version: 66.08
glider: 169
mission: 2
dive: 339
start: 10 20 110 16 44 43
data:
$ID,169
$MISSION,2
$DIVE,339
$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,-7110.1963
$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
$GPS1,201010,163706,2350.846,12615.799,29,1.6,29,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-73.0
$GPS2,201010,164416,2350.851,12615.869,14,2.5,33,-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,332.7,18165,-19.5,-13.889
$D_GRID,4195
$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,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,113,0.00,0.00,-94.35,0.000,2,0.000,0.000,136,1990,3032,0,0,0,0,0,0
$GC,116,-0.69,-204.4,3.5,-6.2,12,150,9.93,1.75,-15.77,0.000,4,0.239,0.063,2497,871,3926,0,0,0,0,0,0
$GC,309,-0.67,-204.4,66.7,-26.9,43,318,0.00,1.83,0.00,0.000,6,0.000,0.050,2496,2033,3926,0,0,0,0,0,0
$GC,672,-0.67,-204.4,151.4,-19.7,104,681,0.00,1.77,0.00,0.000,4,0.000,0.057,2497,3167,3928,0,0,0,0,0,0
$GC,767,-0.67,-204.4,167.8,-16.1,119,774,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,2003,3929,0,0,0,0,0,0
$GC,1124,-0.66,-204.4,234.8,-16.9,180,1132,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3165,3929,0,0,0,0,0,0
$GC,1150,-0.66,-204.4,239.6,-17.1,184,1159,0.00,1.80,0.00,0.000,6,0.000,0.042,2497,2002,3929,0,0,0,0,0,0
$GC,1510,-0.66,-204.4,297.2,-15.5,245,1517,0.00,1.83,0.00,0.000,4,0.000,0.056,2497,3167,3928,0,0,0,0,0,0
$GC,1609,-0.67,-204.4,310.3,-12.0,255,1615,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,1996,3929,0,0,0,0,0,0
$GC,1934,-0.67,-204.4,355.9,-15.3,286,1937,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3170,3927,0,0,0,0,0,0
$GC,2030,-0.68,-204.4,369.7,-13.4,294,2039,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,2002,3927,0,0,0,0,0,0
$GC,2357,-0.69,-204.4,414.0,-12.6,325,2361,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3165,3925,0,0,0,0,0,0
$GC,2415,-0.70,-204.4,421.4,-11.6,330,2419,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,1998,3925,0,0,0,0,0,0
$GC,2748,-0.71,-204.4,460.7,-11.5,361,2752,0.00,1.88,0.00,0.000,4,0.000,0.054,2497,3168,3923,0,0,0,0,0,0
$GC,2865,-0.72,-204.4,472.3,-9.9,371,2869,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,2001,3923,0,0,0,0,0,0
$GC,3196,-0.73,-204.4,508.5,-11.0,402,3197,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2000,3920,0,0,0,0,0,0
$GC,3518,-0.74,-204.4,546.5,-11.5,432,3522,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3170,3917,0,0,0,0,0,0
$GC,3579,-0.75,-204.4,553.3,-10.0,437,3585,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,2002,3917,0,0,0,0,0,0
$GC,3904,-0.76,-204.4,585.3,-10.0,468,3908,0.00,1.83,0.00,0.000,4,0.000,0.056,2496,3172,3914,0,0,0,0,0,0
$GC,3978,-0.78,-204.4,592.2,-8.8,474,3986,0.00,1.80,0.00,0.000,6,0.000,0.042,2497,1998,3914,0,0,0,0,0,0
$GC,4307,-0.79,-204.4,627.5,-10.7,494,4308,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1996,3912,0,0,0,0,0,0
$GC,4616,-0.80,-204.4,657.7,-9.4,509,4619,0.00,1.83,0.00,0.000,4,0.000,0.056,2496,3168,3909,0,0,0,0,0,0
$GC,4717,-0.82,-204.4,666.6,-8.3,513,4720,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,2003,3908,0,0,0,0,0,0
$GC,5038,-0.83,-204.4,700.0,-10.9,529,5042,0.00,1.83,0.00,0.000,4,0.000,0.057,2497,3168,3905,0,0,0,0,0,0
$GC,5106,-0.84,-204.4,706.9,-9.7,532,5111,0.12,1.77,0.00,0.000,6,0.105,0.042,2447,2003,3905,0,0,0,0,0,0
$GC,5440,-0.85,-204.4,756.2,-14.6,548,5443,0.00,1.85,0.00,0.000,4,0.000,0.060,2446,3169,3902,0,0,0,0,0,0
$GC,5502,-0.85,-204.4,764.6,-12.0,550,5510,0.00,1.80,0.00,0.000,6,0.000,0.046,2446,2004,3901,0,0,0,0,0,0
$GC,5819,-0.86,-204.4,804.9,-12.6,566,5823,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3165,3899,0,0,0,0,0,0
$GC,5913,-0.87,-204.4,816.1,-10.8,570,5917,0.00,1.83,0.00,0.000,6,0.000,0.046,2446,2001,3898,0,0,0,0,0,0
$GC,6241,-0.87,-204.4,857.7,-12.9,586,6245,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3164,3896,0,0,0,0,0,0
$GC,6268,-0.88,-204.4,861.4,-13.2,587,6272,0.00,1.77,0.00,0.000,6,0.000,0.046,2446,2001,3896,0,0,0,0,0,0
$GC,6596,-0.88,-204.4,901.9,-12.5,603,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,1999,3894,0,0,0,0,0,0
$GC,6906,-0.89,-204.4,939.5,-12.3,618,6909,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3167,3892,0,0,0,0,0,0
$GC,6930,-0.89,-204.4,942.4,-11.7,619,6933,0.00,1.80,0.00,0.000,6,0.000,0.045,2446,2003,3892,0,0,0,0,0,0
$GC,7264,-0.90,-204.4,981.7,-11.6,635,7267,0.00,1.85,0.00,0.000,4,0.000,0.061,2446,3168,3889,0,0,0,0,0,0
$GC,7319,-0.91,-204.4,988.2,-10.5,637,7323,0.00,1.80,0.00,0.000,6,0.000,0.046,2446,2003,3888,0,0,0,0,0,0
$STATE,7433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7433,begin apogee
$GC,7438,-0.18,0.0,1001.1,11.4,643,7613,0.70,0.08,169.45,1.275,6,0.137,0.106,2667,2092,3091,0,0,0,0,0,0
$STATE,7614,end apogee,CONTROL_FINISHED_OK
$STATE,7614,begin climb
$GC,7616,0.69,204.4,1008.7,0.0,651,7821,0.77,2.08,192.02,1.251,4,0.056,0.047,2950,3264,2255,0,0,0,0,0,0
$GC,8006,0.67,204.4,964.2,18.0,669,8010,0.00,1.80,0.00,0.000,6,0.000,0.037,2959,2093,2243,0,0,0,0,0,0
$GC,8333,0.66,204.4,912.6,15.2,685,8337,0.00,1.67,0.00,0.000,4,0.000,0.046,2968,968,2240,0,0,0,0,0,0
$GC,8411,0.65,204.4,900.7,15.0,688,8415,0.00,1.80,0.00,0.000,6,0.000,0.041,2965,2171,2239,0,0,0,0,0,0
$GC,8733,0.63,204.4,853.8,14.1,704,8737,0.00,1.80,0.00,0.000,4,0.000,0.045,2972,967,2237,0,0,0,0,0,0
$GC,8794,0.62,204.4,844.5,14.8,706,8802,0.10,1.80,0.00,0.000,6,0.168,0.040,2933,2148,2236,0,0,0,0,0,0
$GC,9111,0.61,204.4,801.9,14.0,722,9114,0.00,1.77,0.00,0.000,4,0.000,0.045,2942,967,2235,0,0,0,0,0,0
$GC,9143,0.61,204.4,797.0,14.9,723,9147,0.00,1.80,0.00,0.000,6,0.000,0.041,2942,2143,2235,0,0,0,0,0,0
$GC,9466,0.60,204.4,750.8,14.6,739,9469,0.00,1.70,0.00,0.000,4,0.000,0.049,2942,3270,2234,0,0,0,0,0,0
$GC,9498,0.59,204.4,745.4,16.3,740,9503,0.08,1.80,0.00,0.000,6,0.177,0.035,2926,2089,2233,0,0,0,0,0,0
$GC,9821,0.58,204.4,699.2,14.9,756,9824,0.00,1.83,0.00,0.000,4,0.000,0.046,2927,3271,2232,0,0,0,0,0,0
$GC,9853,0.57,204.4,693.8,16.1,757,9857,0.00,1.80,0.00,0.000,6,0.000,0.035,2936,2081,2231,0,0,0,0,0,0
$GC,10175,0.57,209.9,648.5,13.6,773,10176,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2080,2232,0,0,0,0,0,0
$GC,10486,0.60,237.3,609.1,12.6,788,10514,0.00,0.00,26.90,1.008,6,0.000,0.000,2936,2080,2122,0,0,0,0,0,0
$GC,10822,0.60,245.2,563.8,13.5,816,10835,0.00,1.75,7.50,0.828,4,0.000,0.046,2944,968,2091,0,0,0,0,0,0
$GC,10892,0.60,245.2,553.8,14.1,822,10896,0.00,1.80,0.00,0.000,6,0.000,0.039,2944,2152,2088,0,0,0,0,0,0
$GC,11223,0.60,245.2,505.1,14.4,853,11226,0.00,1.77,0.00,0.000,4,0.000,0.045,2953,968,2086,0,0,0,0,0,0
$GC,11294,0.60,245.2,495.3,14.8,859,11298,0.00,1.77,0.00,0.000,6,0.000,0.040,2953,2158,2085,0,0,0,0,0,0
$GC,11626,0.60,248.6,446.8,13.7,890,11630,0.12,1.80,0.00,0.000,4,0.181,0.044,2930,965,2084,0,0,0,0,0,0
$GC,11672,0.69,326.1,441.4,10.4,894,11746,0.00,1.75,70.07,0.901,6,0.000,0.038,2929,2148,1761,0,0,0,0,0,0
$GC,12064,0.73,348.7,393.3,12.9,930,12090,0.10,1.90,19.10,0.818,4,0.096,0.045,2995,962,1668,0,0,0,0,0,0
$GC,12164,0.72,348.7,376.2,17.2,938,12172,0.00,1.83,0.00,0.000,6,0.000,0.039,2990,2139,1666,0,0,0,0,0,0
$GC,12491,0.72,348.7,315.2,19.2,969,12494,0.00,1.77,0.00,0.000,4,0.000,0.044,2999,961,1662,0,0,0,0,0,0
$GC,12529,0.72,348.7,307.6,18.7,972,12538,0.10,1.83,0.00,0.000,6,0.143,0.039,2965,2153,1661,0,0,0,0,0,0
$GC,12871,0.73,357.6,259.7,13.5,1028,12886,0.00,1.80,8.07,0.646,4,0.000,0.042,2973,962,1632,0,0,0,0,0,0
$GC,12940,0.77,391.8,251.0,12.3,1039,12976,0.00,1.77,29.75,0.732,6,0.000,0.037,2974,2151,1492,0,0,0,0,0,0
$GC,13316,0.78,398.0,197.4,13.6,1104,13331,0.00,1.88,6.03,0.550,4,0.000,0.042,2982,950,1468,0,0,0,0,0,0
$GC,13470,0.83,433.8,178.4,12.3,1130,13507,0.00,1.83,31.25,0.673,6,0.000,0.036,2983,2154,1322,0,0,0,0,0,0
$GC,13856,0.84,433.8,122.0,13.9,1195,13865,0.00,1.83,0.00,0.000,4,0.000,0.044,2987,966,1317,0,0,0,0,0,0
$GC,13875,0.85,439.7,119.6,13.6,1197,13885,0.00,1.77,5.90,0.493,6,0.000,0.034,2987,2147,1298,0,0,0,0,0,0
$GC,14237,1.00,552.0,77.0,8.8,1258,14336,0.17,1.75,90.78,0.601,4,0.063,0.037,3083,3279,838,0,0,0,0,0,0
$GC,14376,1.01,552.0,54.8,17.1,1276,14385,0.10,1.85,0.00,0.000,6,0.125,0.033,3057,2088,835,0,0,0,0,0,0
$GC,14744,1.07,593.3,11.6,12.0,1337,14785,0.00,1.88,32.22,0.532,4,0.000,0.040,3056,3271,672,0,0,0,0,0,0
$STATE,14815,end climb,SURFACE_DEPTH_REACHED
$STATE,14815,begin surface coast
$FINISH,0.1,1.021690
$STATE,14849,end surface coast,CONTROL_FINISHED_OK
$STATE,14849,begin surface
$SM_CCo,14867,34.53,0.058,0,0,481,640.23
$SM_GC,0.93,0.00,0.00,34.53,0.000,0.000,0.058,147,2001,481,-8.07,-0.68,640.23
$IRIDIUM_FIX,2340.34,12616.88,201010,121259
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.6,48.023
$10V_AH,10.0,40.895
$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,20.550,116.375,689.050,34.525,0.000,28.960,22.908,226.244,0.000,0.000,34.939,3354.122,7179.099,716.194,3784.410,287.377,0.000,2097.163,0.000,3500.750,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,106.335,1275.255,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,914.907,0.000,1891.419,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,80254,1352
$CAP_FILE_SIZE,167715,0
$CFSIZE,260165632,235966464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030, 90.2,1
$GPS,201010,205407,2352.835,12615.631,34,1.2,34,-3.6