version: 66.08
glider: 169
mission: 2
dive: 343
start: 10 21 110 9 33 11
data:
$ID,169
$MISSION,2
$DIVE,343
$N_DIVES,353
$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,-7117.0254
$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
$GPS1,211010,092600,2359.406,12614.136,36,1.2,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-73.2
$GPS2,211010,093234,2359.392,12614.158,15,2.3,34,-3.6
$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,281.3,3822,-20.8,-13.889
$D_GRID,2517
$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,-0.68,-181.5,0.0,0.0,0,112,0.00,0.00,-94.78,0.000,2,0.000,0.000,124,1987,3090,0,0,0,0,0,0
$GC,115,-0.71,-204.4,4.2,-8.2,12,150,9.85,1.92,-14.15,0.000,4,0.237,0.073,2478,3166,3928,0,0,0,0,0,0
$GC,181,-0.68,-204.4,36.5,-46.4,21,191,0.08,1.85,0.00,0.000,6,0.166,0.049,2502,2004,3930,0,0,0,0,0,0
$GC,548,-0.67,-204.4,138.6,-22.1,82,557,0.00,1.88,0.00,0.000,4,0.000,0.059,2502,3168,3931,0,0,0,0,0,0
$GC,589,-0.67,-204.4,147.4,-20.4,88,598,0.00,1.80,0.00,0.000,6,0.000,0.042,2502,2004,3932,0,0,0,0,0,0
$GC,950,-0.67,-204.4,213.4,-18.5,149,957,0.00,1.83,0.00,0.000,4,0.000,0.058,2502,3167,3932,0,0,0,0,0,0
$GC,1001,-0.68,-204.4,222.1,-16.3,157,1008,0.00,1.75,0.00,0.000,6,0.000,0.040,2502,1999,3933,0,0,0,0,0,0
$GC,1357,-0.68,-204.4,281.4,-15.6,218,1367,0.00,1.85,0.00,0.000,4,0.000,0.056,2502,3166,3932,0,0,0,0,0,0
$GC,1421,-0.69,-204.4,290.3,-13.4,228,1429,0.00,1.77,0.00,0.000,6,0.000,0.039,2502,2003,3932,0,0,0,0,0,0
$GC,1754,-0.70,-204.4,341.7,-15.4,264,1757,0.00,1.83,0.00,0.000,4,0.000,0.055,2502,3168,3930,0,0,0,0,0,0
$GC,1839,-0.71,-204.4,354.1,-13.1,271,1846,0.00,1.77,0.00,0.000,6,0.000,0.039,2502,2001,3930,0,0,0,0,0,0
$GC,2165,-0.71,-204.4,399.9,-13.6,302,2168,0.00,1.80,0.00,0.000,4,0.000,0.054,2502,3168,3929,0,0,0,0,0,0
$GC,2284,-0.73,-204.4,414.3,-10.8,312,2293,0.00,1.80,0.00,0.000,6,0.000,0.039,2502,1997,3928,0,0,0,0,0,0
$GC,2612,-0.74,-204.4,452.8,-11.6,343,2616,0.00,1.85,0.00,0.000,4,0.000,0.054,2502,3178,3927,0,0,0,0,0,0
$GC,2647,-0.75,-204.4,457.0,-11.0,346,2651,0.00,1.80,0.00,0.000,6,0.000,0.039,2502,2002,3927,0,0,0,0,0,0
$GC,2979,-0.76,-204.4,498.8,-12.7,377,2981,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,2000,3924,0,0,0,0,0,0
$GC,3297,-0.78,-204.4,537.3,-11.6,407,3301,0.00,1.80,0.00,0.000,4,0.000,0.055,2502,3168,3922,0,0,0,0,0,0
$GC,3424,-0.79,-204.4,549.8,-9.8,418,3427,0.00,1.77,0.00,0.000,6,0.000,0.038,2501,1988,3921,0,0,0,0,0,0
$GC,3755,-0.81,-204.4,583.4,-9.6,449,3756,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1986,3919,0,0,0,0,0,0
$GC,4071,-0.82,-204.4,611.9,-9.4,473,4075,0.10,1.88,0.00,0.000,4,0.121,0.058,2460,3171,3917,0,0,0,0,0,0
$GC,4185,-0.83,-204.4,625.2,-11.8,478,4189,0.00,1.83,0.00,0.000,6,0.000,0.045,2460,2002,3915,0,0,0,0,0,0
$GC,4517,-0.84,-204.4,671.3,-14.1,494,4521,0.00,1.88,0.00,0.000,4,0.000,0.059,2461,3168,3913,0,0,0,0,0,0
$GC,4567,-0.85,-204.4,678.1,-12.5,496,4570,0.00,1.77,0.00,0.000,6,0.000,0.043,2460,1995,3913,0,0,0,0,0,0
$GC,4895,-0.86,-204.4,723.0,-13.3,512,4896,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1993,3910,0,0,0,0,0,0
$GC,5204,-0.86,-204.4,760.3,-11.8,527,5208,0.00,1.85,0.00,0.000,4,0.000,0.059,2461,3167,3908,0,0,0,0,0,0
$GC,5282,-0.88,-204.4,768.9,-9.9,530,5286,0.00,1.77,0.00,0.000,6,0.000,0.043,2460,1996,3906,0,0,0,0,0,0
$GC,5604,-0.88,-204.4,807.0,-11.9,546,5608,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3172,3904,0,0,0,0,0,0
$GC,5704,-0.90,-204.4,818.5,-11.1,550,5708,0.00,1.80,0.00,0.000,6,0.000,0.046,2460,1996,3903,0,0,0,0,0,0
$GC,6026,-0.91,-204.4,856.0,-11.6,566,6030,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3171,3901,0,0,0,0,0,0
$GC,6076,-0.92,-204.4,861.9,-10.9,568,6079,0.00,1.80,0.00,0.000,6,0.000,0.047,2460,2003,3900,0,0,0,0,0,0
$GC,6403,-0.93,-204.4,901.6,-12.6,584,6407,0.00,1.83,0.00,0.000,4,0.000,0.060,2460,3167,3899,0,0,0,0,0,0
$GC,6495,-0.94,-204.4,911.9,-10.7,588,6499,0.10,1.77,0.00,0.000,6,0.119,0.045,2420,2001,3898,0,0,0,0,0,0
$GC,6829,-0.95,-204.4,961.7,-14.6,604,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2000,3895,0,0,0,0,0,0
$STATE,7114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7114,begin apogee
$GC,7119,-0.18,0.0,1002.9,14.2,618,7298,0.77,0.05,172.32,1.271,6,0.138,0.065,2664,2095,3090,0,0,0,0,0,0
$STATE,7299,end apogee,CONTROL_FINISHED_OK
$STATE,7299,begin climb
$GC,7301,0.71,204.4,1011.5,0.0,626,7505,0.82,1.92,193.15,1.243,4,0.054,0.044,2975,973,2255,0,0,0,0,0,0
$GC,7613,0.70,204.4,979.6,18.3,640,7620,0.00,1.83,0.00,0.000,6,0.000,0.038,2973,2158,2245,0,0,0,0,0,0
$GC,7929,0.69,204.4,923.0,17.6,656,7933,0.00,1.85,0.00,0.000,4,0.000,0.046,2982,970,2240,0,0,0,0,0,0
$GC,7989,0.68,204.4,912.2,16.7,658,7997,0.00,1.80,0.00,0.000,6,0.000,0.041,2974,2145,2240,0,0,0,0,0,0
$GC,8306,0.66,204.4,858.0,17.4,674,8308,0.12,0.00,0.00,0.000,6,0.199,0.000,2944,2147,2237,0,0,0,0,0,0
$GC,8615,0.65,204.4,809.5,15.8,689,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2147,2236,0,0,0,0,0,0
$GC,8925,0.65,204.4,761.1,15.7,704,8928,0.00,1.73,0.00,0.000,4,0.000,0.048,2937,3278,2234,0,0,0,0,0,0
$GC,8985,0.64,204.4,750.9,16.0,706,8993,0.00,1.83,0.00,0.000,6,0.000,0.036,2946,2083,2233,0,0,0,0,0,0
$GC,9302,0.63,204.4,705.2,14.2,722,9305,0.00,1.67,0.00,0.000,4,0.000,0.047,2955,967,2232,0,0,0,0,0,0
$GC,9348,0.63,204.4,698.6,15.1,724,9351,0.00,1.77,0.00,0.000,6,0.000,0.041,2950,2148,2232,0,0,0,0,0,0
$GC,9680,0.62,204.4,650.7,14.7,740,9681,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2149,2231,0,0,0,0,0,0
$GC,9990,0.63,216.8,608.4,13.3,755,10004,0.00,1.77,7.68,0.869,4,0.000,0.048,2950,3273,2207,0,0,0,0,0,0
$GC,10027,0.62,216.8,603.1,14.2,756,10034,0.00,1.80,0.00,0.000,6,0.000,0.036,2959,2078,2207,0,0,0,0,0,0
$GC,10351,0.61,216.8,557.6,15.2,786,10356,0.12,1.70,0.00,0.000,4,0.191,0.047,2936,960,2205,0,0,0,0,0,0
$GC,10442,0.65,247.7,546.2,12.3,794,10477,0.00,1.77,29.50,0.966,6,0.000,0.041,2935,2153,2080,0,0,0,0,0,0
$GC,10795,0.68,272.3,502.6,12.6,827,10826,0.00,1.90,22.05,0.916,4,0.000,0.044,2944,964,1978,0,0,0,0,0,0
$GC,10841,0.73,310.6,497.0,11.9,831,10880,0.00,1.80,34.78,0.913,6,0.000,0.038,2944,2153,1824,0,0,0,0,0,0
$GC,11200,0.73,310.6,447.7,13.9,864,11203,0.00,1.85,0.00,0.000,4,0.000,0.044,2953,962,1812,0,0,0,0,0,0
$GC,11314,0.73,311.8,432.0,13.8,874,11318,0.00,1.80,0.00,0.000,6,0.000,0.039,2952,2153,1812,0,0,0,0,0,0
$GC,11647,0.73,311.8,383.8,14.4,905,11650,0.00,1.80,0.00,0.000,4,0.000,0.044,2961,958,1811,0,0,0,0,0,0
$GC,11686,0.74,311.8,377.8,14.3,908,11694,0.00,1.80,0.00,0.000,6,0.000,0.037,2961,2148,1810,0,0,0,0,0,0
$GC,12013,0.74,311.8,330.3,15.0,939,12014,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2148,1810,0,0,0,0,0,0
$GC,12340,0.74,311.8,282.5,14.2,979,12347,0.00,1.70,0.00,0.000,4,0.000,0.044,2961,3279,1810,0,0,0,0,0,0
$GC,12367,0.74,311.8,278.7,14.1,983,12374,0.00,1.77,0.00,0.000,6,0.000,0.033,2970,2086,1809,0,0,0,0,0,0
$GC,12723,0.74,318.1,229.4,13.6,1044,12732,0.00,1.73,5.45,0.549,4,0.000,0.042,2978,965,1794,0,0,0,0,0,0
$GC,12853,0.78,342.3,212.0,12.6,1065,12883,0.00,1.77,22.62,0.692,6,0.000,0.036,2978,2163,1694,0,0,0,0,0,0
$GC,13235,0.79,349.2,163.1,13.5,1129,13250,0.00,1.70,6.50,0.543,4,0.000,0.040,2978,3270,1666,0,0,0,0,0,0
$GC,13265,0.79,350.4,158.8,13.8,1133,13272,0.00,1.77,0.00,0.000,6,0.000,0.032,2987,2076,1665,0,0,0,0,0,0
$GC,13630,0.86,401.2,114.8,11.3,1194,13680,0.00,1.70,43.55,0.629,4,0.000,0.041,2996,964,1455,0,0,0,0,0,0
$GC,13801,0.97,474.5,97.3,10.1,1220,13868,0.10,1.80,60.47,0.612,6,0.049,0.034,3062,2152,1155,0,0,0,0,0,0
$GC,14220,0.97,474.5,29.8,14.5,1288,14228,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2153,1149,0,0,0,0,0,0
$STATE,14418,end climb,SURFACE_DEPTH_REACHED
$STATE,14418,begin surface coast
$FINISH,-0.1,1.021593
$STATE,14444,end surface coast,CONTROL_FINISHED_OK
$STATE,14444,begin surface
$SM_CCo,14460,106.68,0.057,0,0,481,640.23
$SM_GC,0.90,0.00,0.00,106.68,0.000,0.000,0.057,141,1994,481,-8.08,-0.88,640.23
$IRIDIUM_FIX,2347.41,12616.37,211010,050551
$TT8_MAMPS,0.026215
$HUMID,44.40
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.6,48.859
$10V_AH,10.0,41.495
$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,20.475,97.800,598.075,106.675,0.000,23.728,20.553,197.155,0.000,0.000,37.337,3284.900,7039.856,723.326,3642.720,269.813,0.000,2028.616,0.000,3387.388,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,78.795,1271.430,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,897.310,0.000,1830.665,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80245,1325
$CAP_FILE_SIZE,157808,0
$CFSIZE,260165632,235651072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 82.7,1
$GPS,211010,133707,2400.315,12612.566,40,1.1,40,-3.6