version: 66.08
glider: 169
mission: 2
dive: 318
start: 10 16 110 19 35 52
data:
$ID,169
$MISSION,2
$DIVE,318
$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,-7083.4829
$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
$GPS1,161010,192837,2341.075,12612.224,40,1.3,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.9
$GPS2,161010,193526,2341.093,12612.239,15,1.5,15,-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,186.9,2064,-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,-73.7,0.0,0.0,0,108,0.00,0.00,-90.65,0.000,2,0.000,0.000,138,1987,2953,0,0,0,0,0,0
$GC,111,-0.78,-135.7,3.3,-4.8,11,146,9.90,1.77,-13.23,0.000,4,0.239,0.070,2466,882,3647,0,0,0,0,0,0
$GC,269,-0.78,-135.7,58.6,-31.4,36,278,0.00,1.85,0.00,0.000,6,0.000,0.055,2466,2036,3648,0,0,0,0,0,0
$GC,631,-0.78,-135.7,161.2,-20.8,97,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2036,3650,0,0,0,0,0,0
$GC,978,-0.78,-135.7,231.5,-20.7,158,987,0.00,1.77,0.00,0.000,4,0.000,0.059,2466,3165,3650,0,0,0,0,0,0
$GC,1062,-0.79,-135.7,247.1,-17.2,172,1071,0.00,1.80,0.00,0.000,6,0.000,0.044,2465,2004,3650,0,0,0,0,0,0
$GC,1414,-0.80,-135.7,309.6,-16.6,229,1418,0.00,1.83,0.00,0.000,4,0.000,0.060,2466,3168,3650,0,0,0,0,0,0
$GC,1440,-0.81,-135.7,313.6,-16.2,231,1443,0.00,1.75,0.00,0.000,6,0.000,0.044,2466,2004,3650,0,0,0,0,0,0
$GC,1772,-0.81,-135.7,372.7,-18.4,262,1776,0.00,1.83,0.00,0.000,4,0.000,0.058,2466,3177,3650,0,0,0,0,0,0
$GC,1811,-0.83,-135.7,380.0,-16.9,265,1818,0.00,1.83,0.00,0.000,6,0.000,0.045,2466,2003,3649,0,0,0,0,0,0
$GC,2136,-0.84,-135.7,434.0,-15.2,296,2137,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2002,3647,0,0,0,0,0,0
$GC,2456,-0.85,-135.7,480.4,-14.5,326,2460,0.00,1.83,0.00,0.000,4,0.000,0.058,2466,3172,3645,0,0,0,0,0,0
$GC,2494,-0.86,-135.7,485.8,-14.9,329,2498,0.00,1.80,0.00,0.000,6,0.000,0.046,2466,2000,3644,0,0,0,0,0,0
$GC,2825,-0.88,-135.7,536.3,-14.9,360,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1999,3643,0,0,0,0,0,0
$GC,3146,-0.89,-135.7,581.9,-13.4,390,3147,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1999,3640,0,0,0,0,0,0
$GC,3457,-0.91,-135.7,621.6,-12.2,412,3461,0.00,1.85,0.00,0.000,4,0.000,0.058,2466,3167,3636,0,0,0,0,0,0
$GC,3529,-0.94,-141.7,630.2,-10.5,415,3534,0.08,1.80,0.00,0.000,6,0.084,0.044,2410,2003,3635,0,0,0,0,0,0
$GC,3857,-0.94,-141.7,682.0,-16.4,431,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2001,3633,0,0,0,0,0,0
$GC,4166,-0.95,-141.7,730.6,-15.6,446,4170,0.00,1.83,0.00,0.000,4,0.000,0.060,2410,3167,3630,0,0,0,0,0,0
$GC,4205,-0.96,-141.7,736.9,-15.3,447,4212,0.00,1.83,0.00,0.000,6,0.000,0.046,2410,2001,3629,0,0,0,0,0,0
$GC,4521,-0.97,-141.7,788.0,-15.9,463,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2000,3627,0,0,0,0,0,0
$GC,4831,-0.98,-141.7,836.2,-15.5,478,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2000,3624,0,0,0,0,0,0
$GC,5140,-0.99,-141.7,881.1,-14.2,493,5141,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2000,3622,0,0,0,0,0,0
$GC,5449,-1.00,-141.7,924.1,-13.6,508,5452,0.00,1.73,0.00,0.000,4,0.000,0.058,2410,882,3618,0,0,0,0,0,0
$GC,5487,-1.01,-141.7,929.7,-14.0,509,5495,0.00,1.83,0.00,0.000,6,0.000,0.054,2409,2034,3617,0,0,0,0,0,0
$GC,5804,-1.02,-141.7,973.9,-14.3,525,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2034,3615,0,0,0,0,0,0
$STATE,5987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5987,begin apogee
$GC,5992,-0.18,0.0,1000.5,14.4,534,6109,0.85,0.08,110.70,1.267,6,0.157,0.111,2662,2095,3091,0,0,0,0,0,0
$STATE,6110,end apogee,CONTROL_FINISHED_OK
$STATE,6110,begin climb
$GC,6112,0.78,141.7,1004.8,0.0,539,6250,0.85,0.00,134.30,1.237,6,0.054,0.000,2982,2095,2513,0,0,0,0,0,0
$GC,6550,0.78,141.7,956.8,14.8,561,6553,0.00,1.75,0.00,0.000,4,0.000,0.049,2991,960,2498,0,0,0,0,0,0
$GC,6598,0.77,141.7,949.5,14.2,563,6602,0.00,1.85,0.00,0.000,6,0.000,0.041,2987,2145,2498,0,0,0,0,0,0
$GC,6926,0.76,141.7,903.1,14.4,579,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2145,2495,0,0,0,0,0,0
$GC,7236,0.76,141.7,859.9,14.1,594,7240,0.00,1.70,0.00,0.000,4,0.000,0.047,2987,3275,2493,0,0,0,0,0,0
$GC,7263,0.75,141.7,855.4,15.5,595,7267,0.00,1.83,0.00,0.000,6,0.000,0.037,2995,2086,2492,0,0,0,0,0,0
$GC,7591,0.74,141.7,804.7,16.0,611,7594,0.00,1.80,0.00,0.000,4,0.000,0.046,2991,3271,2490,0,0,0,0,0,0
$GC,7614,0.73,141.7,800.9,17.3,612,7619,0.10,1.80,0.00,0.000,6,0.190,0.037,2970,2097,2489,0,0,0,0,0,0
$GC,7946,0.73,141.7,751.2,14.6,628,7950,0.00,1.73,0.00,0.000,4,0.000,0.050,2978,973,2488,0,0,0,0,0,0
$GC,7996,0.72,141.7,743.5,15.3,630,7999,0.00,1.77,0.00,0.000,6,0.000,0.041,2978,2157,2487,0,0,0,0,0,0
$GC,8323,0.72,141.7,697.2,13.6,646,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2157,2486,0,0,0,0,0,0
$GC,8632,0.72,141.7,657.4,11.7,661,8633,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2157,2486,0,0,0,0,0,0
$GC,8942,0.72,147.2,623.9,10.6,676,8945,0.00,1.73,0.00,0.000,4,0.000,0.049,2978,3279,2485,0,0,0,0,0,0
$GC,9079,0.71,147.2,606.8,12.9,682,9082,0.00,1.77,0.00,0.000,6,0.000,0.038,2987,2087,2484,0,0,0,0,0,0
$GC,9409,0.71,147.2,565.3,11.6,710,9413,0.00,1.83,0.00,0.000,4,0.000,0.045,2987,3271,2484,0,0,0,0,0,0
$GC,9546,0.70,147.2,546.5,13.3,722,9551,0.15,1.77,0.00,0.000,6,0.193,0.037,2959,2081,2482,0,0,0,0,0,0
$GC,9877,0.72,158.1,508.3,10.0,753,9890,0.00,0.00,10.65,0.864,6,0.000,0.000,2959,2079,2446,0,0,0,0,0,0
$GC,10206,0.74,174.6,476.8,9.5,784,10232,0.00,1.75,16.95,0.885,4,0.000,0.048,2967,964,2378,0,0,0,0,0,0
$GC,10301,0.74,174.6,466.2,12.0,792,10304,0.00,1.77,0.00,0.000,6,0.000,0.039,2964,2149,2374,0,0,0,0,0,0
$GC,10633,0.75,174.6,426.0,12.0,823,10637,0.00,1.73,0.00,0.000,4,0.000,0.046,2964,3264,2372,0,0,0,0,0,0
$GC,10748,0.75,174.6,410.2,13.2,833,10756,0.00,1.80,0.00,0.000,6,0.000,0.035,2973,2093,2371,0,0,0,0,0,0
$GC,11075,0.77,191.1,376.0,9.4,864,11100,0.00,1.77,15.32,0.799,4,0.000,0.046,2981,961,2312,0,0,0,0,0,0
$GC,11250,0.78,191.1,356.3,11.8,879,11254,0.00,1.77,0.00,0.000,6,0.000,0.038,2982,2149,2308,0,0,0,0,0,0
$GC,11581,0.78,191.1,314.6,12.4,910,11585,0.00,1.73,0.00,0.000,4,0.000,0.044,2981,3270,2306,0,0,0,0,0,0
$GC,11663,0.78,191.1,303.7,13.7,917,11667,0.00,1.77,0.00,0.000,6,0.000,0.034,2990,2076,2306,0,0,0,0,0,0
$GC,12007,0.78,191.1,262.9,12.1,975,12013,0.00,1.67,0.00,0.000,4,0.000,0.045,2999,960,2306,0,0,0,0,0,0
$GC,12071,0.79,191.1,254.6,12.0,986,12080,0.00,1.80,0.00,0.000,6,0.000,0.037,2999,2148,2306,0,0,0,0,0,0
$GC,12421,0.79,191.1,215.4,11.2,1047,12427,0.00,1.80,0.00,0.000,4,0.000,0.043,3008,955,2306,0,0,0,0,0,0
$GC,12504,0.80,191.6,206.1,11.1,1061,12511,0.00,1.77,0.00,0.000,6,0.000,0.037,3008,2152,2306,0,0,0,0,0,0
$GC,12855,0.81,202.1,169.8,10.1,1122,12870,0.00,1.75,10.82,0.607,4,0.000,0.042,3008,3276,2266,0,0,0,0,0,0
$GC,13118,0.81,203.4,138.6,11.0,1167,13127,0.00,1.80,0.00,0.000,6,0.000,0.031,3017,2079,2264,0,0,0,0,0,0
$GC,13481,0.85,229.8,111.3,8.4,1228,13515,0.00,1.70,25.30,0.607,4,0.000,0.041,3026,965,2152,0,0,0,0,0,0
$GC,13606,0.88,242.8,99.5,9.8,1247,13623,0.00,1.77,11.88,0.555,6,0.000,0.034,3026,2145,2100,0,0,0,0,0,0
$GC,13975,0.92,274.3,62.0,7.9,1309,14008,0.00,1.77,26.38,0.565,4,0.000,0.039,3035,964,1971,0,0,0,0,0,0
$GC,14142,1.00,324.8,47.0,6.0,1335,14191,0.00,1.80,41.12,0.562,6,0.000,0.032,3035,2158,1766,0,0,0,0,0,0
$GC,14543,1.05,349.3,12.9,8.6,1401,14569,0.00,1.83,20.12,0.514,4,0.000,0.039,3040,961,1665,0,0,0,0,0,0
$GC,14636,1.10,375.0,4.5,8.5,1415,14664,0.08,1.80,21.12,0.508,6,0.054,0.032,3102,2155,1561,0,0,0,0,0,0
$STATE,14670,end climb,SURFACE_DEPTH_REACHED
$STATE,14670,begin surface coast
$FINISH,0.2,1.009558
$STATE,14715,end surface coast,CONTROL_FINISHED_OK
$STATE,14715,begin surface
$SM_CCo,14731,179.57,0.054,0,0,480,640.23
$SM_GC,1.00,0.00,0.00,179.57,0.000,0.000,0.054,140,1982,480,-8.07,-1.22,640.23
$IRIDIUM_FIX,2333.28,12603.72,161010,141438
$TT8_MAMPS,0.026215
$HUMID,40.47
$INTERNAL_PRESSURE,9.25196
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,22.9,44.669
$10V_AH,10.3,37.394
$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,20.250,86.075,444.675,179.575,0.000,25.179,37.587,207.019,0.000,0.000,16.098,3514.929,6955.395,687.075,3881.459,268.656,0.000,1954.438,0.000,3623.735,0.000,0.545,0.000
$DEVICE_MAMPS,239.445,110.925,1266.840,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,966.399,0.000,2185.938,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83585,1426
$CAP_FILE_SIZE,155597,0
$CFSIZE,260165632,237723648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 62.0,1
$GPS,161010,234531,2339.475,12612.666,40,1.1,40,-3.5