version: 66.08
glider: 169
mission: 2
dive: 323
start: 10 17 110 17 59 49
data:
$ID,169
$MISSION,2
$DIVE,323
$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,-7089.8726
$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
$GPS1,171010,175232,2340.048,12611.693,66,0.9,66,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.8
$GPS2,171010,175919,2340.144,12611.686,10,1.5,15,-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,129.8,597,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.70,-72.6,0.0,0.0,0,105,0.00,0.00,-88.38,0.000,2,0.000,0.000,122,1987,2887,0,0,0,0,0,0
$GC,108,-0.78,-138.7,3.2,-4.3,11,142,9.85,1.75,-14.88,0.000,4,0.236,0.066,2469,874,3659,0,0,0,0,0,0
$GC,243,-0.78,-138.7,49.2,-28.2,32,252,0.00,1.85,0.00,0.000,6,0.000,0.052,2464,2046,3660,0,0,0,0,0,0
$GC,609,-0.78,-138.7,152.6,-23.3,93,617,0.00,1.73,0.00,0.000,4,0.000,0.060,2460,3167,3661,0,0,0,0,0,0
$GC,652,-0.78,-138.7,162.2,-20.7,100,660,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,2002,3661,0,0,0,0,0,0
$GC,1002,-0.78,-138.7,236.9,-21.6,161,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2001,3661,0,0,0,0,0,0
$GC,1345,-0.79,-138.7,304.5,-20.0,220,1349,0.00,1.85,0.00,0.000,4,0.000,0.057,2460,3168,3660,0,0,0,0,0,0
$GC,1417,-0.80,-138.7,318.2,-17.4,226,1426,0.00,1.77,0.00,0.000,6,0.000,0.041,2460,2002,3660,0,0,0,0,0,0
$GC,1744,-0.80,-138.7,377.3,-19.0,257,1748,0.00,1.80,0.00,0.000,4,0.000,0.057,2460,3168,3660,0,0,0,0,0,0
$GC,1823,-0.81,-138.7,390.5,-15.3,264,1827,0.00,1.77,0.00,0.000,6,0.000,0.042,2460,1997,3659,0,0,0,0,0,0
$GC,2156,-0.83,-138.7,441.1,-15.3,295,2160,0.00,1.85,0.00,0.000,4,0.000,0.057,2460,3164,3658,0,0,0,0,0,0
$GC,2213,-0.84,-138.7,450.0,-15.4,300,2216,0.00,1.77,0.00,0.000,6,0.000,0.042,2460,1994,3657,0,0,0,0,0,0
$GC,2543,-0.85,-138.7,503.0,-16.2,331,2547,0.00,1.85,0.00,0.000,4,0.000,0.057,2460,3171,3655,0,0,0,0,0,0
$GC,2579,-0.87,-138.7,508.5,-16.6,334,2582,0.00,1.77,0.00,0.000,6,0.000,0.045,2460,2003,3655,0,0,0,0,0,0
$GC,2909,-0.88,-138.7,558.0,-14.5,365,2913,0.00,1.80,0.00,0.000,4,0.000,0.057,2460,3167,3652,0,0,0,0,0,0
$GC,2937,-0.89,-138.7,562.2,-14.8,367,2943,0.00,1.80,0.00,0.000,6,0.000,0.042,2460,2000,3652,0,0,0,0,0,0
$GC,3262,-0.91,-138.7,606.9,-13.9,396,3266,0.00,1.85,0.00,0.000,4,0.000,0.057,2460,3174,3649,0,0,0,0,0,0
$GC,3294,-0.92,-138.7,611.9,-14.1,397,3299,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,2005,3648,0,0,0,0,0,0
$GC,3617,-0.94,-138.7,655.3,-13.6,413,3620,0.00,1.83,0.00,0.000,4,0.000,0.060,2460,3169,3645,0,0,0,0,0,0
$GC,3741,-0.96,-138.7,671.0,-12.0,418,3745,0.12,1.77,0.00,0.000,6,0.109,0.045,2410,2004,3643,0,0,0,0,0,0
$GC,4062,-0.96,-138.7,726.5,-17.8,434,4064,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2002,3641,0,0,0,0,0,0
$GC,4371,-0.97,-138.7,777.1,-15.9,449,4374,0.00,1.73,0.00,0.000,4,0.000,0.055,2410,879,3637,0,0,0,0,0,0
$GC,4409,-0.98,-138.7,783.3,-14.8,450,4416,0.00,1.83,0.00,0.000,6,0.000,0.051,2410,2040,3637,0,0,0,0,0,0
$GC,4726,-0.99,-138.7,829.1,-14.0,466,4730,0.00,1.75,0.00,0.000,4,0.000,0.062,2407,3168,3634,0,0,0,0,0,0
$GC,4787,-1.00,-138.7,837.9,-14.2,468,4794,0.00,1.80,0.00,0.000,6,0.000,0.047,2406,2008,3633,0,0,0,0,0,0
$GC,5104,-1.01,-138.7,882.4,-14.4,484,5107,0.00,1.75,0.00,0.000,4,0.000,0.057,2407,875,3630,0,0,0,0,0,0
$GC,5136,-1.02,-138.7,887.7,-15.0,485,5140,0.00,1.85,0.00,0.000,6,0.000,0.053,2407,2041,3630,0,0,0,0,0,0
$GC,5458,-1.03,-138.7,934.2,-14.9,501,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2041,3628,0,0,0,0,0,0
$GC,5768,-1.04,-138.7,980.6,-14.7,516,5772,0.00,1.80,0.00,0.000,4,0.000,0.064,2407,3165,3625,0,0,0,0,0,0
$GC,5800,-1.05,-138.7,985.7,-15.0,517,5804,0.00,1.83,0.00,0.000,6,0.000,0.047,2407,2002,3625,0,0,0,0,0,0
$STATE,5831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5831,begin apogee
$GC,5836,-0.18,0.0,990.3,14.9,519,5958,0.85,0.08,114.78,1.261,6,0.148,0.108,2667,2092,3091,0,0,0,0,0,0
$STATE,5958,end apogee,CONTROL_FINISHED_OK
$STATE,5959,begin climb
$GC,5960,0.78,138.7,995.1,0.0,524,6100,0.88,0.00,131.48,1.233,6,0.049,0.000,2992,2092,2524,0,0,0,0,0,0
$GC,6409,0.77,138.7,944.8,15.6,546,6413,0.00,1.73,0.00,0.000,4,0.000,0.046,3000,961,2510,0,0,0,0,0,0
$GC,6432,0.76,138.7,941.0,16.4,547,6436,0.00,1.80,0.00,0.000,6,0.000,0.038,2992,2150,2510,0,0,0,0,0,0
$GC,6765,0.75,138.7,889.7,15.3,563,6769,0.00,1.77,0.00,0.000,4,0.000,0.045,3001,964,2506,0,0,0,0,0,0
$GC,6792,0.75,138.7,885.1,15.7,564,6796,0.00,1.80,0.00,0.000,6,0.000,0.038,2993,2149,2506,0,0,0,0,0,0
$GC,7119,0.74,138.7,836.0,15.1,580,7123,0.00,1.77,0.00,0.000,4,0.000,0.045,3001,961,2503,0,0,0,0,0,0
$GC,7158,0.73,138.7,830.0,15.6,581,7166,0.12,1.80,0.00,0.000,6,0.204,0.039,2971,2158,2503,0,0,0,0,0,0
$GC,7474,0.73,138.7,788.1,13.1,597,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2158,2501,0,0,0,0,0,0
$GC,7784,0.73,138.7,749.1,12.4,612,7787,0.00,1.80,0.00,0.000,4,0.000,0.047,2979,957,2500,0,0,0,0,0,0
$GC,7816,0.72,138.7,744.7,12.5,613,7820,0.00,1.83,0.00,0.000,6,0.000,0.040,2974,2152,2499,0,0,0,0,0,0
$GC,8138,0.72,138.7,704.6,12.9,629,8142,0.00,1.67,0.00,0.000,4,0.000,0.047,2974,3274,2498,0,0,0,0,0,0
$GC,8183,0.71,138.7,698.1,14.8,631,8187,0.00,1.77,0.00,0.000,6,0.000,0.034,2982,2081,2498,0,0,0,0,0,0
$GC,8516,0.71,138.7,651.8,13.9,647,8520,0.00,1.83,0.00,0.000,4,0.000,0.045,2977,3271,2497,0,0,0,0,0,0
$GC,8543,0.70,138.7,648.0,14.3,648,8547,0.00,1.80,0.00,0.000,6,0.000,0.035,2985,2084,2497,0,0,0,0,0,0
$GC,8871,0.70,138.7,609.4,11.3,664,8875,0.12,1.80,0.00,0.000,4,0.210,0.044,2947,3271,2496,0,0,0,0,0,0
$GC,9010,0.70,138.7,593.9,11.8,672,9017,0.00,1.77,0.00,0.000,6,0.000,0.034,2956,2082,2496,0,0,0,0,0,0
$GC,9335,0.72,155.4,563.1,9.3,703,9351,0.00,1.83,11.23,0.905,4,0.000,0.044,2948,3277,2456,0,0,0,0,0,0
$GC,9475,0.73,163.6,548.6,10.2,715,9490,0.00,1.80,9.48,0.867,6,0.000,0.034,2956,2077,2423,0,0,0,0,0,0
$GC,9816,0.74,166.1,512.4,10.7,747,9819,0.00,1.65,0.00,0.000,4,0.000,0.046,2966,968,2418,0,0,0,0,0,0
$GC,9907,0.74,166.1,502.5,11.1,755,9910,0.00,1.77,0.00,0.000,6,0.000,0.037,2963,2150,2417,0,0,0,0,0,0
$GC,10238,0.74,166.1,462.8,12.4,786,10241,0.00,1.70,0.00,0.000,4,0.000,0.045,2963,3274,2416,0,0,0,0,0,0
$GC,10364,0.74,166.1,446.7,12.9,797,10368,0.00,1.75,0.00,0.000,6,0.000,0.034,2972,2086,2415,0,0,0,0,0,0
$GC,10695,0.76,175.4,412.0,10.1,828,10711,0.00,1.88,11.23,0.801,4,0.000,0.043,2964,3273,2376,0,0,0,0,0,0
$GC,10781,0.76,175.4,403.0,11.2,835,10785,0.00,1.80,0.00,0.000,6,0.000,0.033,2972,2073,2373,0,0,0,0,0,0
$GC,11113,0.78,190.7,372.0,9.4,866,11137,0.00,1.73,15.35,0.793,4,0.000,0.044,2981,965,2312,0,0,0,0,0,0
$GC,11243,0.78,190.7,357.6,12.3,877,11247,0.00,1.80,0.00,0.000,6,0.000,0.037,2980,2146,2309,0,0,0,0,0,0
$GC,11574,0.79,190.7,313.4,13.0,908,11577,0.00,1.70,0.00,0.000,4,0.000,0.044,2980,3274,2308,0,0,0,0,0,0
$GC,11678,0.79,190.7,300.1,12.2,917,11681,0.00,1.77,0.00,0.000,6,0.000,0.031,2988,2080,2307,0,0,0,0,0,0
$GC,12025,0.81,202.5,264.0,9.8,977,12042,0.00,1.88,11.38,0.687,4,0.000,0.042,2987,3273,2265,0,0,0,0,0,0
$GC,12140,0.81,202.5,250.5,11.6,996,12148,0.00,1.80,0.00,0.000,6,0.000,0.031,2996,2080,2262,0,0,0,0,0,0
$GC,12492,0.82,202.5,209.1,11.5,1057,12499,0.00,1.67,0.00,0.000,4,0.000,0.042,3005,954,2261,0,0,0,0,0,0
$GC,12531,0.83,207.8,204.7,10.5,1063,12545,0.00,1.77,6.00,0.553,6,0.000,0.034,3003,2153,2243,0,0,0,0,0,0
$GC,12888,0.83,207.8,165.9,11.8,1125,12895,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2153,2241,0,0,0,0,0,0
$GC,13247,0.86,227.1,130.4,9.0,1186,13273,0.00,1.77,18.25,0.614,4,0.000,0.037,3011,963,2164,0,0,0,0,0,0
$GC,13305,0.90,246.9,125.5,9.0,1194,13330,0.00,1.77,18.10,0.604,6,0.000,0.033,3011,2148,2083,0,0,0,0,0,0
$GC,13681,0.94,278.1,92.0,7.8,1257,13715,0.00,1.80,25.95,0.593,4,0.000,0.035,3020,954,1955,0,0,0,0,0,0
$GC,13874,0.99,302.0,74.9,8.6,1288,13900,0.00,1.80,20.15,0.564,6,0.000,0.031,3020,2153,1858,0,0,0,0,0,0
$GC,14252,1.07,352.9,44.6,5.8,1351,14302,0.15,1.73,40.88,0.559,4,0.073,0.037,3099,3271,1653,0,0,0,0,0,0
$GC,14445,1.08,352.9,19.7,16.2,1381,14455,0.08,1.80,0.00,0.000,6,0.174,0.028,3084,2072,1647,0,0,0,0,0,0
$STATE,14550,end climb,SURFACE_DEPTH_REACHED
$STATE,14550,begin surface coast
$FINISH,0.2,1.021698
$STATE,14571,end surface coast,CONTROL_FINISHED_OK
$STATE,14571,begin surface
$SM_CCo,14587,190.40,0.055,0,0,481,640.23
$SM_GC,1.05,0.00,0.00,190.40,0.000,0.000,0.055,139,1990,481,-8.07,-0.99,640.23
$IRIDIUM_FIX,2333.28,12615.48,171010,131351
$TT8_MAMPS,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,22.9,45.348
$10V_AH,10.1,38.246
$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,20.325,111.075,434.225,190.400,0.000,28.733,42.437,200.538,0.000,0.000,16.264,3491.546,6823.382,697.657,3887.428,275.525,0.000,2009.738,0.000,3626.489,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,107.865,1261.485,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,949.561,0.000,2099.503,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,83643,1401
$CAP_FILE_SIZE,163530,0
$CFSIZE,260165632,237293568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086, 15.4,1
$GPS,171010,220707,2339.675,12613.504,32,1.0,32,-3.5