version: 66.08
glider: 169
mission: 2
dive: 353
start: 10 23 110 2 31 52
data:
$ID,169
$MISSION,2
$DIVE,353
$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,-7136.0801
$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
$GPS1,231010,022037,2345.641,12609.178,32,0.9,32,-3.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.4
$GPS2,231010,023125,2345.695,12609.177,15,1.1,32,-3.5
$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,162.1,11584,-19.5,-13.889
$D_GRID,5000
$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,-204.4,0.0,0.0,0,108,0.00,0.00,-89.53,0.000,2,0.000,0.000,126,1993,2859,0,0,0,0,0,0
$GC,110,-0.69,-204.4,3.2,-5.2,11,144,9.90,0.00,-20.40,0.000,6,0.237,0.000,2495,1993,3928,0,0,0,0,0,0
$GC,496,-0.68,-204.4,126.7,-20.6,75,504,0.00,1.88,0.00,0.000,4,0.000,0.057,2496,3167,3930,0,0,0,0,0,0
$GC,640,-0.67,-204.4,154.9,-18.3,99,647,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,2002,3931,0,0,0,0,0,0
$GC,984,-0.67,-204.4,222.3,-20.2,160,993,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3165,3931,0,0,0,0,0,0
$GC,1045,-0.67,-204.4,233.2,-17.1,170,1054,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,2000,3931,0,0,0,0,0,0
$GC,1396,-0.67,-204.4,300.7,-18.9,231,1399,0.00,1.83,0.00,0.000,4,0.000,0.056,2495,3167,3930,0,0,0,0,0,0
$GC,1488,-0.68,-204.4,315.6,-14.1,239,1492,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,1996,3930,0,0,0,0,0,0
$GC,1821,-0.68,-204.4,361.7,-12.6,270,1825,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3170,3929,0,0,0,0,0,0
$GC,1903,-0.68,-204.4,371.3,-10.8,277,1907,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2002,3929,0,0,0,0,0,0
$GC,2236,-0.69,-204.4,412.4,-12.3,308,2239,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3168,3927,0,0,0,0,0,0
$GC,2273,-0.70,-204.4,416.7,-11.6,311,2277,0.00,1.80,0.00,0.000,6,0.000,0.039,2496,1998,3926,0,0,0,0,0,0
$GC,2604,-0.70,-204.4,457.6,-12.1,342,2608,0.00,1.85,0.00,0.000,4,0.000,0.054,2495,3172,3924,0,0,0,0,0,0
$GC,2686,-0.71,-204.4,466.8,-11.0,349,2690,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,2001,3923,0,0,0,0,0,0
$GC,3017,-0.72,-204.4,506.3,-11.9,380,3021,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3173,3921,0,0,0,0,0,0
$GC,3101,-0.73,-204.4,515.8,-10.1,387,3108,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,1992,3920,0,0,0,0,0,0
$GC,3428,-0.74,-204.4,551.9,-10.6,418,3431,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3168,3918,0,0,0,0,0,0
$GC,3496,-0.76,-204.4,558.3,-9.1,424,3500,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,2000,3918,0,0,0,0,0,0
$GC,3827,-0.76,-204.4,590.8,-9.8,455,3831,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3169,3914,0,0,0,0,0,0
$GC,3888,-0.78,-204.4,596.4,-8.0,460,3895,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,2001,3914,0,0,0,0,0,0
$GC,4206,-0.79,-204.4,625.7,-9.3,478,4210,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3172,3912,0,0,0,0,0,0
$GC,4262,-0.81,-204.4,630.8,-8.3,480,4265,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,1991,3911,0,0,0,0,0,0
$GC,4584,-0.82,-204.4,662.2,-10.2,496,4587,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3174,3908,0,0,0,0,0,0
$GC,4652,-0.83,-204.4,669.2,-10.2,499,4657,0.08,1.83,0.00,0.000,6,0.073,0.043,2456,2001,3908,0,0,0,0,0,0
$GC,4984,-0.84,-204.4,717.2,-14.7,515,4988,0.00,1.88,0.00,0.000,4,0.000,0.058,2456,3166,3905,0,0,0,0,0,0
$GC,5056,-0.85,-204.4,727.2,-12.9,518,5060,0.00,1.77,0.00,0.000,6,0.000,0.044,2456,1992,3904,0,0,0,0,0,0
$GC,5384,-0.85,-204.4,771.7,-13.1,534,5388,0.00,1.85,0.00,0.000,4,0.000,0.059,2456,3168,3902,0,0,0,0,0,0
$GC,5457,-0.86,-204.4,780.8,-11.5,537,5461,0.00,1.77,0.00,0.000,6,0.000,0.044,2456,2002,3900,0,0,0,0,0,0
$GC,5785,-0.86,-204.4,820.2,-11.8,553,5788,0.00,1.83,0.00,0.000,4,0.000,0.059,2456,3167,3898,0,0,0,0,0,0
$GC,5812,-0.87,-204.4,823.5,-11.4,554,5816,0.00,1.83,0.00,0.000,6,0.000,0.044,2456,2001,3898,0,0,0,0,0,0
$GC,6141,-0.88,-204.4,860.3,-10.9,570,6144,0.00,1.88,0.00,0.000,4,0.000,0.059,2456,3167,3895,0,0,0,0,0,0
$GC,6209,-0.89,-204.4,867.7,-11.1,573,6213,0.00,1.77,0.00,0.000,6,0.000,0.044,2456,2001,3895,0,0,0,0,0,0
$GC,6542,-0.89,-204.4,905.7,-11.5,589,6546,0.00,1.83,0.00,0.000,4,0.000,0.059,2456,3167,3893,0,0,0,0,0,0
$GC,6592,-0.90,-204.4,910.9,-10.0,591,6595,0.00,1.77,0.00,0.000,6,0.000,0.045,2456,2002,3893,0,0,0,0,0,0
$GC,6919,-0.91,-204.4,945.0,-10.7,607,6923,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3166,3890,0,0,0,0,0,0
$GC,7003,-0.92,-204.4,953.4,-9.7,610,7009,0.00,1.80,0.00,0.000,6,0.000,0.046,2456,2003,3889,0,0,0,0,0,0
$GC,7319,-0.93,-204.4,987.6,-11.3,626,7323,0.00,1.83,0.00,0.000,4,0.000,0.060,2456,3167,3887,0,0,0,0,0,0
$GC,7369,-0.94,-204.4,993.1,-9.8,628,7373,0.00,1.77,0.00,0.000,6,0.000,0.046,2456,2004,3887,0,0,0,0,0,0
$STATE,7447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7447,begin apogee
$GC,7452,-0.18,0.0,1001.8,11.3,632,7628,0.65,0.05,170.75,1.272,6,0.132,0.068,2663,2102,3090,0,0,0,0,0,0
$STATE,7629,end apogee,CONTROL_FINISHED_OK
$STATE,7629,begin climb
$GC,7632,0.69,204.4,1009.9,0.0,640,7833,0.80,0.00,193.52,1.245,6,0.063,0.000,2948,2101,2256,0,0,0,0,0,0
$GC,8141,0.67,204.4,948.1,17.2,665,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2101,2242,0,0,0,0,0,0
$GC,8450,0.66,204.4,897.5,16.3,680,8454,0.00,1.83,0.00,0.000,4,0.000,0.047,2948,3274,2239,0,0,0,0,0,0
$GC,8499,0.65,204.4,888.8,17.5,682,8502,0.00,1.77,0.00,0.000,6,0.000,0.035,2956,2087,2238,0,0,0,0,0,0
$GC,8826,0.64,204.4,834.7,15.9,698,8830,0.00,1.67,0.00,0.000,4,0.000,0.046,2965,957,2237,0,0,0,0,0,0
$GC,8876,0.63,204.4,826.3,16.7,700,8880,0.08,1.80,0.00,0.000,6,0.172,0.039,2939,2146,2236,0,0,0,0,0,0
$GC,9204,0.62,204.4,780.8,14.1,716,9207,0.00,1.77,0.00,0.000,4,0.000,0.047,2948,961,2234,0,0,0,0,0,0
$GC,9272,0.62,213.1,771.2,13.5,719,9282,0.00,1.80,5.03,0.801,6,0.000,0.040,2948,2147,2222,0,0,0,0,0,0
$GC,9605,0.61,213.1,724.4,14.1,735,9609,0.00,1.83,0.00,0.000,4,0.000,0.045,2957,961,2220,0,0,0,0,0,0
$GC,9666,0.60,213.1,715.3,14.8,737,9674,0.00,1.80,0.00,0.000,6,0.000,0.040,2951,2141,2220,0,0,0,0,0,0
$GC,9983,0.59,213.1,668.9,14.9,753,9986,0.00,1.75,0.00,0.000,4,0.000,0.046,2959,968,2219,0,0,0,0,0,0
$GC,10038,0.58,213.1,660.2,15.2,755,10043,0.10,1.77,0.00,0.000,6,0.159,0.040,2919,2138,2218,0,0,0,0,0,0
$GC,10361,0.64,264.7,621.8,11.5,771,10414,0.00,1.90,47.60,1.027,4,0.000,0.047,2928,967,2011,0,0,0,0,0,0
$GC,10460,0.64,265.6,609.5,13.8,775,10466,0.00,1.83,0.00,0.000,6,0.000,0.039,2924,2152,2005,0,0,0,0,0,0
$GC,10784,0.65,269.0,567.4,13.7,802,10788,0.00,1.83,0.00,0.000,4,0.000,0.047,2934,960,1999,0,0,0,0,0,0
$GC,10901,0.66,276.1,551.4,13.6,812,10920,0.00,1.83,9.93,0.871,6,0.000,0.039,2934,2151,1964,0,0,0,0,0,0
$GC,11237,0.68,293.8,506.7,13.1,844,11261,0.00,1.80,16.67,0.901,4,0.000,0.044,2942,970,1891,0,0,0,0,0,0
$GC,11299,0.68,293.8,498.1,14.3,849,11308,0.00,1.83,0.00,0.000,6,0.000,0.038,2941,2152,1889,0,0,0,0,0,0
$GC,11626,0.69,308.2,454.1,13.2,880,11643,0.00,1.83,13.60,0.846,4,0.000,0.045,2949,969,1833,0,0,0,0,0,0
$GC,11738,0.72,327.6,439.5,13.0,889,11764,0.00,1.77,18.15,0.854,6,0.000,0.038,2948,2159,1754,0,0,0,0,0,0
$GC,12080,0.72,327.6,389.6,15.1,921,12084,0.00,1.80,0.00,0.000,4,0.000,0.044,2957,961,1748,0,0,0,0,0,0
$GC,12140,0.72,327.6,380.4,14.1,926,12149,0.00,1.80,0.00,0.000,6,0.000,0.037,2954,2145,1747,0,0,0,0,0,0
$GC,12468,0.72,327.6,332.2,14.9,957,12471,0.00,1.77,0.00,0.000,4,0.000,0.044,2963,960,1747,0,0,0,0,0,0
$GC,12550,0.72,327.6,319.9,14.2,964,12559,0.00,1.80,0.00,0.000,6,0.000,0.037,2962,2151,1746,0,0,0,0,0,0
$GC,12887,0.75,351.8,274.5,12.8,1012,12917,0.00,1.85,21.20,0.739,4,0.000,0.044,2970,967,1655,0,0,0,0,0,0
$GC,12995,0.80,384.7,261.2,12.4,1029,13031,0.00,1.77,28.52,0.734,6,0.000,0.035,2970,2153,1521,0,0,0,0,0,0
$GC,13373,0.80,384.7,206.7,14.7,1094,13381,0.00,1.83,0.00,0.000,4,0.000,0.042,2979,963,1514,0,0,0,0,0,0
$GC,13474,0.82,399.2,193.6,13.2,1111,13495,0.00,1.80,12.98,0.640,6,0.000,0.034,2977,2158,1461,0,0,0,0,0,0
$GC,13843,0.82,399.2,135.4,13.9,1174,13852,0.00,1.83,0.00,0.000,4,0.000,0.043,2986,968,1458,0,0,0,0,0,0
$GC,13914,0.84,408.4,125.8,13.5,1185,13932,0.00,1.77,8.73,0.562,6,0.000,0.034,2986,2152,1425,0,0,0,0,0,0
$GC,14285,0.94,478.6,83.2,10.7,1247,14351,0.12,1.83,58.20,0.604,4,0.083,0.040,3064,962,1138,0,0,0,0,0,0
$GC,14512,0.97,499.0,53.1,13.0,1282,14537,0.00,1.80,17.58,0.549,6,0.000,0.033,3064,2157,1055,0,0,0,0,0,0
$STATE,14879,end climb,SURFACE_DEPTH_REACHED
$STATE,14880,begin surface coast
$FINISH,0.0,1.021670
$STATE,14905,end surface coast,CONTROL_FINISHED_OK
$STATE,14905,begin surface
$SM_CCo,14921,92.90,0.057,0,0,481,640.23
$SM_GC,1.02,0.00,0.00,92.90,0.000,0.000,0.057,145,1976,481,-8.07,-1.39,640.23
$IRIDIUM_FIX,2335.63,12550.05,231010,020233
$TT8_MAMPS,0.026215
$HUMID,44.80
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.6,50.867
$10V_AH,10.0,42.994
$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,20.125,119.900,622.450,92.900,0.000,53.839,59.630,308.611,0.000,0.000,32.796,3375.919,7317.446,746.638,3915.059,296.792,0.000,2104.236,0.000,3478.990,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,75.735,1272.195,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,913.336,0.000,1853.055,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333644
$DATA_FILE_SIZE,80409,1348
$CAP_FILE_SIZE,171744,0
$CFSIZE,260165632,234831872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.071, 29.6,1
$GPS,231010,064306,2343.834,12609.680,31,1.1,31,-3.5