version: 66.08
glider: 169
mission: 2
dive: 327
start: 10 18 110 11 43 30
data:
$ID,169
$MISSION,2
$DIVE,327
$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,-7094.9023
$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
$GPS1,181010,113631,2339.812,12611.505,42,1.3,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.9
$GPS2,181010,114301,2339.862,12611.440,12,2.0,12,-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,100.2,983,-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,-72.6,0.0,0.0,0,106,0.00,0.00,-88.60,0.000,2,0.000,0.000,123,1997,2890,0,0,0,0,0,0
$GC,109,-0.76,-124.7,3.3,-5.7,11,135,9.98,0.00,-13.73,0.000,6,0.241,0.000,2473,1997,3602,0,0,0,0,0,0
$GC,485,-0.76,-124.7,129.4,-24.8,74,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1997,3604,0,0,0,0,0,0
$GC,837,-0.76,-124.7,204.8,-18.0,135,844,0.00,1.85,0.00,0.000,4,0.000,0.056,2473,3159,3605,0,0,0,0,0,0
$GC,887,-0.77,-124.7,213.9,-18.0,143,894,0.00,1.77,0.00,0.000,6,0.000,0.044,2473,2003,3605,0,0,0,0,0,0
$GC,1231,-0.78,-124.7,278.1,-17.5,204,1240,0.00,1.73,0.00,0.000,4,0.000,0.050,2473,880,3605,0,0,0,0,0,0
$GC,1265,-0.79,-124.7,283.9,-17.9,209,1273,0.00,1.77,0.00,0.000,6,0.000,0.050,2473,2052,3605,0,0,0,0,0,0
$GC,1597,-0.80,-124.7,336.3,-14.7,248,1600,0.00,1.70,0.00,0.000,4,0.000,0.057,2473,3168,3605,0,0,0,0,0,0
$GC,1633,-0.81,-124.7,341.4,-14.7,251,1637,0.00,1.75,0.00,0.000,6,0.000,0.042,2474,2001,3605,0,0,0,0,0,0
$GC,1965,-0.82,-124.7,388.4,-15.1,282,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1999,3603,0,0,0,0,0,0
$GC,2284,-0.83,-124.7,439.2,-15.9,312,2287,0.00,1.85,0.00,0.000,4,0.000,0.056,2473,3176,3601,0,0,0,0,0,0
$GC,2308,-0.84,-124.7,442.9,-15.4,314,2311,0.00,1.77,0.00,0.000,6,0.000,0.044,2473,2000,3601,0,0,0,0,0,0
$GC,2640,-0.86,-124.7,489.4,-13.1,345,2644,0.00,1.83,0.00,0.000,4,0.000,0.056,2473,3168,3599,0,0,0,0,0,0
$GC,2688,-0.88,-124.7,495.4,-12.0,349,2692,0.00,1.77,0.00,0.000,6,0.000,0.042,2473,2001,3599,0,0,0,0,0,0
$GC,3019,-0.89,-124.7,537.7,-12.4,380,3022,0.00,1.80,0.00,0.000,4,0.000,0.056,2473,3168,3596,0,0,0,0,0,0
$GC,3091,-0.91,-124.7,546.6,-11.9,386,3098,0.10,1.77,0.00,0.000,6,0.124,0.041,2434,2003,3595,0,0,0,0,0,0
$GC,3416,-0.92,-124.7,596.0,-15.3,417,3420,0.00,1.73,0.00,0.000,4,0.000,0.051,2434,866,3592,0,0,0,0,0,0
$GC,3472,-0.93,-124.7,604.6,-15.1,421,3475,0.00,1.83,0.00,0.000,6,0.000,0.050,2433,2050,3591,0,0,0,0,0,0
$GC,3793,-0.94,-124.7,651.6,-14.8,437,3797,0.00,1.73,0.00,0.000,4,0.000,0.058,2433,3172,3588,0,0,0,0,0,0
$GC,3855,-0.95,-124.7,660.2,-13.0,439,3862,0.00,1.77,0.00,0.000,6,0.000,0.045,2433,2002,3587,0,0,0,0,0,0
$GC,4171,-0.96,-124.7,705.9,-14.5,455,4172,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2001,3585,0,0,0,0,0,0
$GC,4481,-0.98,-124.7,751.9,-15.0,470,4484,0.00,1.73,0.00,0.000,4,0.000,0.053,2434,879,3582,0,0,0,0,0,0
$GC,4549,-0.99,-124.7,762.0,-14.0,473,4553,0.00,1.83,0.00,0.000,6,0.000,0.050,2433,2038,3582,0,0,0,0,0,0
$GC,4882,-1.00,-124.7,810.8,-14.7,489,4886,0.00,1.80,0.00,0.000,4,0.000,0.061,2433,3166,3578,0,0,0,0,0,0
$GC,4965,-1.02,-124.7,822.5,-13.5,492,4972,0.00,1.80,0.00,0.000,6,0.000,0.045,2434,2004,3577,0,0,0,0,0,0
$GC,5281,-1.03,-124.7,865.7,-13.0,508,5285,0.00,1.85,0.00,0.000,4,0.000,0.060,2433,3167,3574,0,0,0,0,0,0
$GC,5308,-1.04,-124.7,869.6,-12.6,509,5313,0.08,1.83,0.00,0.000,6,0.080,0.045,2394,2002,3574,0,0,0,0,0,0
$GC,5636,-1.05,-124.7,919.7,-15.4,525,5639,0.00,1.85,0.00,0.000,4,0.000,0.060,2393,3166,3571,0,0,0,0,0,0
$GC,5659,-1.05,-124.7,923.3,-15.3,526,5663,0.00,1.83,0.00,0.000,6,0.000,0.047,2393,2003,3570,0,0,0,0,0,0
$GC,5992,-1.06,-124.7,974.0,-15.5,542,5996,0.00,1.77,0.00,0.000,4,0.000,0.056,2392,873,3568,0,0,0,0,0,0
$GC,6038,-1.07,-124.7,981.2,-15.8,544,6042,0.00,1.85,0.00,0.000,6,0.000,0.053,2393,2036,3567,0,0,0,0,0,0
$STATE,6101,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6101,begin apogee
$GC,6106,-0.18,0.0,991.4,15.7,547,6213,0.90,0.08,100.95,1.261,6,0.155,0.110,2662,2092,3090,0,0,0,0,0,0
$STATE,6214,end apogee,CONTROL_FINISHED_OK
$STATE,6214,begin climb
$GC,6216,0.76,124.7,995.6,0.0,552,6347,0.88,2.03,117.05,1.234,4,0.063,0.042,2977,3271,2580,0,0,0,0,0,0
$GC,6381,0.75,124.7,989.7,13.8,559,6384,0.00,1.88,0.00,0.000,6,0.000,0.033,2985,2086,2575,0,0,0,0,0,0
$GC,6702,0.74,124.7,943.3,15.1,575,6706,0.00,1.67,0.00,0.000,4,0.000,0.044,2994,961,2568,0,0,0,0,0,0
$GC,6771,0.73,124.7,933.1,15.8,578,6775,0.00,1.83,0.00,0.000,6,0.000,0.039,2987,2147,2565,0,0,0,0,0,0
$GC,7104,0.73,124.7,884.8,14.0,594,7106,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2147,2564,0,0,0,0,0,0
$GC,7413,0.72,124.7,842.0,13.3,609,7416,0.00,1.70,0.00,0.000,4,0.000,0.046,2987,3278,2561,0,0,0,0,0,0
$GC,7504,0.71,124.7,829.9,12.6,613,7508,0.15,1.77,0.00,0.000,6,0.200,0.034,2959,2077,2560,0,0,0,0,0,0
$GC,7837,0.71,127.6,793.2,10.7,629,7841,0.00,1.85,0.00,0.000,4,0.000,0.046,2959,3271,2558,0,0,0,0,0,0
$GC,7909,0.70,127.6,784.4,12.2,632,7912,0.00,1.80,0.00,0.000,6,0.000,0.034,2968,2091,2558,0,0,0,0,0,0
$GC,8236,0.70,127.6,746.6,12.0,648,8240,0.00,1.70,0.00,0.000,4,0.000,0.046,2976,957,2557,0,0,0,0,0,0
$GC,8286,0.69,127.6,740.5,11.8,650,8290,0.00,1.83,0.00,0.000,6,0.000,0.038,2975,2153,2555,0,0,0,0,0,0
$GC,8614,0.69,127.6,701.4,12.2,666,8618,0.00,1.80,0.00,0.000,4,0.000,0.044,2984,956,2555,0,0,0,0,0,0
$GC,8773,0.69,127.6,683.1,11.7,673,8778,0.12,1.80,0.00,0.000,6,0.197,0.039,2954,2156,2555,0,0,0,0,0,0
$GC,9106,0.69,132.1,648.6,10.5,689,9110,0.00,1.70,0.00,0.000,4,0.000,0.047,2954,3275,2554,0,0,0,0,0,0
$GC,9200,0.69,132.1,637.6,12.1,693,9204,0.00,1.80,0.00,0.000,6,0.000,0.035,2963,2088,2553,0,0,0,0,0,0
$GC,9528,0.69,132.1,601.6,11.2,709,9532,0.00,1.80,0.00,0.000,4,0.000,0.045,2962,3274,2553,0,0,0,0,0,0
$GC,9719,0.69,138.1,580.9,10.4,725,9733,0.00,1.77,8.10,0.868,6,0.000,0.034,2970,2074,2527,0,0,0,0,0,0
$GC,10048,0.71,159.4,549.7,8.8,756,10075,0.00,1.73,21.40,0.962,4,0.000,0.047,2979,970,2441,0,0,0,0,0,0
$GC,10175,0.71,159.4,536.5,11.4,767,10182,0.00,1.83,0.00,0.000,6,0.000,0.038,2979,2154,2435,0,0,0,0,0,0
$GC,10501,0.71,159.4,499.3,11.9,798,10504,0.00,1.83,0.00,0.000,4,0.000,0.045,2988,961,2432,0,0,0,0,0,0
$GC,10537,0.71,159.4,495.1,12.5,801,10540,0.00,1.80,0.00,0.000,6,0.000,0.039,2987,2152,2432,0,0,0,0,0,0
$GC,10868,0.71,159.4,455.1,12.0,832,10871,0.00,1.70,0.00,0.000,4,0.000,0.044,2988,3275,2431,0,0,0,0,0,0
$GC,11029,0.71,159.4,436.3,11.2,846,11033,0.15,1.77,0.00,0.000,6,0.185,0.033,2958,2077,2429,0,0,0,0,0,0
$GC,11361,0.74,185.8,407.2,8.3,877,11390,0.00,1.73,24.10,0.857,4,0.000,0.046,2966,966,2333,0,0,0,0,0,0
$GC,11482,0.76,194.9,395.5,10.1,887,11502,0.00,1.80,9.38,0.757,6,0.000,0.037,2963,2153,2294,0,0,0,0,0,0
$GC,11819,0.77,194.9,355.6,12.1,919,11823,0.00,1.73,0.00,0.000,4,0.000,0.043,2964,3269,2288,0,0,0,0,0,0
$GC,11903,0.77,194.9,344.0,14.0,926,11911,0.00,1.80,0.00,0.000,6,0.000,0.032,2972,2086,2287,0,0,0,0,0,0
$GC,12230,0.78,194.9,303.6,11.5,957,12234,0.00,1.70,0.00,0.000,4,0.000,0.043,2981,965,2287,0,0,0,0,0,0
$GC,12355,0.79,194.9,288.8,11.0,976,12363,0.00,1.80,0.00,0.000,6,0.000,0.036,2980,2153,2287,0,0,0,0,0,0
$GC,12707,0.79,194.9,249.2,11.6,1037,12715,0.00,1.70,0.00,0.000,4,0.000,0.042,2980,3281,2287,0,0,0,0,0,0
$GC,12727,0.80,194.9,246.7,11.2,1040,12736,0.00,1.80,0.00,0.000,6,0.000,0.031,2989,2085,2287,0,0,0,0,0,0
$GC,13080,0.82,206.9,209.4,9.8,1101,13096,0.00,1.73,11.15,0.645,4,0.000,0.041,2997,965,2247,0,0,0,0,0,0
$GC,13236,0.83,214.3,191.9,10.2,1127,13251,0.00,1.75,8.00,0.594,6,0.000,0.034,2998,2160,2217,0,0,0,0,0,0
$GC,13594,0.84,217.4,150.3,10.7,1189,13603,0.00,1.85,3.95,0.421,4,0.000,0.040,3006,964,2204,0,0,0,0,0,0
$GC,13694,0.86,221.3,139.4,10.6,1205,13705,0.00,1.77,5.38,0.489,6,0.000,0.034,3007,2146,2188,0,0,0,0,0,0
$GC,14056,0.86,221.3,99.7,11.0,1266,14065,0.00,1.70,0.00,0.000,4,0.000,0.041,3007,3274,2185,0,0,0,0,0,0
$GC,14074,0.87,221.3,97.3,11.4,1268,14082,0.00,1.77,0.00,0.000,6,0.000,0.031,3016,2086,2185,0,0,0,0,0,0
$GC,14437,0.96,287.1,68.9,4.3,1329,14494,0.00,0.00,54.67,0.591,6,0.000,0.000,3016,2085,1919,0,0,0,0,0,0
$GC,14846,1.05,344.4,41.7,5.2,1396,14898,0.15,1.75,45.70,0.555,4,0.073,0.038,3107,964,1685,0,0,0,0,0,0
$STATE,15135,end climb,SURFACE_DEPTH_REACHED
$STATE,15135,begin surface coast
$FINISH,1.2,1.021721
$STATE,15143,end surface coast,CONTROL_FINISHED_OK
$STATE,15144,begin surface
$SM_CCo,15161,193.00,0.055,0,0,481,640.23
$SM_GC,0.90,0.00,0.00,193.00,0.000,0.000,0.055,144,2057,481,-8.06,0.90,640.23
$IRIDIUM_FIX,2330.93,12610.81,181010,070735
$TT8_MAMPS,0.026215
$HUMID,40.90
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,23.0,45.957
$10V_AH,10.1,38.931
$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,20.875,114.225,409.825,193.000,0.000,31.424,37.500,192.838,0.000,0.000,12.935,3613.599,7133.145,670.585,4023.843,293.886,0.000,2037.347,0.000,3779.789,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,110.160,1260.720,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,979.474,0.000,2144.319,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333864
$DATA_FILE_SIZE,86848,1443
$CAP_FILE_SIZE,169115,0
$CFSIZE,260165632,236953600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052, 19.7,1
$GPS,181010,160036,2339.940,12613.532,37,1.5,43,-3.5