version: 66.08
glider: 169
mission: 2
dive: 315
start: 10 16 110 5 40 7
data:
$ID,169
$MISSION,2
$DIVE,315
$N_DIVES,327
$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,300
$T_MISSION,375
$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,-7078.771
$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
$GPS1,161010,053307,2339.844,12610.740,98,1.0,98,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.8
$GPS2,161010,053943,2339.869,12610.663,11,1.6,16,-3.5
$SPEED_LIMITS,0.192,0.313
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12612.000
$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,95.8,2280,-27.4,-11.111
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.70,-73.7,0.0,0.0,0,117,0.00,0.00,-97.90,0.000,2,0.000,0.000,126,2066,3200,0,0,0,0,0,0
$GC,120,-0.74,-103.4,4.3,-8.1,12,147,9.85,1.90,-5.45,0.000,4,0.236,0.071,2485,882,3517,0,0,0,0,0,0
$GC,189,-0.73,-103.4,36.7,-33.8,22,199,0.00,1.85,0.00,0.000,6,0.000,0.056,2485,2034,3518,0,0,0,0,0,0
$GC,555,-0.73,-103.4,137.2,-25.6,83,563,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2035,3519,0,0,0,0,0,0
$GC,911,-0.73,-103.4,210.0,-17.9,144,920,0.00,1.80,0.00,0.000,4,0.000,0.050,2485,877,3520,0,0,0,0,0,0
$GC,981,-0.74,-103.4,221.2,-15.8,155,988,0.00,1.80,0.00,0.000,6,0.000,0.052,2485,2040,3521,0,0,0,0,0,0
$GC,1338,-0.75,-103.4,276.8,-15.8,216,1346,0.00,1.77,0.00,0.000,4,0.000,0.061,2485,3162,3520,0,0,0,0,0,0
$GC,1385,-0.76,-103.4,283.6,-14.6,223,1392,0.00,1.75,0.00,0.000,6,0.000,0.044,2485,2002,3520,0,0,0,0,0,0
$GC,1719,-0.77,-103.4,337.2,-15.8,262,1721,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2001,3518,0,0,0,0,0,0
$GC,2039,-0.78,-103.4,383.7,-13.1,292,2043,0.00,1.70,0.00,0.000,4,0.000,0.050,2485,865,3517,0,0,0,0,0,0
$GC,2086,-0.80,-103.4,389.8,-12.5,296,2089,0.00,1.80,0.00,0.000,6,0.000,0.049,2485,2050,3517,0,0,0,0,0,0
$GC,2419,-0.81,-103.4,431.3,-12.8,327,2423,0.00,1.80,0.00,0.000,4,0.000,0.050,2485,875,3514,0,0,0,0,0,0
$GC,2490,-0.82,-103.4,440.9,-13.4,333,2494,0.00,1.80,0.00,0.000,6,0.000,0.050,2485,2039,3514,0,0,0,0,0,0
$GC,2821,-0.84,-103.4,481.1,-11.3,364,2825,0.00,1.73,0.00,0.000,4,0.000,0.060,2485,3167,3511,0,0,0,0,0,0
$GC,2926,-0.87,-109.4,492.4,-10.5,373,2930,0.00,1.75,0.00,0.000,6,0.000,0.043,2485,2003,3511,0,0,0,0,0,0
$GC,3257,-0.88,-109.4,529.6,-11.2,404,3261,0.12,1.75,0.00,0.000,4,0.112,0.053,2437,866,3508,0,0,0,0,0,0
$GC,3313,-0.89,-109.4,537.4,-15.0,409,3317,0.00,1.85,0.00,0.000,6,0.000,0.051,2437,2038,3507,0,0,0,0,0,0
$GC,3644,-0.90,-109.4,586.2,-14.0,440,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2039,3505,0,0,0,0,0,0
$GC,3966,-0.91,-109.4,632.3,-14.1,460,3970,0.00,1.83,0.00,0.000,4,0.000,0.056,2437,866,3502,0,0,0,0,0,0
$GC,3999,-0.92,-109.4,637.2,-14.0,461,4003,0.00,1.85,0.00,0.000,6,0.000,0.054,2436,2035,3501,0,0,0,0,0,0
$GC,4321,-0.93,-109.4,683.3,-14.1,477,4325,0.00,1.75,0.00,0.000,4,0.000,0.061,2436,3166,3499,0,0,0,0,0,0
$GC,4353,-0.94,-109.4,688.1,-14.2,478,4358,0.00,1.80,0.00,0.000,6,0.000,0.047,2436,2010,3499,0,0,0,0,0,0
$GC,4676,-0.95,-109.4,734.4,-14.5,494,4679,0.00,1.73,0.00,0.000,4,0.000,0.058,2436,882,3496,0,0,0,0,0,0
$GC,4770,-0.96,-109.4,748.9,-14.9,498,4774,0.00,1.83,0.00,0.000,6,0.000,0.053,2436,2036,3495,0,0,0,0,0,0
$GC,5098,-0.97,-109.4,797.8,-14.8,514,5102,0.00,1.77,0.00,0.000,4,0.000,0.062,2436,3167,3492,0,0,0,0,0,0
$GC,5192,-0.99,-109.4,811.8,-14.4,518,5196,0.00,1.83,0.00,0.000,6,0.000,0.047,2436,2002,3490,0,0,0,0,0,0
$GC,5520,-1.00,-109.4,856.5,-12.8,534,5524,0.00,1.73,0.00,0.000,4,0.000,0.059,2436,878,3488,0,0,0,0,0,0
$GC,5620,-1.01,-109.4,869.6,-12.4,538,5624,0.00,1.80,0.00,0.000,6,0.000,0.055,2436,2040,3487,0,0,0,0,0,0
$GC,5942,-1.02,-109.4,906.5,-11.1,554,5945,0.00,1.77,0.00,0.000,4,0.000,0.064,2436,3170,3485,0,0,0,0,0,0
$GC,5988,-1.04,-113.7,911.4,-10.7,556,5992,0.12,1.80,0.00,0.000,6,0.106,0.050,2389,2002,3484,0,0,0,0,0,0
$GC,6321,-1.05,-113.7,955.4,-13.1,572,6324,0.00,1.73,0.00,0.000,4,0.000,0.059,2389,881,3482,0,0,0,0,0,0
$GC,6390,-1.05,-113.7,964.6,-13.4,575,6393,0.00,1.83,0.00,0.000,6,0.000,0.056,2389,2037,3481,0,0,0,0,0,0
$STATE,6658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6658,begin apogee
$GC,6663,-0.18,0.0,1001.2,13.6,588,6753,0.93,0.05,82.10,1.271,6,0.161,0.071,2662,2098,3092,0,0,0,0,0,0
$STATE,6754,end apogee,CONTROL_FINISHED_OK
$STATE,6754,begin climb
$GC,6755,0.75,113.7,1003.2,0.0,592,6872,0.85,2.03,106.97,1.235,4,0.068,0.046,2961,3274,2625,0,0,0,0,0,0
$GC,6902,0.74,113.7,997.7,12.4,599,6906,0.00,1.90,0.00,0.000,6,0.000,0.036,2970,2092,2620,0,0,0,0,0,0
$GC,7236,0.73,113.7,955.2,12.5,615,7237,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2091,2611,0,0,0,0,0,0
$GC,7544,0.73,113.7,917.0,12.1,630,7547,0.00,1.80,0.00,0.000,4,0.000,0.046,2970,3271,2609,0,0,0,0,0,0
$GC,7590,0.72,113.7,911.2,13.3,632,7593,0.00,1.80,0.00,0.000,6,0.000,0.037,2979,2086,2608,0,0,0,0,0,0
$GC,7922,0.71,113.7,872.1,11.7,648,7926,0.00,1.80,0.00,0.000,4,0.000,0.046,2976,3271,2606,0,0,0,0,0,0
$GC,8012,0.70,113.7,860.9,12.1,652,8016,0.00,1.77,0.00,0.000,6,0.000,0.037,2985,2081,2606,0,0,0,0,0,0
$GC,8345,0.69,113.7,820.8,11.9,668,8349,0.12,1.70,0.00,0.000,4,0.213,0.047,2963,958,2604,0,0,0,0,0,0
$GC,8390,0.69,113.7,815.5,11.2,670,8394,0.00,1.77,0.00,0.000,6,0.000,0.041,2960,2150,2603,0,0,0,0,0,0
$GC,8723,0.69,116.3,778.9,10.8,686,8727,0.00,1.73,0.00,0.000,4,0.000,0.048,2961,3276,2602,0,0,0,0,0,0
$GC,8792,0.68,116.3,770.9,11.7,689,8795,0.00,1.80,0.00,0.000,6,0.000,0.037,2970,2087,2601,0,0,0,0,0,0
$GC,9125,0.69,131.3,737.4,9.6,705,9140,0.00,0.00,13.02,1.037,6,0.000,0.000,2969,2086,2555,0,0,0,0,0,0
$GC,9451,0.71,148.3,706.2,9.4,720,9473,0.00,1.92,17.27,1.043,4,0.000,0.047,2969,3274,2484,0,0,0,0,0,0
$GC,9531,0.71,148.3,697.5,11.8,723,9534,0.00,1.80,0.00,0.000,6,0.000,0.036,2978,2087,2481,0,0,0,0,0,0
$GC,9852,0.70,148.3,660.9,11.8,739,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2085,2477,0,0,0,0,0,0
$GC,10161,0.70,148.3,624.0,11.7,754,10165,0.00,1.85,0.00,0.000,4,0.000,0.046,2977,3273,2476,0,0,0,0,0,0
$GC,10421,0.69,148.3,589.3,14.7,769,10425,0.12,1.80,0.00,0.000,6,0.199,0.037,2956,2083,2475,0,0,0,0,0,0
$GC,10750,0.69,148.3,550.1,12.3,800,10751,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2081,2474,0,0,0,0,0,0
$GC,11071,0.71,160.1,516.0,9.9,830,11086,0.00,1.73,10.43,0.869,4,0.000,0.048,2964,970,2438,0,0,0,0,0,0
$GC,11161,0.72,165.4,506.3,10.6,838,11175,0.00,1.77,6.57,0.768,6,0.000,0.039,2962,2156,2416,0,0,0,0,0,0
$GC,11494,0.75,186.7,474.4,9.0,869,11521,0.00,1.80,20.85,0.897,4,0.000,0.047,2962,3275,2330,0,0,0,0,0,0
$GC,11639,0.75,186.7,458.2,12.1,881,11642,0.00,1.80,0.00,0.000,6,0.000,0.036,2971,2089,2324,0,0,0,0,0,0
$GC,11969,0.76,186.7,420.3,11.5,912,11973,0.00,1.70,0.00,0.000,4,0.000,0.047,2979,968,2321,0,0,0,0,0,0
$GC,12029,0.76,186.7,413.2,12.8,917,12033,0.00,1.80,0.00,0.000,6,0.000,0.040,2974,2152,2321,0,0,0,0,0,0
$GC,12361,0.77,186.7,368.9,13.0,948,12365,0.00,1.80,0.00,0.000,4,0.000,0.045,2983,960,2320,0,0,0,0,0,0
$GC,12445,0.77,186.7,357.8,12.1,955,12453,0.00,1.80,0.00,0.000,6,0.000,0.038,2984,2140,2320,0,0,0,0,0,0
$GC,12771,0.77,186.7,317.7,11.6,986,12775,0.00,1.73,0.00,0.000,4,0.000,0.044,2983,3275,2320,0,0,0,0,0,0
$GC,12889,0.77,186.7,302.4,12.5,996,12898,0.00,1.80,0.00,0.000,6,0.000,0.034,2992,2090,2319,0,0,0,0,0,0
$GC,13244,0.78,188.9,264.5,10.9,1055,13250,0.00,1.67,0.00,0.000,4,0.000,0.044,3001,955,2319,0,0,0,0,0,0
$GC,13455,0.78,188.9,238.7,13.7,1091,13462,0.00,1.80,0.00,0.000,6,0.000,0.037,2999,2159,2319,0,0,0,0,0,0
$GC,13812,0.81,208.2,198.1,9.2,1152,13837,0.00,1.88,19.20,0.666,4,0.000,0.044,3008,961,2242,0,0,0,0,0,0
$GC,13875,0.82,213.3,191.8,10.6,1161,13891,0.00,1.80,5.78,0.526,6,0.000,0.037,3008,2142,2221,0,0,0,0,0,0
$GC,14244,0.84,221.9,152.0,10.3,1223,14259,0.00,1.80,8.70,0.569,4,0.000,0.041,3017,957,2186,0,0,0,0,0,0
$GC,14392,0.86,234.3,135.3,9.9,1247,14410,0.00,1.83,12.38,0.587,6,0.000,0.037,3017,2155,2134,0,0,0,0,0,0
$GC,14762,0.88,244.6,97.4,10.1,1309,14779,0.00,1.80,9.70,0.539,4,0.000,0.041,3026,963,2092,0,0,0,0,0,0
$GC,14870,0.91,258.9,86.4,9.7,1326,14889,0.00,1.80,13.23,0.553,6,0.000,0.035,3026,2153,2034,0,0,0,0,0,0
$GC,15240,0.97,297.6,57.1,7.2,1388,15281,0.00,1.73,31.92,0.560,4,0.000,0.038,3026,3272,1876,0,0,0,0,0,0
$GC,15344,1.01,315.4,48.4,9.3,1403,15369,0.00,1.80,15.62,0.526,6,0.000,0.030,3036,2084,1806,0,0,0,0,0,0
$GC,15721,1.08,358.8,17.6,6.7,1466,15764,0.12,1.90,35.67,0.520,4,0.083,0.037,3100,3282,1627,0,0,0,0,0,0
$STATE,15837,end climb,SURFACE_DEPTH_REACHED
$STATE,15837,begin surface coast
$FINISH,0.3,1.021690
$STATE,15850,end surface coast,CONTROL_FINISHED_OK
$STATE,15850,begin surface
$SM_CCo,15868,188.90,0.055,0,0,481,640.23
$SM_GC,1.03,0.00,0.00,188.90,0.000,0.000,0.055,137,2010,481,-8.09,-0.42,640.23
$IRIDIUM_FIX,2330.93,12615.48,161010,010121
$TT8_MAMPS,0.026215
$HUMID,41.73
$INTERNAL_PRESSURE,9.25196
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.1,44.253
$10V_AH,10.1,36.876
$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,20.750,115.350,409.425,188.900,0.000,27.491,19.951,218.765,0.000,0.000,16.884,3719.946,7653.131,657.372,4121.400,286.925,0.000,2058.275,0.000,3873.061,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,91.800,1270.665,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1008.031,0.000,2195.533,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333928
$DATA_FILE_SIZE,87019,1485
$CAP_FILE_SIZE,173360,0
$CFSIZE,260165632,237965312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,303.3,1
$GPS,161010,100854,2340.293,12612.241,24,1.2,41,-3.5