version: 66.08
glider: 169
mission: 2
dive: 321
start: 10 17 110 8 48 16
data:
$ID,169
$MISSION,2
$DIVE,321
$N_DIVES,333
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,-7087.2612
$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
$GPS1,171010,084037,2339.289,12611.988,27,1.4,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.0
$GPS2,171010,084748,2339.360,12611.873,18,5.8,37,-3.5
$SPEED_LIMITS,0.191,0.311
$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,31.7,1204,-27.4,-11.000
$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,-72.6,0.0,0.0,0,113,0.00,0.00,-95.22,0.000,2,0.000,0.000,139,2058,3120,0,0,0,0,0,0
$GC,116,-0.74,-107.0,4.2,-7.5,12,142,9.93,1.75,-7.07,0.000,4,0.239,0.063,2473,3162,3529,0,0,0,0,0,0
$GC,186,-0.72,-107.0,38.0,-41.7,22,194,0.00,1.83,0.00,0.000,6,0.000,0.044,2473,2005,3531,0,0,0,0,0,0
$GC,550,-0.72,-107.0,143.3,-21.3,83,559,0.00,1.88,0.00,0.000,4,0.000,0.060,2473,3166,3532,0,0,0,0,0,0
$GC,659,-0.73,-107.0,163.6,-16.8,101,666,0.00,1.75,0.00,0.000,6,0.000,0.042,2473,2004,3532,0,0,0,0,0,0
$GC,1004,-0.73,-107.0,229.0,-17.9,162,1013,0.00,1.73,0.00,0.000,4,0.000,0.050,2473,879,3532,0,0,0,0,0,0
$GC,1061,-0.74,-107.0,238.9,-17.4,171,1067,0.00,1.77,0.00,0.000,6,0.000,0.050,2473,2049,3533,0,0,0,0,0,0
$GC,1407,-0.74,-107.0,299.3,-17.7,232,1416,0.00,1.83,0.00,0.000,4,0.000,0.050,2473,876,3532,0,0,0,0,0,0
$GC,1426,-0.75,-107.0,303.1,-18.1,234,1435,0.00,1.83,0.00,0.000,6,0.000,0.050,2473,2043,3532,0,0,0,0,0,0
$GC,1754,-0.76,-107.0,356.3,-15.6,265,1758,0.00,1.77,0.00,0.000,4,0.000,0.059,2473,3166,3531,0,0,0,0,0,0
$GC,1812,-0.77,-107.0,365.8,-15.2,270,1816,0.00,1.75,0.00,0.000,6,0.000,0.042,2473,2002,3530,0,0,0,0,0,0
$GC,2144,-0.78,-107.0,412.9,-13.6,301,2148,0.00,1.73,0.00,0.000,4,0.000,0.050,2473,879,3529,0,0,0,0,0,0
$GC,2202,-0.79,-107.0,420.7,-13.6,306,2206,0.00,1.77,0.00,0.000,6,0.000,0.050,2473,2051,3528,0,0,0,0,0,0
$GC,2534,-0.81,-107.0,461.7,-12.6,337,2536,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2051,3527,0,0,0,0,0,0
$GC,2852,-0.82,-107.0,507.6,-14.1,367,2856,0.00,1.73,0.00,0.000,4,0.000,0.057,2473,3177,3524,0,0,0,0,0,0
$GC,2921,-0.84,-107.0,516.9,-13.1,373,2924,0.00,1.77,0.00,0.000,6,0.000,0.044,2473,2001,3523,0,0,0,0,0,0
$GC,3251,-0.85,-107.0,556.7,-11.2,404,3252,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2000,3521,0,0,0,0,0,0
$GC,3572,-0.87,-107.2,591.6,-11.0,434,3576,0.00,1.83,0.00,0.000,4,0.000,0.057,2473,3168,3518,0,0,0,0,0,0
$GC,3596,-0.88,-107.2,594.3,-11.0,436,3599,0.00,1.77,0.00,0.000,6,0.000,0.042,2473,2002,3518,0,0,0,0,0,0
$GC,3929,-0.90,-107.7,629.8,-11.0,455,3933,0.00,1.83,0.00,0.000,4,0.000,0.058,2473,3168,3515,0,0,0,0,0,0
$GC,4013,-0.92,-107.7,639.5,-11.6,458,4020,0.12,1.80,0.00,0.000,6,0.111,0.043,2425,2002,3515,0,0,0,0,0,0
$GC,4329,-0.93,-107.7,689.3,-16.6,474,4332,0.00,1.70,0.00,0.000,4,0.000,0.055,2425,879,3512,0,0,0,0,0,0
$GC,4362,-0.94,-107.7,695.1,-17.2,475,4366,0.00,1.83,0.00,0.000,6,0.000,0.051,2424,2035,3511,0,0,0,0,0,0
$GC,4683,-0.95,-107.7,744.6,-14.9,491,4687,0.00,1.80,0.00,0.000,4,0.000,0.055,2423,875,3508,0,0,0,0,0,0
$GC,4710,-0.95,-107.7,748.7,-14.2,492,4715,0.00,1.85,0.00,0.000,6,0.000,0.053,2423,2046,3508,0,0,0,0,0,0
$GC,5038,-0.96,-107.7,793.6,-13.7,508,5042,0.00,1.77,0.00,0.000,4,0.000,0.062,2423,3162,3506,0,0,0,0,0,0
$GC,5088,-0.97,-107.7,800.5,-12.8,510,5092,0.00,1.80,0.00,0.000,6,0.000,0.047,2423,2010,3505,0,0,0,0,0,0
$GC,5416,-0.98,-107.7,843.6,-13.2,526,5419,0.00,1.75,0.00,0.000,4,0.000,0.057,2423,880,3502,0,0,0,0,0,0
$GC,5471,-0.99,-107.7,851.4,-14.0,528,5475,0.00,1.83,0.00,0.000,6,0.000,0.054,2423,2033,3501,0,0,0,0,0,0
$GC,5792,-1.00,-107.7,893.9,-13.2,544,5796,0.00,1.77,0.00,0.000,4,0.000,0.061,2423,3172,3499,0,0,0,0,0,0
$GC,5831,-1.02,-107.7,899.2,-12.9,545,5839,0.00,1.85,0.00,0.000,6,0.000,0.048,2423,2002,3499,0,0,0,0,0,0
$GC,6147,-1.03,-107.7,938.9,-12.0,561,6150,0.00,1.75,0.00,0.000,4,0.000,0.057,2423,868,3497,0,0,0,0,0,0
$GC,6185,-1.04,-107.7,944.0,-13.2,562,6192,0.00,1.85,0.00,0.000,6,0.000,0.052,2423,2035,3496,0,0,0,0,0,0
$GC,6502,-1.05,-107.7,984.7,-13.3,578,6506,0.00,1.83,0.00,0.000,4,0.000,0.056,2424,883,3494,0,0,0,0,0,0
$GC,6535,-1.06,-107.7,989.4,-14.1,579,6539,0.08,1.83,0.00,0.000,6,0.089,0.052,2388,2035,3493,0,0,0,0,0,0
$STATE,6545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6545,begin apogee
$GC,6550,-0.18,0.0,990.8,13.6,580,6644,0.95,0.08,85.82,1.266,6,0.164,0.107,2665,2092,3091,0,0,0,0,0,0
$STATE,6645,end apogee,CONTROL_FINISHED_OK
$STATE,6645,begin climb
$GC,6647,0.74,107.7,994.1,0.0,584,6752,0.85,0.00,101.93,1.240,6,0.067,0.000,2971,2092,2652,0,0,0,0,0,0
$GC,7049,0.73,107.7,960.4,12.3,604,7052,0.00,1.70,0.00,0.000,4,0.000,0.047,2979,967,2638,0,0,0,0,0,0
$GC,7116,0.73,107.7,951.8,12.9,607,7120,0.00,1.83,0.00,0.000,6,0.000,0.039,2973,2149,2636,0,0,0,0,0,0
$GC,7449,0.72,107.7,912.4,11.2,623,7453,0.00,1.85,0.00,0.000,4,0.000,0.047,2982,961,2633,0,0,0,0,0,0
$GC,7482,0.71,107.7,908.6,11.4,624,7485,0.00,1.83,0.00,0.000,6,0.000,0.039,2974,2152,2632,0,0,0,0,0,0
$GC,7804,0.71,113.0,874.1,10.5,640,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2152,2631,0,0,0,0,0,0
$GC,8113,0.72,123.3,841.8,10.0,655,8132,0.00,0.00,12.00,1.070,6,0.000,0.000,2974,2152,2587,0,0,0,0,0,0
$GC,8441,0.71,123.3,805.2,11.4,671,8445,0.00,1.80,0.00,0.000,4,0.000,0.047,2983,962,2584,0,0,0,0,0,0
$GC,8479,0.71,123.3,800.5,11.5,672,8486,0.00,1.83,0.00,0.000,6,0.000,0.039,2975,2154,2583,0,0,0,0,0,0
$GC,8796,0.70,123.3,765.2,11.7,688,8799,0.00,1.67,0.00,0.000,4,0.000,0.047,2975,3271,2582,0,0,0,0,0,0
$GC,8845,0.69,123.3,758.9,12.8,690,8849,0.08,1.83,0.00,0.000,6,0.194,0.037,2962,2084,2581,0,0,0,0,0,0
$GC,9173,0.70,129.7,724.2,10.3,706,9184,0.00,1.75,6.53,0.889,4,0.000,0.048,2970,963,2562,0,0,0,0,0,0
$GC,9296,0.70,132.9,711.1,10.7,711,9306,0.00,1.77,4.78,0.764,6,0.000,0.040,2962,2151,2549,0,0,0,0,0,0
$GC,9635,0.70,134.9,675.6,10.8,728,9639,0.00,1.73,0.00,0.000,4,0.000,0.046,2962,3270,2546,0,0,0,0,0,0
$GC,9681,0.70,134.9,670.1,12.3,730,9685,0.00,1.80,0.00,0.000,6,0.000,0.037,2970,2095,2545,0,0,0,0,0,0
$GC,10014,0.69,134.9,633.3,11.1,746,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2093,2544,0,0,0,0,0,0
$GC,10323,0.70,139.2,600.1,10.6,761,10336,0.00,1.88,7.00,0.848,4,0.000,0.046,2970,3271,2523,0,0,0,0,0,0
$GC,10438,0.69,139.2,586.9,11.9,770,10444,0.00,1.80,0.00,0.000,6,0.000,0.037,2979,2081,2522,0,0,0,0,0,0
$GC,10763,0.69,139.2,550.9,11.0,801,10767,0.00,1.85,0.00,0.000,4,0.000,0.046,2976,3265,2520,0,0,0,0,0,0
$GC,10796,0.68,139.2,547.1,11.4,804,10800,0.12,1.77,0.00,0.000,6,0.201,0.037,2954,2085,2520,0,0,0,0,0,0
$GC,11127,0.71,158.9,515.4,9.0,835,11153,0.00,1.75,19.75,0.936,4,0.000,0.047,2963,964,2442,0,0,0,0,0,0
$GC,11228,0.72,164.0,505.3,10.5,844,11240,0.00,1.77,6.10,0.747,6,0.000,0.038,2961,2149,2422,0,0,0,0,0,0
$GC,11561,0.73,175.2,473.8,9.9,875,11576,0.00,1.83,11.48,0.849,4,0.000,0.044,2969,958,2376,0,0,0,0,0,0
$GC,11604,0.74,175.2,469.0,11.2,878,11613,0.00,1.83,0.00,0.000,6,0.000,0.038,2970,2145,2373,0,0,0,0,0,0
$GC,11932,0.75,182.4,433.1,10.3,909,11945,0.00,1.88,7.65,0.760,4,0.000,0.046,2978,960,2347,0,0,0,0,0,0
$GC,11983,0.76,185.6,427.8,10.7,913,11996,0.00,1.77,4.72,0.624,6,0.000,0.037,2975,2149,2333,0,0,0,0,0,0
$GC,12313,0.76,185.6,387.3,11.6,944,12317,0.00,1.73,0.00,0.000,4,0.000,0.046,2974,3268,2330,0,0,0,0,0,0
$GC,12374,0.76,185.6,379.2,12.4,949,12382,0.00,1.80,0.00,0.000,6,0.000,0.034,2983,2094,2329,0,0,0,0,0,0
$GC,12699,0.76,185.6,339.1,12.4,980,12703,0.00,1.67,0.00,0.000,4,0.000,0.045,2992,964,2328,0,0,0,0,0,0
$GC,12783,0.77,185.6,328.1,12.0,987,12790,0.00,1.80,0.00,0.000,6,0.000,0.037,2988,2149,2328,0,0,0,0,0,0
$GC,13115,0.77,187.1,289.9,10.9,1026,13124,0.00,1.73,0.00,0.000,4,0.000,0.044,2988,3277,2328,0,0,0,0,0,0
$GC,13195,0.78,192.3,281.5,10.5,1039,13210,0.00,1.77,7.10,0.643,6,0.000,0.033,2997,2083,2306,0,0,0,0,0,0
$GC,13551,0.78,192.3,240.4,12.0,1101,13559,0.00,1.65,0.00,0.000,4,0.000,0.044,3006,964,2305,0,0,0,0,0,0
$GC,13657,0.79,192.3,228.1,11.2,1119,13664,0.00,1.75,0.00,0.000,6,0.000,0.036,3003,2156,2305,0,0,0,0,0,0
$GC,14003,0.79,192.3,188.1,11.0,1180,14011,0.00,1.80,0.00,0.000,4,0.000,0.042,3012,971,2305,0,0,0,0,0,0
$GC,14115,0.79,192.3,175.3,11.1,1199,14122,0.00,1.77,0.00,0.000,6,0.000,0.036,3012,2152,2305,0,0,0,0,0,0
$GC,14470,0.82,212.9,140.7,8.9,1260,14496,0.00,1.75,20.20,0.631,4,0.000,0.041,3011,3275,2220,0,0,0,0,0,0
$GC,14540,0.83,220.6,133.9,10.2,1270,14557,0.00,1.80,7.57,0.536,6,0.000,0.031,3021,2082,2191,0,0,0,0,0,0
$GC,14908,0.85,235.3,95.4,9.5,1332,14926,0.00,1.73,13.73,0.572,4,0.000,0.041,3030,964,2130,0,0,0,0,0,0
$GC,15035,0.87,242.2,82.8,10.3,1352,15053,0.00,1.80,7.00,0.496,6,0.000,0.034,3029,2157,2102,0,0,0,0,0,0
$GC,15404,0.95,299.6,50.3,5.2,1414,15461,0.00,1.88,47.35,0.572,4,0.000,0.041,3039,961,1866,0,0,0,0,0,0
$GC,15507,1.02,342.1,42.7,6.7,1428,15548,0.00,1.83,34.78,0.554,6,0.000,0.033,3038,2158,1695,0,0,0,0,0,0
$GC,15905,1.07,375.1,8.8,7.7,1493,15939,0.10,1.73,25.92,0.518,4,0.099,0.037,3097,3271,1561,0,0,0,0,0,0
$STATE,15947,end climb,SURFACE_DEPTH_REACHED
$STATE,15947,begin surface coast
$FINISH,0.0,1.010837
$STATE,15967,end surface coast,CONTROL_FINISHED_OK
$STATE,15968,begin surface
$SM_CCo,15986,181.70,0.055,0,0,481,640.23
$SM_GC,0.93,0.00,0.00,181.70,0.000,0.000,0.055,150,1995,481,-8.06,-0.85,640.23
$IRIDIUM_FIX,2328.57,12610.81,171010,040402
$TT8_MAMPS,0.026215
$HUMID,40.51
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,26.30
$XPDR_PINGS,0
$24V_AH,23.0,45.067
$10V_AH,10.1,37.908
$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,20.600,129.000,431.400,181.700,0.000,30.334,39.889,205.690,0.000,0.000,39.024,3728.552,7765.930,731.551,4081.977,279.037,0.000,2118.278,0.000,3790.864,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,107.100,1266.075,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1017.780,0.000,2179.534,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333832
$DATA_FILE_SIZE,90247,1501
$CAP_FILE_SIZE,177400,0
$CFSIZE,260165632,237441024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,350.2,1
$GPS,171010,131855,2341.313,12612.810,43,1.4,43,-3.5