version: 66.08
glider: 169
mission: 2
dive: 328
start: 10 18 110 16 8 21
data:
$ID,169
$MISSION,2
$DIVE,328
$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,-7096.1582
$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
$GPS1,181010,160036,2339.940,12613.532,37,1.5,43,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.3
$GPS2,181010,160752,2339.971,12613.502,17,2.4,36,-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,259.7,2548,-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,-72.6,0.0,0.0,0,115,0.00,0.00,-97.65,0.000,2,0.000,0.000,135,2059,3183,0,0,0,0,0,0
$GC,118,-0.73,-102.3,4.4,-8.0,12,145,10.05,1.75,-5.68,0.000,4,0.242,0.067,2474,3165,3512,0,0,0,0,0,0
$GC,303,-0.73,-102.3,73.3,-23.3,42,313,0.00,1.83,0.00,0.000,6,0.000,0.044,2474,2001,3514,0,0,0,0,0,0
$GC,669,-0.73,-102.3,156.1,-18.6,103,675,0.00,1.70,0.00,0.000,4,0.000,0.049,2474,875,3515,0,0,0,0,0,0
$GC,720,-0.74,-102.3,165.6,-17.4,111,727,0.00,1.80,0.00,0.000,6,0.000,0.049,2474,2045,3515,0,0,0,0,0,0
$GC,1076,-0.74,-102.3,232.3,-17.3,172,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2045,3515,0,0,0,0,0,0
$GC,1436,-0.75,-102.3,293.8,-16.0,233,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2045,3515,0,0,0,0,0,0
$GC,1768,-0.76,-102.3,347.1,-16.4,267,1771,0.00,1.83,0.00,0.000,4,0.000,0.051,2474,880,3514,0,0,0,0,0,0
$GC,1838,-0.77,-102.3,358.4,-15.3,273,1842,0.00,1.80,0.00,0.000,6,0.000,0.050,2474,2052,3513,0,0,0,0,0,0
$GC,2169,-0.78,-102.3,407.4,-13.9,304,2173,0.00,1.70,0.00,0.000,4,0.000,0.057,2474,3167,3511,0,0,0,0,0,0
$GC,2219,-0.79,-102.3,414.7,-13.7,308,2228,0.00,1.80,0.00,0.000,6,0.000,0.042,2474,2003,3510,0,0,0,0,0,0
$GC,2547,-0.80,-102.3,456.8,-12.9,339,2551,0.00,1.73,0.00,0.000,4,0.000,0.050,2474,883,3508,0,0,0,0,0,0
$GC,2618,-0.82,-102.3,466.1,-13.3,345,2621,0.00,1.77,0.00,0.000,6,0.000,0.048,2474,2041,3508,0,0,0,0,0,0
$GC,2948,-0.83,-102.3,508.3,-13.0,376,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,2041,3506,0,0,0,0,0,0
$GC,3269,-0.85,-102.3,551.2,-14.2,406,3272,0.00,1.77,0.00,0.000,4,0.000,0.059,2474,3174,3503,0,0,0,0,0,0
$GC,3335,-0.87,-102.3,560.0,-12.5,412,3339,0.00,1.77,0.00,0.000,6,0.000,0.044,2474,2003,3503,0,0,0,0,0,0
$GC,3667,-0.88,-102.3,601.1,-11.3,443,3671,0.00,1.73,0.00,0.000,4,0.000,0.052,2474,869,3500,0,0,0,0,0,0
$GC,3700,-0.90,-102.3,605.3,-12.3,444,3704,0.00,1.83,0.00,0.000,6,0.000,0.049,2474,2036,3500,0,0,0,0,0,0
$GC,4022,-0.91,-104.0,641.0,-10.8,460,4024,0.12,0.00,0.00,0.000,6,0.117,0.000,2427,2036,3497,0,0,0,0,0,0
$GC,4332,-0.92,-104.0,682.5,-13.8,475,4335,0.00,1.75,0.00,0.000,4,0.000,0.057,2427,3175,3494,0,0,0,0,0,0
$GC,4359,-0.93,-104.0,686.6,-13.9,476,4363,0.00,1.83,0.00,0.000,6,0.000,0.045,2427,2004,3494,0,0,0,0,0,0
$GC,4686,-0.94,-104.0,735.1,-15.6,492,4690,0.00,1.73,0.00,0.000,4,0.000,0.055,2427,881,3491,0,0,0,0,0,0
$GC,4719,-0.95,-104.0,740.4,-15.6,493,4723,0.00,1.83,0.00,0.000,6,0.000,0.051,2427,2036,3491,0,0,0,0,0,0
$GC,5041,-0.96,-104.0,788.5,-15.1,509,5044,0.00,1.80,0.00,0.000,4,0.000,0.055,2427,881,3488,0,0,0,0,0,0
$GC,5091,-0.97,-104.0,796.0,-14.9,511,5094,0.00,1.80,0.00,0.000,6,0.000,0.052,2426,2038,3487,0,0,0,0,0,0
$GC,5418,-0.98,-104.0,840.8,-12.8,527,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2039,3485,0,0,0,0,0,0
$GC,5727,-0.99,-104.0,879.3,-12.1,542,5728,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2039,3483,0,0,0,0,0,0
$GC,6037,-1.00,-104.0,919.5,-13.5,557,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2039,3480,0,0,0,0,0,0
$GC,6346,-1.01,-104.0,961.9,-13.8,572,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2038,3478,0,0,0,0,0,0
$STATE,6571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6571,begin apogee
$GC,6576,-0.18,0.0,992.1,13.2,583,6666,0.77,0.05,82.32,1.265,6,0.145,0.070,2665,2097,3091,0,0,0,0,0,0
$STATE,6666,end apogee,CONTROL_FINISHED_OK
$STATE,6666,begin climb
$GC,6668,0.74,104.0,994.8,0.0,587,6770,0.82,0.00,98.72,1.235,6,0.067,0.000,2963,2097,2666,0,0,0,0,0,0
$GC,7075,0.73,104.0,960.4,11.6,607,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2097,2652,0,0,0,0,0,0
$GC,7383,0.73,104.0,925.1,11.4,622,7387,0.00,1.85,0.00,0.000,4,0.000,0.049,2963,3270,2649,0,0,0,0,0,0
$GC,7410,0.72,104.0,921.8,11.9,623,7415,0.00,1.83,0.00,0.000,6,0.000,0.037,2971,2089,2649,0,0,0,0,0,0
$GC,7739,0.71,104.0,884.3,11.4,639,7743,0.00,1.85,0.00,0.000,4,0.000,0.046,2964,3273,2646,0,0,0,0,0,0
$GC,7901,0.70,104.0,864.1,12.2,646,7905,0.00,1.80,0.00,0.000,6,0.000,0.037,2972,2080,2645,0,0,0,0,0,0
$GC,8229,0.71,111.8,829.8,10.2,662,8235,0.00,0.00,3.97,0.714,6,0.000,0.000,2972,2079,2635,0,0,0,0,0,0
$GC,8538,0.72,125.7,800.3,9.6,677,8560,0.00,1.85,15.60,1.086,4,0.000,0.045,2972,3271,2577,0,0,0,0,0,0
$GC,8594,0.71,125.7,793.8,12.9,679,8597,0.00,1.83,0.00,0.000,6,0.000,0.037,2980,2093,2575,0,0,0,0,0,0
$GC,8916,0.70,125.7,757.7,11.0,695,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2092,2571,0,0,0,0,0,0
$GC,9225,0.70,125.7,724.1,11.2,710,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2092,2570,0,0,0,0,0,0
$GC,9534,0.70,130.9,691.6,10.5,725,9544,0.00,1.85,4.82,0.766,4,0.000,0.047,2981,3265,2557,0,0,0,0,0,0
$GC,9594,0.69,130.9,684.9,11.3,727,9602,0.10,1.80,0.00,0.000,6,0.181,0.037,2960,2092,2556,0,0,0,0,0,0
$GC,9911,0.70,138.4,651.4,10.2,743,9925,0.00,1.75,8.93,0.928,4,0.000,0.048,2968,968,2526,0,0,0,0,0,0
$GC,9948,0.70,138.6,647.2,11.0,744,9955,0.00,1.83,0.00,0.000,6,0.000,0.041,2962,2152,2524,0,0,0,0,0,0
$GC,10265,0.71,151.0,614.0,9.7,760,10287,0.00,1.88,13.20,0.963,4,0.000,0.047,2970,967,2474,0,0,0,0,0,0
$GC,10388,0.71,151.0,600.8,11.7,765,10392,0.00,1.77,0.00,0.000,6,0.000,0.041,2964,2148,2471,0,0,0,0,0,0
$GC,10719,0.73,164.8,568.4,9.6,796,10741,0.00,1.88,13.90,0.940,4,0.000,0.047,2972,965,2417,0,0,0,0,0,0
$GC,10799,0.73,166.7,560.1,10.8,803,10803,0.00,1.83,0.00,0.000,6,0.000,0.041,2966,2157,2415,0,0,0,0,0,0
$GC,11129,0.73,166.7,522.0,11.2,834,11133,0.00,1.73,0.00,0.000,4,0.000,0.047,2966,3268,2412,0,0,0,0,0,0
$GC,11211,0.73,166.7,511.4,12.3,841,11218,0.00,1.83,0.00,0.000,6,0.000,0.037,2975,2086,2412,0,0,0,0,0,0
$GC,11537,0.73,166.7,469.9,12.1,872,11540,0.00,1.70,0.00,0.000,4,0.000,0.046,2984,957,2411,0,0,0,0,0,0
$GC,11690,0.73,166.7,452.8,11.1,885,11693,0.00,1.80,0.00,0.000,6,0.000,0.040,2980,2150,2411,0,0,0,0,0,0
$GC,12020,0.74,170.5,416.5,10.6,916,12032,0.00,0.00,5.57,0.682,6,0.000,0.000,2980,2150,2395,0,0,0,0,0,0
$GC,12351,0.75,176.2,382.6,10.4,947,12364,0.00,1.77,7.00,0.711,4,0.000,0.046,2980,3277,2372,0,0,0,0,0,0
$GC,12387,0.75,176.2,378.3,11.2,950,12391,0.00,1.80,0.00,0.000,6,0.000,0.035,2989,2082,2371,0,0,0,0,0,0
$GC,12720,0.75,176.2,339.4,11.6,981,12723,0.00,1.67,0.00,0.000,4,0.000,0.045,2997,967,2370,0,0,0,0,0,0
$GC,12904,0.75,176.2,317.9,12.4,997,12908,0.00,1.75,0.00,0.000,6,0.000,0.038,2997,2149,2370,0,0,0,0,0,0
$GC,13243,0.75,179.3,280.8,10.7,1042,13253,0.00,0.00,3.78,0.473,6,0.000,0.000,2997,2149,2361,0,0,0,0,0,0
$GC,13607,0.77,192.9,242.4,9.6,1103,13627,0.00,1.88,14.77,0.698,4,0.000,0.043,3006,956,2303,0,0,0,0,0,0
$GC,13758,0.77,193.7,224.4,10.9,1128,13767,0.00,1.83,0.00,0.000,6,0.000,0.037,3006,2153,2300,0,0,0,0,0,0
$GC,14120,0.78,197.7,189.5,10.6,1189,14135,0.00,1.83,4.97,0.506,4,0.000,0.041,3015,966,2284,0,0,0,0,0,0
$GC,14364,0.78,199.5,162.5,10.8,1230,14374,0.08,1.80,0.00,0.000,6,0.170,0.036,2990,2161,2284,0,0,0,0,0,0
$GC,14733,0.82,224.7,129.0,8.4,1291,14765,0.00,0.00,25.33,0.627,6,0.000,0.000,2990,2162,2172,0,0,0,0,0,0
$GC,15118,0.86,247.0,91.8,8.7,1355,15143,0.00,1.75,19.17,0.585,4,0.000,0.041,2990,3272,2082,0,0,0,0,0,0
$GC,15209,0.89,258.1,82.8,9.9,1369,15227,0.00,1.83,10.20,0.532,6,0.000,0.032,2999,2076,2037,0,0,0,0,0,0
$GC,15579,0.96,299.0,52.5,6.8,1431,15622,0.10,1.90,33.80,0.567,4,0.097,0.038,3058,3277,1870,0,0,0,0,0,0
$GC,15661,0.97,299.0,44.8,11.5,1442,15671,0.00,1.83,0.00,0.000,6,0.000,0.031,3068,2087,1866,0,0,0,0,0,0
$GC,16029,0.98,299.9,13.3,10.9,1503,16038,0.00,1.70,0.00,0.000,4,0.000,0.039,3076,957,1862,0,0,0,0,0,0
$STATE,16115,end climb,SURFACE_DEPTH_REACHED
$STATE,16116,begin surface coast
$FINISH,0.4,1.021744
$STATE,16141,end surface coast,CONTROL_FINISHED_OK
$STATE,16142,begin surface
$SM_CCo,16159,223.12,0.503,1,0,481,640.23
$SM_GC,1.07,0.00,0.00,223.12,0.000,0.000,0.503,136,2047,481,-8.06,0.65,640.23
$IRIDIUM_FIX,2333.28,12612.19,181010,111129
$TT8_MAMPS,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,26.40
$XPDR_PINGS,0
$24V_AH,23.1,46.105
$10V_AH,10.1,39.108
$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,20.325,93.350,366.075,223.125,0.000,31.045,38.535,212.474,0.000,0.000,38.630,3775.565,7910.114,703.621,4131.589,293.269,0.000,2039.928,0.000,3848.424,0.000,0.544,0.000
$DEVICE_MAMPS,241.740,94.095,1264.545,503.370,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.340,0.000,2259.509,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,90318,1521
$CAP_FILE_SIZE,165575,0
$CFSIZE,260165632,236871680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.094,334.1,1
$GPS,181010,204237,2340.346,12611.103,39,1.1,39,-3.5