501.3,-12.4,385,3039,0.10,1.77,0.00,0.000,6,0.122,0.044,2445,2000,3525,0,0,0,0,0,0
$GC,3365,-0.89,-107.4,552.0,-15.9,416,3369,0.00,1.75,0.00,0.000,4,0.000,0.054,2445,871,3521,0,0,0,0,0,0
$GC,3403,-0.90,-107.4,558.5,-16.1,419,3410,0.00,1.83,0.00,0.000,6,0.000,0.051,2445,2036,3522,0,0,0,0,0,0
$GC,3728,-0.91,-107.4,607.2,-14.4,448,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2036,3519,0,0,0,0,0,0
$GC,4037,-0.93,-107.4,646.6,-11.9,463,4041,0.00,1.77,0.00,0.000,4,0.000,0.055,2445,872,3516,0,0,0,0,0,0
$GC,4109,-0.94,-108.6,655.3,-11.0,466,4114,0.00,1.85,0.00,0.000,6,0.000,0.053,2445,2045,3516,0,0,0,0,0,0
$GC,4437,-0.95,-108.6,693.7,-12.0,482,4441,0.00,1.77,0.00,0.000,4,0.000,0.061,2445,3167,3513,0,0,0,0,0,0
$GC,4463,-0.96,-108.6,697.3,-13.1,483,4467,0.00,1.80,0.00,0.000,6,0.000,0.047,2445,2009,3512,0,0,0,0,0,0
$GC,4791,-0.98,-108.6,738.5,-13.3,499,4795,0.00,1.83,0.00,0.000,4,0.000,0.062,2445,3168,3510,0,0,0,0,0,0
$GC,4830,-0.99,-108.6,743.9,-12.7,500,4837,0.00,1.80,0.00,0.000,6,0.000,0.046,2445,2009,3509,0,0,0,0,0,0
$GC,5146,-1.00,-108.6,787.1,-13.4,516,5148,0.12,0.00,0.00,0.000,6,0.119,0.000,2400,2009,3506,0,0,0,0,0,0
$GC,5456,-1.01,-108.6,836.7,-16.1,531,5457,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2009,3504,0,0,0,0,0,0
$GC,5765,-1.01,-108.6,883.0,-14.6,546,5768,0.00,1.75,0.00,0.000,4,0.000,0.059,2400,882,3502,0,0,0,0,0,0
$GC,5814,-1.02,-108.6,890.6,-15.3,548,5818,0.00,1.83,0.00,0.000,6,0.000,0.054,2399,2034,3501,0,0,0,0,0,0
$GC,6142,-1.03,-108.6,941.0,-16.3,564,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2034,3499,0,0,0,0,0,0
$GC,6451,-1.03,-108.6,994.0,-17.4,579,6455,0.00,1.77,0.00,0.000,4,0.000,0.056,2399,881,3496,0,0,0,0,0,0
$GC,6484,-1.04,-108.6,1000.0,-17.2,580,6488,0.00,1.85,0.00,0.000,6,0.000,0.053,2399,2044,3496,0,0,0,0,0,0
$STATE,6494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6494,begin apogee
$GC,6499,-0.18,0.0,1001.8,16.8,581,6593,0.90,0.10,86.32,1.273,6,0.160,0.093,2664,2085,3091,0,0,0,0,0,0
$STATE,6594,end apogee,CONTROL_FINISHED_OK
$STATE,6594,begin climb
$GC,6596,0.74,108.6,1006.8,0.0,585,6708,0.85,2.03,101.93,1.248,4,0.067,0.044,2963,3270,2646,0,0,0,0,0,0
$GC,6760,0.73,108.6,1002.5,11.7,593,6764,0.00,1.88,0.00,0.000,6,0.000,0.033,2971,2097,2640,0,0,0,0,0,0
$GC,7092,0.72,108.6,962.0,12.5,609,7096,0.00,1.85,0.00,0.000,4,0.000,0.046,2964,3268,2633,0,0,0,0,0,0
$GC,7147,0.72,108.6,954.4,13.1,611,7151,0.00,1.83,0.00,0.000,6,0.000,0.034,2972,2076,2632,0,0,0,0,0,0
$GC,7470,0.71,108.6,912.6,13.0,627,7473,0.00,1.85,0.00,0.000,4,0.000,0.046,2964,3272,2629,0,0,0,0,0,0
$GC,7509,0.70,108.6,907.3,13.6,628,7515,0.00,1.80,0.00,0.000,6,0.000,0.034,2972,2071,2629,0,0,0,0,0,0
$GC,7824,0.69,108.6,868.3,12.2,644,7828,0.00,1.85,0.00,0.000,4,0.000,0.044,2964,3268,2626,0,0,0,0,0,0
$GC,7902,0.68,108.6,858.4,13.2,647,7905,0.00,1.80,0.00,0.000,6,0.000,0.035,2971,2084,2626,0,0,0,0,0,0
$GC,8224,0.68,111.5,822.2,10.8,663,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2083,2624,0,0,0,0,0,0
$GC,8533,0.68,112.6,787.8,11.0,678,8534,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2083,2623,0,0,0,0,0,0
$GC,8842,0.67,116.2,753.5,10.8,693,8846,0.00,1.80,0.00,0.000,4,0.000,0.045,2964,3273,2622,0,0,0,0,0,0
$GC,9078,0.67,119.1,726.6,10.8,703,9090,0.00,1.77,6.00,0.864,6,0.000,0.034,2973,2070,2605,0,0,0,0,0,0
$GC,9400,0.68,128.8,692.5,10.1,719,9419,0.00,0.00,11.18,0.993,6,0.000,0.000,2973,2069,2564,0,0,0,0,0,0
$GC,9729,0.68,135.4,656.5,10.4,735,9743,0.00,1.92,7.43,0.890,4,0.000,0.044,2964,3278,2538,0,0,0,0,0,0
$GC,9810,0.67,135.4,647.0,11.5,738,9818,0.00,1.83,0.00,0.000,6,0.000,0.034,2973,2086,2536,0,0,0,0,0,0
$GC,10127,0.67,137.7,612.0,10.9,754,10130,0.00,1.67,0.00,0.000,4,0.000,0.044,2981,967,2534,0,0,0,0,0,0
$GC,10297,0.68,148.0,594.6,10.1,763,10319,0.00,1.77,13.05,0.952,6,0.000,0.038,2977,2150,2486,0,0,0,0,0,0
$GC,10638,0.68,148.0,555.0,11.6,795,10641,0.00,1.77,0.00,0.000,4,0.000,0.044,2986,967,2481,0,0,0,0,0,0
$GC,10683,0.68,148.0,549.5,11.6,799,10687,0.00,1.77,0.00,0.000,6,0.000,0.038,2977,2158,2481,0,0,0,0,0,0
$GC,11013,0.68,148.0,508.7,12.2,830,11017,0.00,1.70,0.00,0.000,4,0.000,0.046,2977,3275,2480,0,0,0,0,0,0
$GC,11062,0.68,148.0,501.8,13.8,834,11071,0.10,1.80,0.00,0.000,6,0.178,0.034,2956,2092,2479,0,0,0,0,0,0
$GC,11390,0.71,170.6,468.5,8.8,865,11416,0.00,1.90,21.25,0.902,4,0.000,0.044,2955,3279,2395,0,0,0,0,0,0
$GC,11478,0.72,180.8,459.9,10.1,872,11498,0.00,1.83,10.95,0.822,6,0.000,0.034,2964,2088,2352,0,0,0,0,0,0
$GC,11817,0.73,188.2,425.2,10.4,904,11831,0.00,1.70,7.40,0.748,4,0.000,0.042,2973,965,2322,0,0,0,0,0,0
$GC,11939,0.74,188.2,410.7,11.8,914,11949,0.00,1.83,0.00,0.000,6,0.000,0.037,2967,2154,2320,0,0,0,0,0,0
$GC,12266,0.74,188.2,369.6,11.7,945,12270,0.00,1.70,0.00,0.000,4,0.000,0.044,2967,3277,2318,0,0,0,0,0,0
$GC,12338,0.75,188.2,361.0,11.4,951,12342,0.00,1.77,0.00,0.000,6,0.000,0.032,2975,2075,2317,0,0,0,0,0,0
$GC,12669,0.76,195.5,322.8,10.4,982,12684,0.00,1.67,7.35,0.680,4,0.000,0.043,2985,962,2294,0,0,0,0,0,0
$GC,12747,0.77,195.5,314.1,11.7,988,12755,0.00,1.80,0.00,0.000,6,0.000,0.037,2980,2147,2292,0,0,0,0,0,0
$GC,13089,0.77,195.5,273.3,11.6,1038,13098,0.00,1.80,0.00,0.000,4,0.000,0.042,2989,968,2292,0,0,0,0,0,0
$GC,13126,0.78,195.5,269.5,11.7,1043,13132,0.00,1.75,0.00,0.000,6,0.000,0.035,2987,2161,2292,0,0,0,0,0,0
$GC,13485,0.81,216.4,233.5,9.0,1104,13514,0.00,1.88,20.15,0.705,4,0.000,0.041,2996,957,2207,0,0,0,0,0,0
$GC,13629,0.83,227.2,218.8,10.0,1127,13644,0.00,1.80,10.43,0.640,6,0.000,0.037,2996,2158,2163,0,0,0,0,0,0
$GC,13997,0.84,227.2,171.1,12.0,1189,14003,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2158,2159,0,0,0,0,0,0
$GC,14354,0.87,245.7,132.9,9.2,1250,14380,0.00,1.83,16.60,0.613,4,0.000,0.040,3005,968,2087,0,0,0,0,0,0
$GC,14570,0.89,254.6,109.4,10.2,1285,14588,0.00,1.77,8.85,0.547,6,0.000,0.035,3005,2146,2049,0,0,0,0,0,0
$GC,14943,0.96,300.9,76.5,6.4,1347,14992,0.10,1.75,38.38,0.591,4,0.101,0.041,3059,3273,1862,0,0,0,0,0,0
$GC,15072,0.97,300.9,62.8,11.9,1366,15081,0.00,1.80,0.00,0.000,6,0.000,0.030,3068,2086,1857,0,0,0,0,0,0
$GC,15440,1.01,327.4,29.1,8.4,1427,15466,0.00,1.75,21.88,0.532,4,0.000,0.041,3077,957,1755,0,0,0,0,0,0
$STATE,15701,end climb,SURFACE_DEPTH_REACHED
$STATE,15701,begin surface coast
$FINISH,0.1,1.010681
$STATE,15727,end surface coast,CONTROL_FINISHED_OK
$STATE,15727,begin surface
$SM_CCo,15744,205.65,0.055,0,0,481,640.23
$SM_GC,1.01,0.00,0.00,205.65,0.000,0.000,0.055,149,2057,481,-8.06,0.90,640.23
$IRIDIUM_FIX,2330.93,12614.09,161010,232327
$TT8_MAMPS,0.026964
$HUMID,40.39
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.0,44.936
$10V_AH,10.1,37.735
$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,20.300,115.100,389.125,205.650,0.000,30.324,41.693,230.373,0.000,0.000,13.710,3668.166,7589.004,714.648,4126.643,279.074,0.000,2092.139,0.000,3826.344,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,93.330,1272.960,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,999.623,0.000,2205.156,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333844
$DATA_FILE_SIZE,86931,1474
$CAP_FILE_SIZE,172412,0
$CFSIZE,260165632,237535232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060,291.2,1
$GPS,171010,084037,2339.289,12611.988,27,1.4,27,-3.5