version: 66.08
glider: 169
mission: 2
dive: 316
start: 10 16 110 10 17 20
data:
$ID,169
$MISSION,2
$DIVE,316
$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,-7080.0283
$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
$GPS1,161010,100854,2340.293,12612.241,24,1.2,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.3
$GPS2,161010,101654,2340.371,12612.162,25,1.2,43,-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,189.5,740,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.70,-73.7,0.0,0.0,0,114,0.00,0.00,-96.22,0.000,2,0.000,0.000,136,2011,3163,0,0,0,0,0,0
$GC,117,-0.74,-103.4,4.3,-8.1,12,144,9.90,1.80,-6.07,0.000,4,0.237,0.070,2484,883,3516,0,0,0,0,0,0
$GC,333,-0.73,-103.4,76.9,-25.9,47,342,0.00,1.85,0.00,0.000,6,0.000,0.054,2484,2043,3517,0,0,0,0,0,0
$GC,696,-0.73,-103.4,154.5,-20.4,108,704,0.00,1.80,0.00,0.000,4,0.000,0.063,2484,3168,3520,0,0,0,0,0,0
$GC,744,-0.74,-103.4,164.3,-19.3,116,753,0.00,1.83,0.00,0.000,6,0.000,0.047,2485,2004,3520,0,0,0,0,0,0
$GC,1094,-0.75,-103.4,230.6,-17.8,177,1102,0.00,1.85,0.00,0.000,4,0.000,0.060,2484,3166,3520,0,0,0,0,0,0
$GC,1159,-0.76,-103.4,242.2,-16.2,188,1168,0.00,1.80,0.00,0.000,6,0.000,0.045,2484,2004,3520,0,0,0,0,0,0
$GC,1514,-0.77,-103.4,302.3,-16.1,249,1518,0.00,1.73,0.00,0.000,4,0.000,0.054,2484,879,3519,0,0,0,0,0,0
$GC,1639,-0.78,-103.4,321.6,-15.4,260,1642,0.00,1.77,0.00,0.000,6,0.000,0.051,2484,2045,3518,0,0,0,0,0,0
$GC,1971,-0.79,-103.4,370.5,-14.9,291,1975,0.00,1.75,0.00,0.000,4,0.000,0.060,2484,3168,3517,0,0,0,0,0,0
$GC,2021,-0.80,-103.4,378.0,-13.4,295,2028,0.00,1.80,0.00,0.000,6,0.000,0.044,2484,2005,3516,0,0,0,0,0,0
$GC,2348,-0.82,-103.4,421.1,-12.7,326,2352,0.00,1.70,0.00,0.000,4,0.000,0.054,2484,879,3514,0,0,0,0,0,0
$GC,2386,-0.83,-103.4,426.6,-12.8,329,2395,0.00,1.80,0.00,0.000,6,0.000,0.050,2485,2034,3515,0,0,0,0,0,0
$GC,2712,-0.85,-103.4,467.6,-12.3,360,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2034,3513,0,0,0,0,0,0
$GC,3033,-0.86,-103.4,508.9,-13.5,390,3036,0.00,1.77,0.00,0.000,4,0.000,0.058,2485,3175,3510,0,0,0,0,0,0
$GC,3111,-0.88,-103.4,519.4,-12.2,397,3115,0.12,1.77,0.00,0.000,6,0.113,0.047,2439,2004,3509,0,0,0,0,0,0
$GC,3442,-0.89,-103.4,566.5,-13.1,428,3446,0.00,1.75,0.00,0.000,4,0.000,0.056,2439,882,3506,0,0,0,0,0,0
$GC,3525,-0.90,-103.4,577.5,-13.5,435,3532,0.00,1.80,0.00,0.000,6,0.000,0.051,2439,2033,3506,0,0,0,0,0,0
$GC,3848,-0.91,-103.4,621.2,-14.2,459,3851,0.00,1.77,0.00,0.000,4,0.000,0.054,2438,869,3503,0,0,0,0,0,0
$GC,3908,-0.92,-103.4,630.8,-14.6,461,3916,0.00,1.85,0.00,0.000,6,0.000,0.051,2438,2043,3502,0,0,0,0,0,0
$GC,4224,-0.93,-103.4,679.3,-15.0,477,4228,0.00,1.83,0.00,0.000,4,0.000,0.056,2439,871,3500,0,0,0,0,0,0
$GC,4257,-0.94,-103.4,684.2,-14.4,478,4261,0.00,1.85,0.00,0.000,6,0.000,0.054,2438,2041,3499,0,0,0,0,0,0
$GC,4579,-0.95,-103.4,727.4,-13.3,494,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2041,3497,0,0,0,0,0,0
$GC,4889,-0.96,-103.4,768.1,-12.7,509,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2041,3493,0,0,0,0,0,0
$GC,5198,-0.97,-103.4,803.9,-11.2,524,5201,0.00,1.77,0.00,0.000,4,0.000,0.066,2438,3168,3490,0,0,0,0,0,0
$GC,5246,-0.99,-103.4,809.6,-11.2,526,5250,0.00,1.83,0.00,0.000,6,0.000,0.049,2439,2006,3490,0,0,0,0,0,0
$GC,5575,-1.00,-103.4,847.1,-11.9,542,5578,0.00,1.77,0.00,0.000,4,0.000,0.060,2439,869,3487,0,0,0,0,0,0
$GC,5658,-1.01,-103.4,857.8,-12.8,545,5667,0.08,1.85,0.00,0.000,6,0.089,0.055,2404,2031,3486,0,0,0,0,0,0
$GC,5975,-1.02,-103.4,903.4,-14.9,561,5978,0.00,1.77,0.00,0.000,4,0.000,0.064,2404,3167,3484,0,0,0,0,0,0
$GC,6020,-1.02,-103.4,910.2,-14.4,563,6024,0.00,1.77,0.00,0.000,6,0.000,0.049,2404,2005,3483,0,0,0,0,0,0
$GC,6353,-1.03,-103.4,959.2,-14.7,579,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2003,3481,0,0,0,0,0,0
$STATE,6661,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6661,begin apogee
$GC,6666,-0.18,0.0,1002.8,13.7,594,6755,0.88,0.05,82.43,1.273,6,0.159,0.072,2663,2096,3091,0,0,0,0,0,0
$STATE,6756,end apogee,CONTROL_FINISHED_OK
$STATE,6756,begin climb
$GC,6758,0.74,103.4,1005.6,0.0,598,6864,0.85,2.03,96.88,1.240,4,0.072,0.047,2966,3270,2668,0,0,0,0,0,0
$GC,6954,0.73,103.4,995.2,12.1,607,6958,0.00,1.83,0.00,0.000,6,0.000,0.036,2974,2094,2659,0,0,0,0,0,0
$GC,7287,0.72,103.4,956.5,11.2,623,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2092,2655,0,0,0,0,0,0
$GC,7597,0.72,116.4,925.5,9.8,638,7611,0.00,1.83,10.23,1.069,4,0.000,0.044,2974,3271,2616,0,0,0,0,0,0
$GC,7650,0.71,116.4,918.9,12.7,639,7657,0.00,1.83,0.00,0.000,6,0.000,0.036,2983,2058,2614,0,0,0,0,0,0
$GC,7966,0.71,116.4,881.8,11.6,655,7970,0.00,1.88,0.00,0.000,4,0.000,0.046,2983,3271,2612,0,0,0,0,0,0
$GC,8134,0.69,116.4,859.7,13.2,662,8139,0.10,1.83,0.00,0.000,6,0.187,0.037,2963,2084,2610,0,0,0,0,0,0
$GC,8456,0.70,127.5,824.2,10.0,678,8471,0.00,1.70,11.15,1.055,4,0.000,0.046,2971,968,2571,0,0,0,0,0,0
$GC,8533,0.70,128.8,815.7,11.0,680,8540,0.00,1.80,0.00,0.000,6,0.000,0.040,2963,2151,2569,0,0,0,0,0,0
$GC,8849,0.71,139.2,783.6,10.1,696,8871,0.00,1.80,12.27,1.045,4,0.000,0.047,2962,3280,2523,0,0,0,0,0,0
$GC,8988,0.71,139.2,767.7,12.1,702,8992,0.00,1.83,0.00,0.000,6,0.000,0.037,2970,2083,2520,0,0,0,0,0,0
$GC,9321,0.70,139.2,724.1,13.4,718,9322,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2081,2516,0,0,0,0,0,0
$GC,9630,0.70,139.2,683.4,12.3,733,9634,0.00,1.85,0.00,0.000,4,0.000,0.047,2970,3277,2516,0,0,0,0,0,0
$GC,9758,0.70,139.2,667.2,12.9,738,9765,0.00,1.83,0.00,0.000,6,0.000,0.037,2979,2083,2515,0,0,0,0,0,0
$GC,10075,0.69,139.2,631.3,11.8,754,10078,0.00,1.83,0.00,0.000,4,0.000,0.046,2976,3280,2514,0,0,0,0,0,0
$GC,10153,0.68,139.2,620.6,13.3,757,10157,0.12,1.83,0.00,0.000,6,0.200,0.037,2955,2092,2513,0,0,0,0,0,0
$GC,10478,0.69,144.0,585.5,10.6,779,10482,0.00,1.70,0.00,0.000,4,0.000,0.048,2963,967,2512,0,0,0,0,0,0
$GC,10647,0.70,153.0,569.2,10.2,794,10669,0.00,1.80,12.68,0.933,6,0.000,0.041,2961,2158,2467,0,0,0,0,0,0
$GC,10987,0.71,162.4,535.9,10.2,826,11002,0.00,1.88,9.93,0.874,4,0.000,0.047,2970,967,2428,0,0,0,0,0,0
$GC,11058,0.71,162.4,527.7,11.4,832,11065,0.00,1.83,0.00,0.000,6,0.000,0.040,2970,2146,2427,0,0,0,0,0,0
$GC,11385,0.71,162.4,486.0,13.5,863,11389,0.00,1.73,0.00,0.000,4,0.000,0.048,2970,3271,2425,0,0,0,0,0,0
$GC,11511,0.71,162.4,469.3,13.0,874,11514,0.00,1.77,0.00,0.000,6,0.000,0.037,2979,2084,2424,0,0,0,0,0,0
$GC,11843,0.72,165.8,430.3,10.8,905,11856,0.00,1.73,3.67,0.532,4,0.000,0.047,2987,970,2415,0,0,0,0,0,0
$GC,11903,0.72,167.2,423.5,11.0,910,11906,0.00,1.77,0.00,0.000,6,0.000,0.040,2987,2158,2415,0,0,0,0,0,0
$GC,12236,0.72,167.2,383.2,11.6,941,12237,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2158,2415,0,0,0,0,0,0
$GC,12555,0.72,169.6,345.8,10.9,971,12567,0.00,1.80,5.70,0.640,4,0.000,0.043,2996,960,2398,0,0,0,0,0,0
$GC,12582,0.72,172.1,342.7,10.9,973,12595,0.12,1.77,4.30,0.548,6,0.187,0.038,2965,2155,2388,0,0,0,0,0,0
$GC,12912,0.74,180.8,307.2,10.2,1004,12927,0.00,1.75,9.57,0.706,4,0.000,0.046,2965,3271,2353,0,0,0,0,0,0
$GC,12961,0.74,180.8,301.4,12.2,1008,12965,0.00,1.80,0.00,0.000,6,0.000,0.035,2973,2080,2351,0,0,0,0,0,0
$GC,13308,0.77,197.2,262.9,9.5,1068,13331,0.00,1.70,16.00,0.717,4,0.000,0.044,2982,958,2285,0,0,0,0,0,0
$GC,13503,0.78,199.4,243.2,10.9,1101,13511,0.00,1.83,0.00,0.000,6,0.000,0.038,2982,2147,2281,0,0,0,0,0,0
$GC,13853,0.79,199.4,205.9,11.3,1162,13861,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2147,2280,0,0,0,0,0,0
$GC,14206,0.80,206.0,166.9,10.4,1223,14221,0.00,1.70,8.40,0.584,4,0.000,0.041,2982,3276,2251,0,0,0,0,0,0
$GC,14274,0.81,212.7,159.5,10.4,1234,14289,0.00,1.80,7.60,0.560,6,0.000,0.033,2991,2088,2223,0,0,0,0,0,0
$GC,14644,0.87,247.0,123.3,7.6,1296,14685,0.00,1.75,30.33,0.626,4,0.000,0.043,3000,960,2081,0,0,0,0,0,0
$GC,14937,0.89,260.0,92.9,9.8,1344,14956,0.00,1.80,11.25,0.548,6,0.000,0.035,3000,2146,2029,0,0,0,0,0,0
$GC,15307,0.95,292.4,58.6,7.8,1406,15341,0.10,0.00,27.40,0.566,6,0.101,0.000,3056,2146,1896,0,0,0,0,0,0
$GC,15694,0.98,312.6,19.6,9.1,1470,15718,0.00,1.85,17.00,0.514,4,0.000,0.041,3064,957,1815,0,0,0,0,0,0
$STATE,15878,end climb,SURFACE_DEPTH_REACHED
$STATE,15878,begin surface coast
$FINISH,-0.0,1.021824
$STATE,15909,end surface coast,CONTROL_FINISHED_OK
$STATE,15909,begin surface
$SM_CCo,15926,216.82,0.502,1,0,480,640.23
$SM_GC,0.83,0.00,0.00,216.82,0.000,0.000,0.502,132,2057,480,-8.07,0.90,640.23
$IRIDIUM_FIX,2330.93,12612.19,161010,050504
$TT8_MAMPS,0.026964
$HUMID,41.21
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,23.1,44.405
$10V_AH,10.1,37.053
$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,20.500,108.025,376.775,216.825,0.000,30.510,39.171,245.024,0.000,0.000,43.879,3758.266,7622.171,701.869,4235.825,296.146,0.000,2092.117,0.000,3912.454,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,78.795,1272.960,501.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.751,0.000,2233.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333896
$DATA_FILE_SIZE,90203,1505
$CAP_FILE_SIZE,173581,0
$CFSIZE,260165632,237871104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,349.9,1
$GPS,161010,144737,2338.999,12611.794,40,1.1,40,-3.5