version: 66.08
glider: 169
mission: 2
dive: 317
start: 10 16 110 14 54 57
data:
$ID,169
$MISSION,2
$DIVE,317
$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,-7082.1323
$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
$GPS1,161010,144737,2338.999,12611.794,40,1.1,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-65.4
$GPS2,161010,145432,2339.038,12611.771,12,1.5,12,-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,20.9,1823,-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,15,-0.70,-73.7,0.0,0.0,0,113,0.00,0.00,-95.80,0.000,2,0.000,0.000,123,2058,3154,0,0,0,0,0,0
$GC,116,-0.73,-96.7,4.5,-8.8,12,143,9.95,1.80,-5.82,0.000,4,0.239,0.069,2476,3168,3489,0,0,0,0,0,0
$GC,181,-0.70,-96.7,35.2,-41.6,21,190,0.00,1.85,0.00,0.000,6,0.000,0.048,2478,2005,3490,0,0,0,0,0,0
$GC,546,-0.70,-96.7,125.2,-22.3,82,555,0.00,1.75,0.00,0.000,4,0.000,0.053,2479,884,3493,0,0,0,0,0,0
$GC,611,-0.71,-96.7,139.6,-21.1,92,620,0.00,1.83,0.00,0.000,6,0.000,0.052,2476,2040,3493,0,0,0,0,0,0
$GC,969,-0.71,-96.7,211.5,-18.7,153,975,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,2040,3493,0,0,0,0,0,0
$GC,1326,-0.72,-96.7,273.5,-16.0,214,1335,0.00,1.80,0.00,0.000,4,0.000,0.060,2476,3168,3493,0,0,0,0,0,0
$GC,1391,-0.73,-96.7,283.2,-14.5,224,1399,0.00,1.80,0.00,0.000,6,0.000,0.043,2476,2003,3493,0,0,0,0,0,0
$GC,1729,-0.74,-96.7,337.4,-15.0,263,1733,0.00,1.83,0.00,0.000,4,0.000,0.057,2475,3171,3492,0,0,0,0,0,0
$GC,1754,-0.75,-96.7,341.2,-15.2,265,1758,0.00,1.77,0.00,0.000,6,0.000,0.045,2476,2001,3492,0,0,0,0,0,0
$GC,2087,-0.76,-96.7,388.9,-13.3,296,2090,0.00,1.83,0.00,0.000,4,0.000,0.057,2476,3168,3490,0,0,0,0,0,0
$GC,2125,-0.77,-96.7,394.3,-12.6,299,2132,0.00,1.80,0.00,0.000,6,0.000,0.044,2476,2003,3489,0,0,0,0,0,0
$GC,2451,-0.78,-96.7,436.9,-12.2,330,2454,0.00,1.83,0.00,0.000,4,0.000,0.057,2475,3168,3488,0,0,0,0,0,0
$GC,2511,-0.80,-96.7,443.9,-11.7,335,2515,0.00,1.77,0.00,0.000,6,0.000,0.044,2475,1998,3488,0,0,0,0,0,0
$GC,2843,-0.81,-96.7,485.9,-12.7,366,2847,0.00,1.70,0.00,0.000,4,0.000,0.052,2475,865,3485,0,0,0,0,0,0
$GC,2916,-0.83,-96.7,495.8,-13.8,372,2925,0.00,1.85,0.00,0.000,6,0.000,0.050,2475,2047,3484,0,0,0,0,0,0
$GC,3242,-0.84,-96.7,537.2,-12.5,403,3246,0.00,1.73,0.00,0.000,4,0.000,0.058,2475,3171,3482,0,0,0,0,0,0
$GC,3316,-0.86,-97.2,546.2,-11.1,409,3322,0.00,1.77,0.00,0.000,6,0.000,0.044,2475,1999,3481,0,0,0,0,0,0
$GC,3641,-0.87,-97.2,588.0,-12.7,440,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1997,3479,0,0,0,0,0,0
$GC,3963,-0.89,-97.2,628.9,-12.2,460,3967,0.00,1.83,0.00,0.000,4,0.000,0.057,2475,3168,3476,0,0,0,0,0,0
$GC,4077,-0.92,-103.6,641.4,-10.5,465,4081,0.12,1.77,0.00,0.000,6,0.105,0.044,2427,2002,3475,0,0,0,0,0,0
$GC,4409,-0.92,-103.6,686.1,-12.8,481,4413,0.00,1.70,0.00,0.000,4,0.000,0.054,2427,877,3471,0,0,0,0,0,0
$GC,4442,-0.93,-103.6,690.8,-14.4,482,4446,0.00,1.80,0.00,0.000,6,0.000,0.052,2426,2050,3470,0,0,0,0,0,0
$GC,4764,-0.94,-103.6,734.7,-13.9,498,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2049,3469,0,0,0,0,0,0
$GC,5073,-0.95,-103.6,776.2,-13.1,513,5076,0.00,1.80,0.00,0.000,4,0.000,0.055,2426,881,3466,0,0,0,0,0,0
$GC,5106,-0.96,-103.6,781.1,-14.4,514,5110,0.00,1.83,0.00,0.000,6,0.000,0.053,2426,2037,3466,0,0,0,0,0,0
$GC,5427,-0.97,-103.6,825.0,-13.9,530,5428,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2037,3464,0,0,0,0,0,0
$GC,5737,-0.98,-103.6,866.2,-12.9,545,5741,0.00,1.80,0.00,0.000,4,0.000,0.056,2427,870,3461,0,0,0,0,0,0
$GC,5769,-0.99,-103.6,870.9,-13.3,546,5774,0.00,1.85,0.00,0.000,6,0.000,0.054,2426,2034,3461,0,0,0,0,0,0
$GC,6091,-1.00,-103.6,910.8,-12.3,562,6093,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2034,3459,0,0,0,0,0,0
$GC,6401,-1.01,-103.6,946.9,-11.3,577,6405,0.00,1.83,0.00,0.000,4,0.000,0.057,2426,882,3457,0,0,0,0,0,0
$GC,6427,-1.01,-103.6,950.2,-11.9,578,6432,0.00,1.83,0.00,0.000,6,0.000,0.054,2426,2033,3456,0,0,0,0,0,0
$GC,6755,-1.03,-103.6,987.9,-11.3,594,6759,0.00,1.77,0.00,0.000,4,0.000,0.063,2426,3166,3454,0,0,0,0,0,0
$GC,6788,-1.04,-103.6,992.1,-12.6,595,6792,0.00,1.77,0.00,0.000,6,0.000,0.049,2426,2004,3453,0,0,0,0,0,0
$STATE,6860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6860,begin apogee
$GC,6865,-0.18,0.0,1000.5,11.8,599,6951,0.77,0.08,77.20,1.271,6,0.144,0.110,2666,2094,3090,0,0,0,0,0,0
$STATE,6953,end apogee,CONTROL_FINISHED_OK
$STATE,6953,begin climb
$GC,6955,0.74,103.6,1002.3,0.0,603,7063,0.82,1.98,97.43,1.240,4,0.061,0.046,2961,3267,2667,0,0,0,0,0,0
$GC,7101,0.73,103.6,997.2,11.4,609,7109,0.00,1.90,0.00,0.000,6,0.000,0.037,2970,2093,2661,0,0,0,0,0,0
$GC,7418,0.72,103.6,958.4,12.2,625,7422,0.00,1.83,0.00,0.000,4,0.000,0.045,2961,3280,2655,0,0,0,0,0,0
$GC,7581,0.71,103.6,938.0,12.8,632,7584,0.00,1.80,0.00,0.000,6,0.000,0.037,2970,2088,2652,0,0,0,0,0,0
$GC,7908,0.71,109.0,901.7,10.6,648,7912,0.00,1.83,0.00,0.000,4,0.000,0.046,2963,3280,2650,0,0,0,0,0,0
$GC,7964,0.70,110.2,895.4,11.0,650,7977,0.00,1.83,4.05,0.731,6,0.000,0.037,2972,2096,2641,0,0,0,0,0,0
$GC,8286,0.71,120.7,863.5,10.0,666,8305,0.00,0.00,11.77,1.079,6,0.000,0.000,2972,2096,2597,0,0,0,0,0,0
$GC,8614,0.70,120.7,827.2,11.6,682,8615,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2095,2593,0,0,0,0,0,0
$GC,8924,0.70,120.7,790.1,12.0,697,8927,0.00,1.70,0.00,0.000,4,0.000,0.050,2980,967,2591,0,0,0,0,0,0
$GC,8970,0.69,120.7,784.5,11.7,699,8973,0.00,1.77,0.00,0.000,6,0.000,0.041,2973,2150,2590,0,0,0,0,0,0
$GC,9303,0.69,120.7,744.9,11.8,715,9306,0.00,1.73,0.00,0.000,4,0.000,0.047,2974,3278,2589,0,0,0,0,0,0
$GC,9341,0.68,120.7,739.7,12.7,716,9349,0.08,1.83,0.00,0.000,6,0.188,0.037,2953,2087,2589,0,0,0,0,0,0
$GC,9657,0.70,141.0,708.7,9.1,732,9682,0.00,1.88,19.27,1.060,4,0.000,0.047,2950,3268,2514,0,0,0,0,0,0
$GC,9740,0.72,155.3,700.8,9.7,735,9760,0.00,1.77,14.82,1.016,6,0.000,0.037,2959,2092,2457,0,0,0,0,0,0
$GC,10077,0.72,155.3,662.9,11.7,752,10081,0.00,1.80,0.00,0.000,4,0.000,0.047,2959,3271,2450,0,0,0,0,0,0
$GC,10132,0.71,155.3,655.6,12.2,754,10136,0.00,1.83,0.00,0.000,6,0.000,0.037,2968,2088,2449,0,0,0,0,0,0
$GC,10454,0.71,155.3,615.8,11.5,770,10457,0.00,1.67,0.00,0.000,4,0.000,0.049,2976,966,2447,0,0,0,0,0,0
$GC,10491,0.71,155.3,611.3,11.7,771,10499,0.00,1.83,0.00,0.000,6,0.000,0.039,2976,2154,2447,0,0,0,0,0,0
$GC,10815,0.71,155.3,572.8,12.0,797,10816,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2154,2445,0,0,0,0,0,0
$GC,11134,0.72,156.1,535.9,11.0,827,11138,0.00,1.67,0.00,0.000,4,0.000,0.047,2976,3274,2445,0,0,0,0,0,0
$GC,11275,0.71,156.1,517.9,13.5,839,11281,0.00,1.77,0.00,0.000,6,0.000,0.037,2986,2083,2445,0,0,0,0,0,0
$GC,11601,0.71,156.1,477.1,12.1,870,11604,0.00,1.67,0.00,0.000,4,0.000,0.048,2994,968,2445,0,0,0,0,0,0
$GC,11822,0.71,156.1,450.3,11.1,889,11830,0.10,1.80,0.00,0.000,6,0.173,0.039,2964,2153,2445,0,0,0,0,0,0
$GC,12148,0.75,185.0,420.5,8.2,920,12182,0.00,0.00,26.48,0.871,6,0.000,0.000,2964,2153,2336,0,0,0,0,0,0
$GC,12500,0.76,185.5,385.9,11.1,953,12504,0.00,1.73,0.00,0.000,4,0.000,0.045,2964,3270,2330,0,0,0,0,0,0
$GC,12642,0.76,185.5,368.9,12.3,965,12649,0.00,1.80,0.00,0.000,6,0.000,0.035,2972,2076,2327,0,0,0,0,0,0
$GC,12967,0.76,185.5,328.3,11.9,996,12971,0.00,1.65,0.00,0.000,4,0.000,0.047,2981,967,2327,0,0,0,0,0,0
$GC,13063,0.77,185.5,316.8,11.1,1004,13072,0.00,1.80,0.00,0.000,6,0.000,0.038,2981,2146,2327,0,0,0,0,0,0
$GC,13402,0.78,193.6,281.2,10.3,1050,13418,0.00,1.83,8.02,0.656,4,0.000,0.045,2989,971,2301,0,0,0,0,0,0
$GC,13462,0.79,194.0,274.6,11.1,1059,13469,0.00,1.75,0.00,0.000,6,0.000,0.037,2988,2152,2300,0,0,0,0,0,0
$GC,13817,0.80,194.0,234.8,11.1,1120,13826,0.00,1.83,0.00,0.000,4,0.000,0.043,2997,960,2299,0,0,0,0,0,0
$GC,13887,0.80,194.0,226.6,13.0,1131,13894,0.00,1.75,0.00,0.000,6,0.000,0.037,2997,2152,2299,0,0,0,0,0,0
$GC,14244,0.85,225.5,189.6,7.9,1192,14281,0.00,1.85,29.20,0.676,4,0.000,0.043,3006,964,2170,0,0,0,0,0,0
$GC,14370,0.87,241.1,177.2,9.5,1212,14394,0.00,1.80,14.50,0.627,6,0.000,0.036,3006,2145,2104,0,0,0,0,0,0
$GC,14749,0.89,249.5,135.4,10.3,1275,14766,0.00,1.83,7.57,0.536,4,0.000,0.043,3015,968,2072,0,0,0,0,0,0
$GC,14798,0.92,264.9,130.2,9.6,1282,14824,0.00,1.80,14.45,0.588,6,0.000,0.035,3014,2152,2008,0,0,0,0,0,0
$GC,15175,0.94,274.9,89.1,10.1,1345,15193,0.00,1.83,8.55,0.521,4,0.000,0.041,3023,970,1970,0,0,0,0,0,0
$GC,15456,0.96,279.5,60.1,10.6,1392,15465,0.00,1.77,5.65,0.437,6,0.000,0.034,3023,2152,1951,0,0,0,0,0,0
$GC,15817,1.04,327.8,35.3,6.2,1453,15868,0.12,1.83,40.67,0.545,4,0.086,0.038,3102,970,1752,0,0,0,0,0,0
$GC,15946,1.05,327.8,21.7,11.9,1472,15956,0.10,1.80,0.00,0.000,6,0.157,0.033,3068,2164,1748,0,0,0,0,0,0
$STATE,16099,end climb,SURFACE_DEPTH_REACHED
$STATE,16100,begin surface coast
$FINISH,0.0,1.018165
$STATE,16125,end surface coast,CONTROL_FINISHED_OK
$STATE,16125,begin surface
$SM_CCo,16141,209.30,0.055,0,0,481,640.23
$SM_GC,0.91,0.00,0.00,209.30,0.000,0.000,0.055,144,1987,481,-8.06,-1.07,640.23
$IRIDIUM_FIX,2328.57,12614.09,161010,101055
$TT8_MAMPS,0.026215
$HUMID,40.35
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,23.1,44.529
$10V_AH,10.1,37.227
$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,20.375,115.325,379.650,209.300,0.000,26.292,42.617,216.088,0.000,0.000,13.981,3727.431,7910.240,712.530,4116.956,283.852,0.000,2106.870,0.000,3843.568,0.000,0.544,0.000
$DEVICE_MAMPS,238.680,110.160,1270.665,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1018.189,0.000,2192.315,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333836
$DATA_FILE_SIZE,90223,1501
$CAP_FILE_SIZE,173428,0
$CFSIZE,260165632,237780992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.040,329.2,1
$GPS,161010,192837,2341.075,12612.224,40,1.3,40,-3.5