version: 66.08
glider: 169
mission: 2
dive: 334
start: 10 19 110 19 33 6
data:
$ID,169
$MISSION,2
$DIVE,334
$N_DIVES,341
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-7103.9043
$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
$GPS1,191010,192601,2339.764,12611.539,35,1.4,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.0
$GPS2,191010,193237,2339.771,12611.468,12,1.4,12,-3.5
$SPEED_LIMITS,0.191,0.311
$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,84.3,997,-27.4,-11.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-72.6,0.0,0.0,0,108,0.00,0.00,-90.20,0.000,2,0.000,0.000,136,1975,2930,0,0,0,0,0,0
$GC,111,-0.77,-130.4,3.2,-5.1,11,145,9.68,1.75,-13.10,0.000,4,0.233,0.067,2472,869,3626,0,0,0,0,0,0
$GC,188,-0.76,-130.4,34.9,-38.2,22,197,0.00,1.88,0.00,0.000,6,0.000,0.054,2472,2040,3627,0,0,0,0,0,0
$GC,553,-0.76,-130.4,136.4,-22.0,83,562,0.00,1.77,0.00,0.000,4,0.000,0.060,2472,3164,3628,0,0,0,0,0,0
$GC,582,-0.76,-130.4,142.8,-22.2,87,591,0.00,1.80,0.00,0.000,6,0.000,0.044,2472,2007,3628,0,0,0,0,0,0
$GC,941,-0.76,-130.4,217.2,-20.0,148,950,0.00,1.85,0.00,0.000,4,0.000,0.058,2472,3163,3629,0,0,0,0,0,0
$GC,966,-0.77,-130.4,221.3,-19.8,151,973,0.00,1.75,0.00,0.000,6,0.000,0.042,2472,2003,3629,0,0,0,0,0,0
$GC,1322,-0.77,-130.4,287.4,-15.9,212,1330,0.00,1.85,0.00,0.000,4,0.000,0.056,2472,3165,3628,0,0,0,0,0,0
$GC,1361,-0.78,-130.4,293.5,-16.3,218,1370,0.00,1.80,0.00,0.000,6,0.000,0.041,2472,2000,3628,0,0,0,0,0,0
$GC,1698,-0.80,-130.4,349.0,-15.7,252,1701,0.00,1.83,0.00,0.000,4,0.000,0.055,2473,3171,3628,0,0,0,0,0,0
$GC,1781,-0.81,-130.4,361.3,-14.6,259,1785,0.00,1.80,0.00,0.000,6,0.000,0.043,2472,2006,3628,0,0,0,0,0,0
$GC,2112,-0.82,-130.4,414.4,-15.9,290,2115,0.00,1.85,0.00,0.000,4,0.000,0.057,2472,3170,3625,0,0,0,0,0,0
$GC,2158,-0.84,-130.4,421.3,-14.4,294,2162,0.00,1.77,0.00,0.000,6,0.000,0.042,2472,2003,3626,0,0,0,0,0,0
$GC,2491,-0.85,-130.4,470.5,-14.6,325,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2001,3624,0,0,0,0,0,0
$GC,2811,-0.87,-130.4,514.6,-14.4,355,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2001,3621,0,0,0,0,0,0
$GC,3137,-0.88,-130.4,559.9,-13.7,386,3141,0.00,1.83,0.00,0.000,4,0.000,0.056,2472,3168,3618,0,0,0,0,0,0
$GC,3182,-0.90,-130.4,566.1,-13.4,390,3186,0.00,1.80,0.00,0.000,6,0.000,0.040,2472,2001,3618,0,0,0,0,0,0
$GC,3511,-0.92,-130.4,609.1,-13.1,418,3516,0.12,1.88,0.00,0.000,4,0.113,0.056,2423,3171,3615,0,0,0,0,0,0
$GC,3544,-0.93,-130.4,614.2,-15.7,419,3547,0.00,1.77,0.00,0.000,6,0.000,0.044,2423,2002,3615,0,0,0,0,0,0
$GC,3866,-0.94,-130.4,664.6,-14.5,435,3867,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2000,3612,0,0,0,0,0,0
$GC,4175,-0.95,-130.4,710.0,-14.2,450,4176,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2000,3610,0,0,0,0,0,0
$GC,4484,-0.96,-130.4,754.1,-14.3,465,4488,0.00,1.85,0.00,0.000,4,0.000,0.058,2423,3168,3606,0,0,0,0,0,0
$GC,4557,-0.97,-130.4,764.8,-14.0,468,4560,0.00,1.80,0.00,0.000,6,0.000,0.044,2423,2004,3606,0,0,0,0,0,0
$GC,4884,-0.98,-130.4,810.9,-14.0,484,4888,0.00,1.70,0.00,0.000,4,0.000,0.054,2423,879,3603,0,0,0,0,0,0
$GC,4918,-0.99,-130.4,815.8,-13.9,485,4922,0.00,1.77,0.00,0.000,6,0.000,0.050,2423,2040,3603,0,0,0,0,0,0
$GC,5240,-1.01,-130.4,860.1,-13.9,501,5244,0.00,1.80,0.00,0.000,4,0.000,0.060,2423,3169,3600,0,0,0,0,0,0
$GC,5311,-1.02,-130.4,870.2,-13.2,504,5315,0.00,1.77,0.00,0.000,6,0.000,0.045,2423,2002,3600,0,0,0,0,0,0
$GC,5639,-1.03,-130.4,915.6,-13.9,520,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2000,3597,0,0,0,0,0,0
$GC,5949,-1.05,-130.4,959.0,-13.8,535,5952,0.00,1.88,0.00,0.000,4,0.000,0.060,2423,3172,3594,0,0,0,0,0,0
$GC,6009,-1.06,-130.4,967.5,-13.7,537,6017,0.08,1.83,0.00,0.000,6,0.080,0.047,2385,2005,3593,0,0,0,0,0,0
$STATE,6159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6159,begin apogee
$GC,6164,-0.18,0.0,991.4,16.4,545,6279,0.95,0.08,106.43,1.265,6,0.162,0.109,2662,2092,3090,0,0,0,0,0,0
$STATE,6279,end apogee,CONTROL_FINISHED_OK
$STATE,6279,begin climb
$GC,6281,0.77,130.4,995.6,0.0,550,6414,0.85,2.03,122.88,1.237,4,0.060,0.044,2976,3267,2558,0,0,0,0,0,0
$GC,6443,0.76,130.4,989.2,14.1,558,6447,0.00,1.90,0.00,0.000,6,0.000,0.034,2985,2087,2553,0,0,0,0,0,0
$GC,6776,0.75,130.4,940.1,14.3,574,6780,0.00,1.83,0.00,0.000,4,0.000,0.044,2977,3272,2545,0,0,0,0,0,0
$GC,6815,0.74,130.4,934.2,15.0,575,6821,0.00,1.77,0.00,0.000,6,0.000,0.034,2985,2084,2544,0,0,0,0,0,0
$GC,7131,0.73,130.4,886.6,15.5,591,7134,0.00,1.85,0.00,0.000,4,0.000,0.045,2977,3280,2541,0,0,0,0,0,0
$GC,7180,0.72,130.4,878.2,16.6,593,7184,0.00,1.83,0.00,0.000,6,0.000,0.035,2985,2086,2540,0,0,0,0,0,0
$GC,7508,0.72,130.4,829.7,14.4,609,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2084,2538,0,0,0,0,0,0
$GC,7817,0.71,130.4,787.1,13.4,624,7821,0.00,1.83,0.00,0.000,4,0.000,0.045,2977,3270,2536,0,0,0,0,0,0
$GC,7867,0.70,130.4,779.9,14.2,626,7871,0.00,1.80,0.00,0.000,6,0.000,0.035,2986,2063,2536,0,0,0,0,0,0
$GC,8194,0.70,130.4,737.5,12.0,642,8196,0.12,0.00,0.00,0.000,6,0.210,0.000,2956,2061,2535,0,0,0,0,0,0
$GC,8503,0.72,151.1,707.3,8.9,657,8526,0.00,1.88,16.33,1.040,4,0.000,0.043,2948,3275,2473,0,0,0,0,0,0
$GC,8649,0.74,166.0,694.4,9.5,663,8670,0.00,1.83,14.98,1.014,6,0.000,0.034,2956,2083,2414,0,0,0,0,0,0
$GC,8994,0.74,166.0,660.5,11.0,680,8998,0.00,1.73,0.00,0.000,4,0.000,0.045,2965,960,2407,0,0,0,0,0,0
$GC,9107,0.74,166.0,647.2,12.2,685,9110,0.00,1.80,0.00,0.000,6,0.000,0.039,2963,2150,2407,0,0,0,0,0,0
$GC,9439,0.74,166.0,602.7,13.8,701,9443,0.00,1.77,0.00,0.000,4,0.000,0.044,2971,967,2404,0,0,0,0,0,0
$GC,9477,0.74,166.0,596.9,14.3,703,9484,0.00,1.80,0.00,0.000,6,0.000,0.038,2972,2148,2404,0,0,0,0,0,0
$GC,9802,0.74,166.0,551.5,13.3,734,9806,0.00,1.70,0.00,0.000,4,0.000,0.047,2971,3278,2403,0,0,0,0,0,0
$GC,9882,0.74,166.0,541.1,14.0,741,9885,0.00,1.83,0.00,0.000,6,0.000,0.035,2981,2078,2403,0,0,0,0,0,0
$GC,10212,0.74,166.0,501.5,11.5,772,10213,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2077,2402,0,0,0,0,0,0
$GC,10532,0.74,166.0,463.2,12.0,802,10535,0.00,1.65,0.00,0.000,4,0.000,0.045,2989,963,2402,0,0,0,0,0,0
$GC,10637,0.74,166.0,450.8,12.1,811,10640,0.00,1.77,0.00,0.000,6,0.000,0.039,2987,2158,2402,0,0,0,0,0,0
$GC,10968,0.74,168.5,411.8,10.8,842,10969,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2159,2402,0,0,0,0,0,0
$GC,11289,0.76,180.8,379.2,9.7,872,11307,0.00,0.00,13.40,0.794,6,0.000,0.000,2987,2159,2352,0,0,0,0,0,0
$GC,11624,0.76,180.8,341.7,11.5,904,11628,0.00,1.73,0.00,0.000,4,0.000,0.046,2987,3276,2348,0,0,0,0,0,0
$GC,11683,0.76,180.8,334.8,11.6,909,11687,0.00,1.80,0.00,0.000,6,0.000,0.032,2996,2072,2348,0,0,0,0,0,0
$GC,12014,0.76,180.8,294.4,12.3,943,12020,0.00,1.65,0.00,0.000,4,0.000,0.043,3005,957,2349,0,0,0,0,0,0
$GC,12098,0.76,180.8,284.4,11.9,957,12104,0.00,1.80,0.00,0.000,6,0.000,0.037,3004,2155,2348,0,0,0,0,0,0
$GC,12452,0.77,185.4,248.7,10.5,1018,12463,0.00,1.85,5.07,0.540,4,0.000,0.041,3013,965,2335,0,0,0,0,0,0
$GC,12583,0.77,191.4,234.9,10.4,1039,12599,0.12,1.77,7.32,0.607,6,0.186,0.036,2982,2161,2310,0,0,0,0,0,0
$GC,12954,0.80,209.4,197.3,9.2,1101,12976,0.00,1.75,17.58,0.663,4,0.000,0.042,2981,3277,2236,0,0,0,0,0,0
$GC,13032,0.83,227.5,189.6,9.2,1113,13054,0.00,1.77,16.75,0.649,6,0.000,0.031,2990,2072,2163,0,0,0,0,0,0
$GC,13404,0.85,235.3,151.1,10.2,1176,13419,0.00,1.70,7.43,0.549,4,0.000,0.041,2999,966,2130,0,0,0,0,0,0
$GC,13517,0.87,245.2,139.7,10.0,1194,13535,0.00,1.80,10.07,0.575,6,0.000,0.034,2999,2157,2090,0,0,0,0,0,0
$GC,13890,0.89,250.3,99.5,10.5,1256,13900,0.00,1.75,5.50,0.465,4,0.000,0.041,2999,3275,2069,0,0,0,0,0,0
$GC,13986,0.92,262.1,89.9,9.8,1271,14004,0.00,1.80,11.48,0.549,6,0.000,0.028,3008,2078,2021,0,0,0,0,0,0
$GC,14355,0.98,301.8,61.7,7.0,1333,14397,0.10,1.70,33.53,0.569,4,0.100,0.037,3071,967,1858,0,0,0,0,0,0
$GC,14662,1.04,335.2,32.7,7.6,1383,14696,0.00,1.77,27.50,0.536,6,0.000,0.031,3071,2153,1723,0,0,0,0,0,0
$STATE,14932,end climb,SURFACE_DEPTH_REACHED
$STATE,14933,begin surface coast
$FINISH,0.2,1.020351
$STATE,14965,end surface coast,CONTROL_FINISHED_OK
$STATE,14965,begin surface
$SM_CCo,14982,197.62,0.055,0,0,481,640.23
$SM_GC,1.11,0.00,0.00,197.62,0.000,0.000,0.055,151,1982,481,-8.06,-1.22,640.23
$IRIDIUM_FIX,2333.28,12612.19,191010,141422
$TT8_MAMPS,0.026215
$HUMID,40.23
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,22.9,46.957
$10V_AH,10.0,40.130
$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,20.550,101.125,416.225,197.625,0.000,31.260,36.838,199.096,0.000,0.000,13.003,3549.898,7145.170,676.078,3916.635,276.891,0.000,1983.561,0.000,3667.124,0.000,0.544,0.000
$DEVICE_MAMPS,233.325,108.630,1264.545,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.625,0.000,2163.480,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333836
$DATA_FILE_SIZE,86856,1433
$CAP_FILE_SIZE,159735,0
$CFSIZE,260165632,236376064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,352.6,1
$GPS,191010,234707,2340.839,12613.414,33,1.3,33,-3.5