version: 66.08
glider: 169
mission: 2
dive: 322
start: 10 17 110 13 26 52
data:
$ID,169
$MISSION,2
$DIVE,322
$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,-7088.6157
$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
$GPS1,171010,131855,2341.313,12612.810,43,1.4,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.7
$GPS2,171010,132613,2341.394,12612.714,33,1.9,38,-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,200.4,2852,-25.9,-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,-0.67,-81.2,0.0,0.0,0,108,0.00,0.00,-90.05,0.000,2,0.000,0.000,143,1995,2973,0,0,0,0,0,0
$GC,110,-0.74,-132.0,3.8,-6.4,11,137,9.95,1.80,-11.77,0.000,4,0.240,0.068,2481,870,3633,0,0,0,0,0,0
$GC,246,-0.74,-132.0,51.0,-22.5,32,255,0.00,1.85,0.00,0.000,6,0.000,0.052,2480,2035,3635,0,0,0,0,0,0
$GC,608,-0.73,-132.0,141.1,-22.5,93,616,0.00,1.77,0.00,0.000,4,0.000,0.058,2480,3162,3636,0,0,0,0,0,0
$GC,664,-0.74,-132.0,153.3,-20.2,102,673,0.00,1.80,0.00,0.000,6,0.000,0.044,2480,2004,3636,0,0,0,0,0,0
$GC,1025,-0.74,-132.0,226.7,-18.1,163,1032,0.00,1.83,0.00,0.000,4,0.000,0.058,2479,3168,3636,0,0,0,0,0,0
$GC,1068,-0.75,-132.0,234.6,-16.6,170,1077,0.00,1.80,0.00,0.000,6,0.000,0.043,2480,2004,3637,0,0,0,0,0,0
$GC,1428,-0.75,-132.0,292.7,-15.6,231,1435,0.00,1.70,0.00,0.000,4,0.000,0.050,2480,865,3636,0,0,0,0,0,0
$GC,1455,-0.76,-132.0,297.1,-15.8,235,1462,0.00,1.83,0.00,0.000,6,0.000,0.050,2480,2052,3636,0,0,0,0,0,0
$GC,1785,-0.77,-132.0,349.8,-15.4,267,1788,0.00,1.70,0.00,0.000,4,0.000,0.057,2480,3168,3636,0,0,0,0,0,0
$GC,1833,-0.78,-132.0,357.1,-15.5,271,1836,0.00,1.75,0.00,0.000,6,0.000,0.041,2480,2001,3635,0,0,0,0,0,0
$GC,2165,-0.79,-132.0,410.4,-16.3,302,2168,0.00,1.85,0.00,0.000,4,0.000,0.056,2480,3178,3633,0,0,0,0,0,0
$GC,2211,-0.80,-132.0,417.6,-14.8,306,2215,0.00,1.77,0.00,0.000,6,0.000,0.042,2479,2001,3633,0,0,0,0,0,0
$GC,2544,-0.82,-132.0,464.7,-13.4,337,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2000,3630,0,0,0,0,0,0
$GC,2870,-0.83,-132.0,504.8,-11.6,368,2874,0.00,1.83,0.00,0.000,4,0.000,0.055,2480,3170,3627,0,0,0,0,0,0
$GC,2915,-0.85,-132.0,510.1,-11.0,372,2919,0.00,1.75,0.00,0.000,6,0.000,0.042,2480,2003,3627,0,0,0,0,0,0
$GC,3246,-0.86,-132.0,551.7,-13.6,403,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2003,3625,0,0,0,0,0,0
$GC,3567,-0.87,-132.0,594.3,-13.2,433,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,2002,3622,0,0,0,0,0,0
$GC,3888,-0.89,-133.7,632.1,-10.8,451,3890,0.12,0.00,0.00,0.000,6,0.118,0.000,2434,2002,3620,0,0,0,0,0,0
$GC,4196,-0.90,-133.7,677.5,-15.5,466,4199,0.00,1.83,0.00,0.000,4,0.000,0.058,2434,3166,3616,0,0,0,0,0,0
$GC,4245,-0.91,-133.7,685.4,-14.4,468,4249,0.00,1.80,0.00,0.000,6,0.000,0.044,2434,2004,3615,0,0,0,0,0,0
$GC,4573,-0.92,-133.7,733.7,-14.7,484,4576,0.00,1.85,0.00,0.000,4,0.000,0.059,2434,3170,3613,0,0,0,0,0,0
$GC,4622,-0.93,-133.7,741.1,-14.3,486,4626,0.00,1.80,0.00,0.000,6,0.000,0.046,2433,2001,3612,0,0,0,0,0,0
$GC,4950,-0.94,-133.7,782.6,-11.7,502,4953,0.00,1.83,0.00,0.000,4,0.000,0.059,2434,3167,3610,0,0,0,0,0,0
$GC,4973,-0.95,-133.7,785.2,-11.5,503,4976,0.00,1.77,0.00,0.000,6,0.000,0.045,2434,1999,3610,0,0,0,0,0,0
$GC,5306,-0.96,-133.7,823.4,-12.0,519,5309,0.00,1.85,0.00,0.000,4,0.000,0.059,2434,3167,3607,0,0,0,0,0,0
$GC,5344,-0.97,-133.7,828.4,-12.1,520,5352,0.00,1.83,0.00,0.000,6,0.000,0.045,2434,2001,3606,0,0,0,0,0,0
$GC,5661,-0.98,-133.7,868.8,-13.1,536,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2000,3604,0,0,0,0,0,0
$GC,5969,-0.99,-133.7,912.2,-14.4,551,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2000,3601,0,0,0,0,0,0
$GC,6279,-1.00,-133.7,954.6,-13.4,566,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2000,3598,0,0,0,0,0,0
$STATE,6545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6545,begin apogee
$GC,6550,-0.18,0.0,990.4,13.5,579,6665,0.75,0.05,107.78,1.269,6,0.153,0.067,2661,2095,3090,0,0,0,0,0,0
$STATE,6666,end apogee,CONTROL_FINISHED_OK
$STATE,6666,begin climb
$GC,6668,0.74,133.7,995.3,0.0,584,6802,0.85,2.05,127.32,1.241,4,0.066,0.045,2966,3271,2544,0,0,0,0,0,0
$GC,6827,0.73,133.7,991.1,11.7,592,6831,0.00,1.90,0.00,0.000,6,0.000,0.034,2975,2092,2539,0,0,0,0,0,0
$GC,7160,0.72,133.7,943.6,14.5,608,7161,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2090,2530,0,0,0,0,0,0
$GC,7469,0.71,133.7,898.7,14.6,623,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2090,2527,0,0,0,0,0,0
$GC,7779,0.70,133.7,851.7,15.1,638,7782,0.00,1.83,0.00,0.000,4,0.000,0.046,2975,3278,2524,0,0,0,0,0,0
$GC,7812,0.69,133.7,846.3,17.0,639,7816,0.12,1.83,0.00,0.000,6,0.205,0.034,2954,2083,2524,0,0,0,0,0,0
$GC,8133,0.69,133.7,803.6,13.1,655,8136,0.00,1.80,0.00,0.000,4,0.000,0.045,2947,3271,2522,0,0,0,0,0,0
$GC,8159,0.68,133.7,799.7,14.4,656,8163,0.00,1.80,0.00,0.000,6,0.000,0.034,2956,2086,2522,0,0,0,0,0,0
$GC,8487,0.67,133.7,760.2,11.9,672,8491,0.00,1.80,0.00,0.000,4,0.000,0.044,2948,3273,2521,0,0,0,0,0,0
$GC,8566,0.67,133.7,750.4,11.6,675,8570,0.00,1.80,0.00,0.000,6,0.000,0.034,2957,2074,2520,0,0,0,0,0,0
$GC,8888,0.66,133.7,715.2,11.2,691,8889,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2074,2518,0,0,0,0,0,0
$GC,9197,0.67,141.0,681.6,10.3,706,9201,0.00,1.83,0.00,0.000,4,0.000,0.046,2957,3272,2518,0,0,0,0,0,0
$GC,9224,0.66,141.0,678.3,11.5,707,9228,0.00,1.80,0.00,0.000,6,0.000,0.035,2965,2087,2517,0,0,0,0,0,0
$GC,9552,0.66,144.4,645.2,10.7,723,9562,0.00,1.80,5.75,0.810,4,0.000,0.043,2961,3271,2502,0,0,0,0,0,0
$GC,9637,0.66,144.4,635.4,11.6,727,9640,0.00,1.77,0.00,0.000,6,0.000,0.034,2969,2086,2501,0,0,0,0,0,0
$GC,9960,0.65,144.4,598.4,11.1,743,9963,0.00,1.67,0.00,0.000,4,0.000,0.045,2978,956,2500,0,0,0,0,0,0
$GC,9983,0.65,144.4,595.7,11.7,745,9987,0.15,1.77,0.00,0.000,6,0.187,0.038,2938,2155,2500,0,0,0,0,0,0
$GC,10315,0.66,157.3,562.1,9.8,776,10338,0.00,1.88,13.73,0.934,4,0.000,0.046,2946,967,2448,0,0,0,0,0,0
$GC,10431,0.68,165.4,550.4,10.3,786,10446,0.00,1.80,9.20,0.864,6,0.000,0.038,2944,2143,2415,0,0,0,0,0,0
$GC,10772,0.68,165.4,513.2,12.2,818,10776,0.00,1.80,0.00,0.000,4,0.000,0.044,2953,961,2410,0,0,0,0,0,0
$GC,10817,0.68,165.4,508.1,11.4,822,10821,0.00,1.80,0.00,0.000,6,0.000,0.037,2949,2155,2410,0,0,0,0,0,0
$GC,11150,0.69,169.1,470.5,10.7,853,11154,0.00,1.73,0.00,0.000,4,0.000,0.045,2949,3274,2409,0,0,0,0,0,0
$GC,11166,0.69,169.1,468.3,11.5,854,11176,0.00,1.80,3.70,0.545,6,0.000,0.033,2957,2090,2401,0,0,0,0,0,0
$GC,11493,0.71,186.7,434.2,9.4,885,11518,0.00,1.70,18.20,0.861,4,0.000,0.042,2966,958,2329,0,0,0,0,0,0
$GC,11659,0.72,189.6,417.1,10.7,899,11663,0.00,1.77,0.00,0.000,6,0.000,0.037,2961,2150,2325,0,0,0,0,0,0
$GC,11990,0.73,194.4,380.4,10.6,930,12004,0.00,1.80,7.68,0.722,4,0.000,0.041,2970,956,2298,0,0,0,0,0,0
$GC,12044,0.73,194.4,374.4,11.1,934,12053,0.00,1.83,0.00,0.000,6,0.000,0.037,2970,2152,2297,0,0,0,0,0,0
$GC,12372,0.73,194.4,337.6,12.2,965,12376,0.00,1.73,0.00,0.000,4,0.000,0.044,2970,3277,2295,0,0,0,0,0,0
$GC,12420,0.73,194.4,331.8,11.9,969,12424,0.00,1.80,0.00,0.000,6,0.000,0.032,2979,2088,2294,0,0,0,0,0,0
$GC,12752,0.73,194.4,291.8,12.1,1005,12758,0.00,1.67,0.00,0.000,4,0.000,0.043,2987,962,2294,0,0,0,0,0,0
$GC,13021,0.75,201.1,260.9,10.4,1051,13037,0.00,1.77,7.22,0.632,6,0.000,0.035,2987,2158,2270,0,0,0,0,0,0
$GC,13389,0.75,201.1,220.7,11.4,1113,13395,0.00,1.80,0.00,0.000,4,0.000,0.041,2996,959,2269,0,0,0,0,0,0
$GC,13593,0.78,224.6,198.8,8.9,1148,13622,0.00,1.80,22.30,0.682,6,0.000,0.035,2996,2154,2174,0,0,0,0,0,0
$GC,13975,0.78,224.6,153.7,11.7,1212,13985,0.00,1.80,0.00,0.000,4,0.000,0.039,3004,968,2167,0,0,0,0,0,0
$GC,14093,0.80,230.1,140.3,10.5,1231,14103,0.00,1.77,5.35,0.493,6,0.000,0.034,3003,2152,2151,0,0,0,0,0,0
$GC,14459,0.83,254.3,102.8,8.8,1292,14485,0.00,1.75,21.95,0.603,4,0.000,0.040,3003,3277,2054,0,0,0,0,0,0
$GC,14564,0.85,265.5,92.2,10.0,1308,14582,0.00,1.80,9.95,0.539,6,0.000,0.029,3012,2081,2008,0,0,0,0,0,0
$GC,14934,0.90,292.1,55.7,8.6,1370,14968,0.00,1.70,22.70,0.563,4,0.000,0.040,3021,965,1899,0,0,0,0,0,0
$GC,15044,0.92,295.1,45.2,10.7,1386,15053,0.00,1.80,3.83,0.355,6,0.000,0.032,3019,2161,1886,0,0,0,0,0,0
$GC,15405,1.00,350.0,18.3,6.0,1447,15456,0.00,1.75,45.00,0.542,4,0.000,0.038,3019,3280,1662,0,0,0,0,0,0
$GC,15592,1.06,380.9,6.3,8.2,1476,15626,0.08,1.80,25.00,0.515,6,0.053,0.028,3086,2070,1536,0,0,0,0,0,0
$STATE,15634,end climb,SURFACE_DEPTH_REACHED
$STATE,15634,begin surface coast
$FINISH,0.1,1.021961
$STATE,15659,end surface coast,CONTROL_FINISHED_OK
$STATE,15659,begin surface
$SM_CCo,15676,170.20,0.054,0,0,481,640.23
$SM_GC,1.06,0.00,0.00,170.20,0.000,0.000,0.054,124,1988,481,-8.14,-1.05,640.23
$IRIDIUM_FIX,2328.57,12610.81,171010,080835
$TT8_MAMPS,0.026215
$HUMID,40.51
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,26.60
$XPDR_PINGS,0
$24V_AH,22.8,45.209
$10V_AH,10.1,38.080
$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,20.250,108.050,456.650,170.200,0.000,24.730,39.440,212.699,0.000,0.000,39.726,3695.749,7591.613,695.487,4008.602,292.443,0.000,2027.053,0.000,3729.340,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,101.745,1269.135,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1007.448,0.000,2224.292,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333860
$DATA_FILE_SIZE,87029,1485
$CAP_FILE_SIZE,168298,0
$CFSIZE,260165632,237363200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,338.9,1
$GPS,171010,175232,2340.048,12611.693,66,0.9,66,-3.5