version: 66.08
glider: 169
mission: 2
dive: 347
start: 10 22 110 1 10 49
data:
$ID,169
$MISSION,2
$DIVE,347
$N_DIVES,360
$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,-7124.8013
$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
$GPS1,221010,010336,2357.218,12612.490,37,1.1,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.9
$GPS2,221010,011021,2357.253,12612.522,11,2.0,30,-3.6
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12612.000
$TGT_RADIUS,2000.000
$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,194.0,31965,-19.5,-13.889
$D_GRID,2908
$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,13,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,115,0.00,0.00,-98.22,0.000,2,0.000,0.000,136,1985,3123,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.0,-7.0,12,153,10.07,1.75,-13.52,0.000,4,0.243,0.069,2498,885,3928,0,0,0,0,0,0
$GC,192,-0.67,-204.4,36.3,-34.3,22,201,0.00,1.83,0.00,0.000,6,0.000,0.053,2498,2036,3929,0,0,0,0,0,0
$GC,555,-0.65,-204.4,141.6,-26.1,83,563,0.00,1.77,0.00,0.000,4,0.000,0.058,2498,3167,3931,0,0,0,0,0,0
$GC,700,-0.65,-204.4,171.1,-17.6,107,706,0.00,1.75,0.00,0.000,6,0.000,0.042,2498,2004,3931,0,0,0,0,0,0
$GC,1057,-0.65,-204.4,240.7,-18.4,168,1065,0.00,1.85,0.00,0.000,4,0.000,0.057,2498,3165,3932,0,0,0,0,0,0
$GC,1115,-0.65,-204.4,250.3,-15.4,177,1122,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2000,3932,0,0,0,0,0,0
$GC,1468,-0.65,-204.4,309.5,-17.4,233,1472,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3164,3930,0,0,0,0,0,0
$GC,1539,-0.66,-204.4,320.4,-14.4,239,1542,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2000,3931,0,0,0,0,0,0
$GC,1869,-0.66,-204.4,373.1,-15.1,270,1873,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3178,3929,0,0,0,0,0,0
$GC,1930,-0.67,-204.4,380.9,-12.2,275,1934,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,2001,3929,0,0,0,0,0,0
$GC,2261,-0.67,-204.4,424.8,-13.1,306,2265,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3173,3928,0,0,0,0,0,0
$GC,2381,-0.68,-204.4,439.3,-11.4,316,2389,0.00,1.80,0.00,0.000,6,0.000,0.042,2498,2005,3927,0,0,0,0,0,0
$GC,2709,-0.69,-204.4,479.9,-12.2,347,2713,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3165,3925,0,0,0,0,0,0
$GC,2758,-0.70,-204.4,485.3,-10.4,351,2761,0.00,1.77,0.00,0.000,6,0.000,0.039,2498,2006,3925,0,0,0,0,0,0
$GC,3089,-0.71,-204.4,521.0,-10.9,382,3093,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3170,3923,0,0,0,0,0,0
$GC,3116,-0.72,-204.4,524.1,-10.4,384,3123,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3923,0,0,0,0,0,0
$GC,3442,-0.73,-204.4,558.8,-11.3,415,3446,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3171,3920,0,0,0,0,0,0
$GC,3559,-0.75,-204.4,570.9,-9.9,425,3566,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,1996,3919,0,0,0,0,0,0
$GC,3895,-0.76,-204.4,607.2,-10.3,454,3899,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3168,3917,0,0,0,0,0,0
$GC,3963,-0.77,-204.4,613.7,-8.8,457,3967,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2003,3916,0,0,0,0,0,0
$GC,4297,-0.79,-204.4,645.1,-9.7,473,4300,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3172,3914,0,0,0,0,0,0
$GC,4330,-0.80,-204.4,648.5,-9.5,474,4333,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,1986,3913,0,0,0,0,0,0
$GC,4652,-0.81,-204.4,678.7,-9.5,490,4656,0.00,1.88,0.00,0.000,4,0.000,0.057,2498,3168,3910,0,0,0,0,0,0
$GC,4720,-0.83,-204.4,684.5,-8.2,493,4725,0.10,1.77,0.00,0.000,6,0.112,0.041,2457,2001,3909,0,0,0,0,0,0
$GC,5054,-0.83,-204.4,727.3,-13.4,509,5058,0.00,1.88,0.00,0.000,4,0.000,0.059,2456,3168,3906,0,0,0,0,0,0
$GC,5104,-0.84,-204.4,734.0,-11.6,511,5108,0.00,1.80,0.00,0.000,6,0.000,0.044,2456,1997,3906,0,0,0,0,0,0
$GC,5432,-0.85,-204.4,777.0,-13.2,527,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,1996,3904,0,0,0,0,0,0
$GC,5742,-0.85,-204.4,817.4,-12.9,542,5745,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3168,3901,0,0,0,0,0,0
$GC,5797,-0.86,-204.4,824.3,-11.2,544,5801,0.00,1.80,0.00,0.000,6,0.000,0.044,2456,2005,3900,0,0,0,0,0,0
$GC,6119,-0.87,-204.4,863.5,-12.2,560,6123,0.00,1.85,0.00,0.000,4,0.000,0.062,2456,3172,3898,0,0,0,0,0,0
$GC,6169,-0.88,-204.4,869.6,-11.1,562,6173,0.00,1.80,0.00,0.000,6,0.000,0.047,2456,2004,3898,0,0,0,0,0,0
$GC,6497,-0.89,-204.4,907.5,-11.1,578,6500,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3167,3895,0,0,0,0,0,0
$GC,6588,-0.90,-204.4,917.0,-9.4,582,6592,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2002,3895,0,0,0,0,0,0
$GC,6921,-0.90,-204.4,953.9,-11.4,598,6925,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3175,3893,0,0,0,0,0,0
$GC,6954,-0.91,-204.4,957.8,-11.1,599,6958,0.00,1.80,0.00,0.000,6,0.000,0.045,2456,1999,3892,0,0,0,0,0,0
$GC,7276,-0.92,-204.4,994.4,-11.4,615,7280,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3168,3891,0,0,0,0,0,0
$STATE,7324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7324,begin apogee
$GC,7330,-0.18,0.0,1000.1,10.6,617,7508,0.65,0.05,171.02,1.274,6,0.122,0.073,2668,2134,3090,0,0,0,0,0,0
$STATE,7509,end apogee,CONTROL_FINISHED_OK
$STATE,7509,begin climb
$GC,7511,0.69,204.4,1008.3,0.0,625,7713,0.77,1.95,192.57,1.248,4,0.057,0.045,2951,3265,2255,0,0,0,0,0,0
$GC,7843,0.67,204.4,972.9,18.3,641,7847,0.00,1.80,0.00,0.000,6,0.000,0.036,2960,2095,2245,0,0,0,0,0,0
$GC,8176,0.66,204.4,913.8,17.6,657,8180,0.00,1.70,0.00,0.000,4,0.000,0.047,2968,970,2240,0,0,0,0,0,0
$GC,8249,0.65,204.4,901.3,17.3,660,8252,0.00,1.80,0.00,0.000,6,0.000,0.040,2964,2160,2239,0,0,0,0,0,0
$GC,8576,0.63,204.4,848.1,16.0,676,8579,0.00,1.67,0.00,0.000,4,0.000,0.048,2964,3274,2237,0,0,0,0,0,0
$GC,8636,0.62,204.4,837.4,17.7,678,8645,0.12,1.80,0.00,0.000,6,0.170,0.036,2935,2095,2236,0,0,0,0,0,0
$GC,8953,0.62,210.9,793.6,13.6,694,8957,0.00,1.67,0.00,0.000,4,0.000,0.047,2943,967,2235,0,0,0,0,0,0
$GC,9009,0.63,225.5,785.9,13.2,696,9030,0.00,1.80,17.12,1.077,6,0.000,0.040,2937,2144,2171,0,0,0,0,0,0
$GC,9348,0.63,230.1,740.1,13.7,713,9358,0.00,1.85,4.93,0.780,4,0.000,0.047,2946,965,2152,0,0,0,0,0,0
$GC,9442,0.64,244.1,727.0,13.3,717,9462,0.00,1.77,14.35,1.025,6,0.000,0.041,2944,2152,2097,0,0,0,0,0,0
$GC,9792,0.63,244.1,675.1,15.0,734,9795,0.00,1.83,0.00,0.000,4,0.000,0.047,2953,972,2089,0,0,0,0,0,0
$GC,9824,0.63,244.1,669.7,15.7,735,9828,0.00,1.80,0.00,0.000,6,0.000,0.041,2953,2144,2089,0,0,0,0,0,0
$GC,10147,0.62,244.1,622.9,13.9,751,10151,0.00,1.80,0.00,0.000,4,0.000,0.047,2962,963,2087,0,0,0,0,0,0
$GC,10219,0.63,254.8,612.9,13.4,754,10238,0.00,1.83,10.07,0.921,6,0.000,0.041,2961,2152,2052,0,0,0,0,0,0
$GC,10552,0.62,254.8,565.1,15.1,781,10554,0.12,0.00,0.00,0.000,6,0.183,0.000,2929,2153,2046,0,0,0,0,0,0
$GC,10871,0.62,255.2,522.0,13.9,811,10875,0.00,1.77,0.00,0.000,4,0.000,0.046,2937,963,2044,0,0,0,0,0,0
$GC,10910,0.65,278.4,516.4,12.8,814,10940,0.00,1.80,21.85,0.933,6,0.000,0.040,2936,2141,1955,0,0,0,0,0,0
$GC,11260,0.70,320.0,469.6,12.0,847,11309,0.00,1.88,36.80,0.912,4,0.000,0.047,2944,970,1785,0,0,0,0,0,0
$GC,11370,0.75,356.3,456.1,12.2,856,11409,0.00,1.80,32.15,0.884,6,0.000,0.040,2944,2158,1637,0,0,0,0,0,0
$GC,11725,0.75,356.3,404.5,15.2,889,11729,0.00,1.83,0.00,0.000,4,0.000,0.044,2952,975,1628,0,0,0,0,0,0
$GC,11753,0.75,356.3,399.9,14.8,891,11760,0.00,1.77,0.00,0.000,6,0.000,0.037,2952,2141,1627,0,0,0,0,0,0
$GC,12078,0.75,356.3,351.1,15.2,922,12081,0.00,1.77,0.00,0.000,4,0.000,0.044,2961,965,1626,0,0,0,0,0,0
$GC,12124,0.75,356.3,344.3,13.9,926,12128,0.00,1.75,0.00,0.000,6,0.000,0.037,2961,2152,1625,0,0,0,0,0,0
$GC,12454,0.75,356.3,294.9,14.8,959,12461,0.00,1.75,0.00,0.000,4,0.000,0.044,2969,968,1625,0,0,0,0,0,0
$GC,12543,0.76,356.3,282.0,14.0,974,12552,0.00,1.77,0.00,0.000,6,0.000,0.037,2969,2144,1625,0,0,0,0,0,0
$GC,12903,0.76,356.3,227.1,14.4,1035,12910,0.00,1.75,0.00,0.000,4,0.000,0.043,2978,964,1625,0,0,0,0,0,0
$GC,12989,0.79,379.9,214.9,12.8,1049,13018,0.00,1.75,19.17,0.692,6,0.000,0.037,2977,2158,1540,0,0,0,0,0,0
$GC,13371,0.80,387.7,159.9,13.5,1113,13387,0.00,1.83,7.45,0.558,4,0.000,0.040,2986,970,1510,0,0,0,0,0,0
$GC,13466,0.82,398.0,146.6,13.4,1128,13484,0.00,1.77,10.35,0.594,6,0.000,0.035,2986,2150,1468,0,0,0,0,0,0
$GC,13839,0.82,398.0,96.1,14.1,1190,13849,0.00,1.80,0.00,0.000,4,0.000,0.041,2994,964,1465,0,0,0,0,0,0
$GC,14004,0.91,458.4,76.9,11.1,1217,14062,0.00,1.77,50.22,0.603,6,0.000,0.034,2995,2154,1221,0,0,0,0,0,0
$GC,14415,1.10,600.6,41.1,7.4,1284,14538,0.22,1.88,111.97,0.567,4,0.057,0.040,3113,973,640,0,0,0,0,0,0
$STATE,14644,end climb,SURFACE_DEPTH_REACHED
$STATE,14644,begin surface coast
$FINISH,0.2,1.021667
$STATE,14664,end surface coast,CONTROL_FINISHED_OK
$STATE,14664,begin surface
$SM_CCo,14682,29.40,0.057,0,0,481,640.23
$SM_GC,0.70,0.00,0.00,29.40,0.000,0.000,0.057,147,2059,481,-8.07,0.96,640.23
$IRIDIUM_FIX,2349.77,12614.47,211010,202057
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.6,49.601
$10V_AH,10.0,42.078
$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,20.500,122.425,700.050,29.400,0.000,24.441,41.418,191.855,0.000,0.000,32.281,3283.218,7120.342,717.708,3707.805,277.257,0.000,2100.393,0.000,3435.336,0.000,0.542,0.000
$DEVICE_MAMPS,243.270,73.440,1273.725,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,892.726,0.000,1827.457,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,77036,1320
$CAP_FILE_SIZE,167025,0
$CFSIZE,260165632,235331584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 66.9,1
$GPS,221010,051707,2355.354,12611.555,38,0.9,38,-3.6