version: 66.08
glider: 169
mission: 2
dive: 335
start: 10 19 110 23 54 35
data:
$ID,169
$MISSION,2
$DIVE,335
$N_DIVES,348
$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,-7105.1655
$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
$GPS1,191010,234707,2340.839,12613.414,33,1.3,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-66.0
$GPS2,191010,235408,2340.900,12613.349,16,1.2,16,-3.5
$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,0.9,35446,-19.5,-13.889
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,111,0.00,0.00,-92.62,0.000,2,0.000,0.000,150,1982,3036,0,0,0,0,0,0
$GC,114,-0.69,-204.4,4.4,-7.9,11,149,10.02,1.95,-15.38,0.000,4,0.242,0.076,2495,3161,3927,0,0,0,0,0,0
$GC,269,-0.67,-204.4,62.7,-29.0,35,277,0.00,1.83,0.00,0.000,6,0.000,0.043,2495,2002,3929,0,0,0,0,0,0
$GC,629,-0.66,-204.4,161.1,-20.8,96,638,0.00,1.85,0.00,0.000,4,0.000,0.057,2495,3159,3929,0,0,0,0,0,0
$GC,742,-0.66,-204.4,180.6,-15.4,115,748,0.00,1.77,0.00,0.000,6,0.000,0.041,2495,2000,3930,0,0,0,0,0,0
$GC,1086,-0.66,-204.4,246.4,-18.9,176,1094,0.00,1.85,0.00,0.000,4,0.000,0.055,2495,3164,3930,0,0,0,0,0,0
$GC,1147,-0.66,-204.4,256.3,-15.2,186,1155,0.00,1.80,0.00,0.000,6,0.000,0.040,2495,2000,3930,0,0,0,0,0,0
$GC,1496,-0.66,-204.4,314.3,-16.7,240,1500,0.00,1.85,0.00,0.000,4,0.000,0.055,2495,3164,3929,0,0,0,0,0,0
$GC,1541,-0.66,-204.4,321.3,-15.0,244,1545,0.00,1.75,0.00,0.000,6,0.000,0.039,2495,1999,3929,0,0,0,0,0,0
$GC,1874,-0.67,-204.4,372.7,-15.6,275,1878,0.00,1.85,0.00,0.000,4,0.000,0.054,2495,3173,3927,0,0,0,0,0,0
$GC,1945,-0.68,-204.4,382.9,-12.9,281,1949,0.00,1.75,0.00,0.000,6,0.000,0.040,2495,2002,3927,0,0,0,0,0,0
$GC,2276,-0.68,-204.4,426.0,-11.1,312,2280,0.00,1.85,0.00,0.000,4,0.000,0.054,2495,3177,3925,0,0,0,0,0,0
$GC,2357,-0.69,-204.4,434.1,-9.9,319,2361,0.00,1.80,0.00,0.000,6,0.000,0.041,2495,2004,3925,0,0,0,0,0,0
$GC,2689,-0.70,-204.4,473.5,-12.5,350,2692,0.00,1.83,0.00,0.000,4,0.000,0.055,2495,3171,3922,0,0,0,0,0,0
$GC,2750,-0.71,-204.4,480.9,-10.9,355,2757,0.00,1.80,0.00,0.000,6,0.000,0.042,2495,1982,3921,0,0,0,0,0,0
$GC,3076,-0.72,-204.4,520.1,-12.4,386,3080,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3167,3919,0,0,0,0,0,0
$GC,3156,-0.73,-204.4,529.5,-11.0,393,3159,0.00,1.77,0.00,0.000,6,0.000,0.039,2495,1995,3918,0,0,0,0,0,0
$GC,3487,-0.74,-204.4,570.0,-11.7,424,3490,0.00,1.85,0.00,0.000,4,0.000,0.055,2495,3168,3917,0,0,0,0,0,0
$GC,3556,-0.76,-204.4,576.8,-9.5,430,3560,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,1998,3916,0,0,0,0,0,0
$GC,3885,-0.76,-204.4,612.0,-11.2,456,3889,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3173,3913,0,0,0,0,0,0
$GC,3957,-0.78,-204.4,619.7,-9.4,459,3961,0.00,1.80,0.00,0.000,6,0.000,0.041,2495,2002,3912,0,0,0,0,0,0
$GC,4285,-0.79,-204.4,653.5,-9.9,475,4289,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3172,3909,0,0,0,0,0,0
$GC,4348,-0.81,-204.4,659.4,-8.7,477,4356,0.00,1.77,0.00,0.000,6,0.000,0.041,2495,1999,3908,0,0,0,0,0,0
$GC,4664,-0.82,-204.4,689.7,-9.7,493,4668,0.00,1.88,0.00,0.000,4,0.000,0.055,2495,3168,3906,0,0,0,0,0,0
$GC,4755,-0.83,-204.4,698.4,-9.2,497,4759,0.10,1.75,0.00,0.000,6,0.119,0.041,2457,2002,3905,0,0,0,0,0,0
$GC,5089,-0.84,-204.4,742.7,-12.8,513,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2000,3902,0,0,0,0,0,0
$GC,5397,-0.85,-204.4,779.8,-11.8,528,5400,0.00,1.83,0.00,0.000,4,0.000,0.057,2457,3167,3900,0,0,0,0,0,0
$GC,5510,-0.86,-204.4,792.5,-10.4,533,5514,0.00,1.77,0.00,0.000,6,0.000,0.043,2457,1997,3899,0,0,0,0,0,0
$GC,5844,-0.86,-204.4,832.3,-12.0,549,5847,0.00,1.88,0.00,0.000,4,0.000,0.059,2456,3169,3896,0,0,0,0,0,0
$GC,5899,-0.87,-204.4,839.2,-11.8,551,5903,0.00,1.80,0.00,0.000,6,0.000,0.043,2457,2003,3896,0,0,0,0,0,0
$GC,6221,-0.88,-204.4,879.8,-12.7,567,6225,0.00,1.83,0.00,0.000,4,0.000,0.059,2457,3167,3894,0,0,0,0,0,0
$GC,6254,-0.89,-204.4,884.3,-12.7,568,6258,0.00,1.77,0.00,0.000,6,0.000,0.043,2457,1991,3893,0,0,0,0,0,0
$GC,6577,-0.89,-204.4,921.7,-11.0,584,6580,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3167,3891,0,0,0,0,0,0
$GC,6654,-0.90,-204.4,929.6,-10.4,587,6658,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,1999,3890,0,0,0,0,0,0
$GC,6976,-0.91,-204.4,962.4,-10.3,603,6980,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3168,3888,0,0,0,0,0,0
$GC,7015,-0.92,-204.4,966.2,-9.3,604,7022,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2003,3887,0,0,0,0,0,0
$GC,7331,-0.93,-204.4,999.4,-11.1,620,7335,0.00,1.90,0.00,0.000,4,0.000,0.061,2456,3168,3885,0,0,0,0,0,0
$STATE,7339,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7339,begin apogee
$GC,7346,-0.18,0.0,1000.8,11.3,620,7526,0.68,0.08,169.88,1.272,6,0.138,0.116,2667,2144,3090,0,0,0,0,0,0
$STATE,7527,end apogee,CONTROL_FINISHED_OK
$STATE,7527,begin climb
$GC,7529,0.69,204.4,1010.2,0.0,629,7728,0.80,1.92,192.02,1.247,4,0.050,0.044,2960,3274,2256,0,0,0,0,0,0
$GC,7791,0.67,204.4,990.1,17.1,640,7798,0.00,1.88,0.00,0.000,6,0.000,0.034,2969,2086,2247,0,0,0,0,0,0
$GC,8107,0.66,204.4,933.3,18.1,656,8111,0.00,1.73,0.00,0.000,4,0.000,0.047,2977,968,2241,0,0,0,0,0,0
$GC,8168,0.64,204.4,922.1,18.5,658,8175,0.10,1.83,0.00,0.000,6,0.164,0.039,2944,2153,2240,0,0,0,0,0,0
$GC,8485,0.63,204.4,872.0,15.5,674,8486,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2153,2238,0,0,0,0,0,0
$GC,8793,0.62,204.4,824.7,15.1,689,8797,0.00,1.80,0.00,0.000,4,0.000,0.045,2953,960,2236,0,0,0,0,0,0
$GC,8862,0.61,204.4,814.7,14.8,692,8865,0.00,1.77,0.00,0.000,6,0.000,0.039,2949,2154,2236,0,0,0,0,0,0
$GC,9194,0.60,204.4,765.8,15.1,708,9198,0.00,1.77,0.00,0.000,4,0.000,0.045,2958,968,2234,0,0,0,0,0,0
$GC,9227,0.59,204.4,760.6,15.8,709,9231,0.08,1.80,0.00,0.000,6,0.164,0.039,2918,2149,2235,0,0,0,0,0,0
$GC,9551,0.61,221.3,717.3,13.1,725,9574,0.00,1.88,12.77,1.019,4,0.000,0.046,2927,963,2188,0,0,0,0,0,0
$GC,9585,0.62,230.9,712.2,13.4,726,9600,0.00,1.83,10.73,0.971,6,0.000,0.039,2925,2146,2149,0,0,0,0,0,0
$GC,9930,0.62,235.7,664.8,13.7,743,9939,0.00,1.85,4.50,0.715,4,0.000,0.047,2934,968,2130,0,0,0,0,0,0
$GC,9974,0.63,245.3,658.7,13.5,745,9990,0.00,1.77,11.02,0.953,6,0.000,0.041,2934,2150,2091,0,0,0,0,0,0
$GC,10301,0.63,245.3,612.5,14.0,760,10305,0.00,1.80,0.00,0.000,4,0.000,0.045,2942,969,2084,0,0,0,0,0,0
$GC,10334,0.63,249.4,607.3,13.7,761,10348,0.00,1.80,4.50,0.689,6,0.000,0.041,2943,2140,2073,0,0,0,0,0,0
$GC,10664,0.63,249.4,559.4,14.6,790,10665,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2140,2070,0,0,0,0,0,0
$GC,10983,0.64,258.5,511.6,13.5,820,10994,0.00,0.00,9.32,0.845,6,0.000,0.000,2943,2140,2037,0,0,0,0,0,0
$GC,11313,0.67,285.8,468.2,12.6,851,11348,0.00,1.90,25.42,0.901,4,0.000,0.046,2951,960,1924,0,0,0,0,0,0
$GC,11409,0.71,324.2,456.2,12.1,859,11449,0.00,1.80,34.50,0.894,6,0.000,0.040,2950,2147,1768,0,0,0,0,0,0
$GC,11776,0.71,324.2,404.7,14.6,893,11780,0.00,1.83,0.00,0.000,4,0.000,0.044,2960,964,1759,0,0,0,0,0,0
$GC,11814,0.71,324.2,398.6,14.2,896,11823,0.00,1.83,0.00,0.000,6,0.000,0.038,2959,2149,1758,0,0,0,0,0,0
$GC,12141,0.71,324.2,348.9,14.5,927,12145,0.00,1.77,0.00,0.000,4,0.000,0.044,2968,962,1756,0,0,0,0,0,0
$GC,12243,0.73,333.7,334.2,13.5,936,12258,0.00,1.77,7.75,0.689,6,0.000,0.039,2968,2156,1730,0,0,0,0,0,0
$GC,12578,0.76,361.1,288.8,12.6,974,12608,0.00,1.90,24.60,0.756,4,0.000,0.043,2976,958,1618,0,0,0,0,0,0
$GC,12661,0.77,361.1,277.7,14.1,987,12668,0.00,1.83,0.00,0.000,6,0.000,0.037,2975,2160,1614,0,0,0,0,0,0
$GC,13007,0.77,361.1,223.6,15.6,1048,13016,0.00,1.83,0.00,0.000,4,0.000,0.043,2983,973,1611,0,0,0,0,0,0
$GC,13096,0.77,361.1,211.0,13.9,1063,13103,0.00,1.77,0.00,0.000,6,0.000,0.037,2983,2157,1611,0,0,0,0,0,0
$GC,13445,0.78,372.4,161.0,13.4,1124,13462,0.00,1.88,10.05,0.601,4,0.000,0.041,2992,957,1571,0,0,0,0,0,0
$GC,13527,0.83,404.3,151.4,12.4,1137,13559,0.00,1.80,27.83,0.646,6,0.000,0.035,2992,2150,1442,0,0,0,0,0,0
$GC,13910,0.89,451.9,101.7,11.7,1201,13961,0.00,1.85,39.67,0.609,4,0.000,0.041,2999,973,1247,0,0,0,0,0,0
$GC,14047,1.05,566.8,87.6,8.6,1221,14145,0.15,1.80,92.30,0.595,6,0.041,0.034,3090,2155,779,0,0,0,0,0,0
$GC,14497,1.05,566.8,7.2,17.2,1293,14506,0.00,1.83,0.00,0.000,4,0.000,0.042,3098,968,774,0,0,0,0,0,0
$STATE,14518,end climb,SURFACE_DEPTH_REACHED
$STATE,14519,begin surface coast
$FINISH,-0.0,1.021689
$STATE,14538,end surface coast,CONTROL_FINISHED_OK
$STATE,14538,begin surface
$SM_CCo,14556,50.78,0.058,0,0,481,640.23
$SM_GC,0.71,0.00,0.00,50.78,0.000,0.000,0.058,145,2052,481,-8.08,0.76,640.23
$IRIDIUM_FIX,2330.93,12614.09,191010,191900
$TT8_MAMPS,0.026964
$HUMID,45.62
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.7,47.166
$10V_AH,10.0,40.278
$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,20.275,119.925,676.875,50.775,0.000,23.207,40.274,225.093,0.000,0.000,17.102,3225.626,7197.383,729.191,3588.032,276.213,0.000,2061.564,0.000,3312.397,0.000,0.544,0.000
$DEVICE_MAMPS,241.740,116.280,1272.195,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.299,0.000,1744.408,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,76948,1299
$CAP_FILE_SIZE,163432,0
$CFSIZE,260165632,236302336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065, 52.6,1
$GPS,201010,035927,2343.465,12614.491,37,2.6,56,-3.5