version: 66.08
glider: 169
mission: 2
dive: 330
start: 10 19 110 1 24 38
data:
$ID,169
$MISSION,2
$DIVE,330
$N_DIVES,341
$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,-7098.7695
$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
$GPS1,191010,011637,2339.744,12613.161,32,1.0,32,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.0
$GPS2,191010,012356,2339.829,12613.172,17,1.3,17,-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,255.3,2013,-26.1,-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,-0.68,-79.7,0.0,0.0,0,112,0.00,0.00,-94.95,0.000,2,0.000,0.000,139,1976,3091,0,0,0,0,0,0
$GC,115,-0.74,-127.3,4.0,-6.6,12,142,9.85,1.75,-9.43,0.000,4,0.236,0.065,2485,874,3612,0,0,0,0,0,0
$GC,300,-0.73,-127.3,69.9,-28.3,42,310,0.00,1.85,0.00,0.000,6,0.000,0.051,2485,2040,3614,0,0,0,0,0,0
$GC,666,-0.73,-127.3,162.8,-22.8,103,672,0.00,1.77,0.00,0.000,4,0.000,0.058,2485,3171,3615,0,0,0,0,0,0
$GC,728,-0.73,-127.3,176.3,-20.2,113,735,0.00,1.80,0.00,0.000,6,0.000,0.045,2485,2003,3615,0,0,0,0,0,0
$GC,1084,-0.74,-127.3,245.1,-17.8,174,1093,0.00,1.73,0.00,0.000,4,0.000,0.050,2486,881,3616,0,0,0,0,0,0
$GC,1134,-0.75,-127.3,254.3,-17.9,182,1144,0.00,1.80,0.00,0.000,6,0.000,0.049,2485,2039,3616,0,0,0,0,0,0
$GC,1493,-0.76,-127.3,312.9,-14.8,236,1497,0.00,1.77,0.00,0.000,4,0.000,0.057,2485,3165,3616,0,0,0,0,0,0
$GC,1565,-0.77,-127.3,322.9,-12.8,242,1575,0.00,1.80,0.00,0.000,6,0.000,0.041,2485,2000,3616,0,0,0,0,0,0
$GC,1892,-0.78,-127.3,372.0,-15.7,273,1896,0.00,1.83,0.00,0.000,4,0.000,0.055,2485,3172,3614,0,0,0,0,0,0
$GC,1918,-0.79,-127.3,375.9,-15.7,275,1921,0.00,1.77,0.00,0.000,6,0.000,0.043,2486,1997,3614,0,0,0,0,0,0
$GC,2250,-0.80,-127.3,424.9,-12.9,306,2254,0.00,1.85,0.00,0.000,4,0.000,0.055,2486,3171,3612,0,0,0,0,0,0
$GC,2310,-0.82,-127.3,432.1,-11.6,311,2314,0.00,1.77,0.00,0.000,6,0.000,0.043,2485,1998,3611,0,0,0,0,0,0
$GC,2643,-0.83,-127.3,476.5,-14.2,342,2646,0.00,1.70,0.00,0.000,4,0.000,0.050,2485,872,3610,0,0,0,0,0,0
$GC,2693,-0.84,-127.3,484.3,-14.8,346,2703,0.00,1.80,0.00,0.000,6,0.000,0.047,2486,2034,3609,0,0,0,0,0,0
$GC,3018,-0.86,-127.3,526.1,-11.6,377,3021,0.00,1.73,0.00,0.000,4,0.000,0.055,2486,3172,3607,0,0,0,0,0,0
$GC,3112,-0.90,-141.6,536.6,-9.7,385,3119,0.08,1.80,0.00,0.000,6,0.080,0.043,2430,2004,3606,0,0,0,0,0,0
$GC,3438,-0.90,-141.6,586.5,-15.5,416,3441,0.00,1.73,0.00,0.000,4,0.000,0.053,2430,871,3603,0,0,0,0,0,0
$GC,3494,-0.91,-141.6,595.5,-15.2,421,3498,0.00,1.80,0.00,0.000,6,0.000,0.050,2429,2039,3603,0,0,0,0,0,0
$GC,3816,-0.91,-141.6,647.4,-15.7,438,3820,0.00,1.75,0.00,0.000,4,0.000,0.060,2429,3169,3600,0,0,0,0,0,0
$GC,3862,-0.92,-141.6,654.4,-14.8,440,3866,0.00,1.77,0.00,0.000,6,0.000,0.045,2429,2001,3599,0,0,0,0,0,0
$GC,4195,-0.93,-141.6,704.5,-15.0,456,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2000,3596,0,0,0,0,0,0
$GC,4505,-0.94,-141.6,747.2,-13.8,471,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2000,3593,0,0,0,0,0,0
$GC,4813,-0.95,-141.6,788.7,-13.6,486,4817,0.00,1.85,0.00,0.000,4,0.000,0.058,2429,3176,3590,0,0,0,0,0,0
$GC,4851,-0.96,-141.6,794.1,-12.8,487,4858,0.00,1.83,0.00,0.000,6,0.000,0.046,2430,2004,3590,0,0,0,0,0,0
$GC,5170,-0.97,-141.6,837.9,-14.3,503,5173,0.00,1.83,0.00,0.000,4,0.000,0.060,2429,3167,3587,0,0,0,0,0,0
$GC,5202,-0.98,-141.6,842.8,-14.2,504,5207,0.00,1.80,0.00,0.000,6,0.000,0.046,2429,2009,3586,0,0,0,0,0,0
$GC,5524,-0.99,-141.6,884.9,-12.9,520,5528,0.00,1.83,0.00,0.000,4,0.000,0.062,2429,3166,3583,0,0,0,0,0,0
$GC,5551,-1.00,-141.6,888.5,-12.8,521,5555,0.00,1.83,0.00,0.000,6,0.000,0.047,2430,2002,3584,0,0,0,0,0,0
$GC,5879,-1.01,-141.6,927.5,-11.5,537,5882,0.00,1.75,0.00,0.000,4,0.000,0.055,2429,868,3581,0,0,0,0,0,0
$GC,5911,-1.02,-141.6,931.5,-12.2,538,5915,0.00,1.85,0.00,0.000,6,0.000,0.051,2429,2037,3580,0,0,0,0,0,0
$GC,6233,-1.03,-141.6,969.4,-11.7,554,6235,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2037,3578,0,0,0,0,0,0
$STATE,6419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6419,begin apogee
$GC,6423,-0.18,0.0,992.5,12.6,563,6534,0.75,0.05,103.07,1.264,6,0.142,0.069,2664,2097,3092,0,0,0,0,0,0
$STATE,6534,end apogee,CONTROL_FINISHED_OK
$STATE,6535,begin climb
$GC,6536,0.75,141.6,996.7,0.0,568,6679,0.82,0.00,134.15,1.239,6,0.055,0.000,2973,2097,2512,0,0,0,0,0,0
$GC,6987,0.75,141.6,951.0,14.5,590,6990,0.00,1.70,0.00,0.000,4,0.000,0.047,2982,971,2498,0,0,0,0,0,0
$GC,7036,0.74,141.6,944.0,14.0,592,7040,0.00,1.83,0.00,0.000,6,0.000,0.040,2974,2152,2497,0,0,0,0,0,0
$GC,7364,0.73,141.6,898.0,13.9,608,7368,0.00,1.77,0.00,0.000,4,0.000,0.044,2982,968,2494,0,0,0,0,0,0
$GC,7391,0.73,141.6,894.0,13.4,609,7395,0.00,1.80,0.00,0.000,6,0.000,0.038,2974,2152,2494,0,0,0,0,0,0
$GC,7719,0.72,141.6,849.3,13.8,625,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2152,2492,0,0,0,0,0,0
$GC,8028,0.71,141.6,804.8,15.2,640,8032,0.00,1.70,0.00,0.000,4,0.000,0.046,2973,3274,2490,0,0,0,0,0,0
$GC,8078,0.70,141.6,796.5,16.4,642,8082,0.00,1.80,0.00,0.000,6,0.000,0.034,2982,2090,2489,0,0,0,0,0,0
$GC,8405,0.69,141.6,745.2,15.0,658,8409,0.00,1.83,0.00,0.000,4,0.000,0.045,2977,3278,2487,0,0,0,0,0,0
$GC,8443,0.68,141.6,739.3,15.7,659,8451,0.12,1.80,0.00,0.000,6,0.200,0.034,2956,2073,2487,0,0,0,0,0,0
$GC,8760,0.68,141.6,700.8,12.2,675,8763,0.00,1.67,0.00,0.000,4,0.000,0.047,2964,960,2486,0,0,0,0,0,0
$GC,8865,0.68,141.6,687.4,11.9,679,8872,0.00,1.80,0.00,0.000,6,0.000,0.040,2961,2145,2486,0,0,0,0,0,0
$GC,9182,0.68,141.6,650.2,12.3,695,9185,0.00,1.77,0.00,0.000,4,0.000,0.045,2969,960,2485,0,0,0,0,0,0
$GC,9265,0.68,141.6,638.8,13.0,698,9273,0.00,1.80,0.00,0.000,6,0.000,0.039,2970,2157,2485,0,0,0,0,0,0
$GC,9581,0.67,141.6,600.2,11.6,714,9585,0.00,1.70,0.00,0.000,4,0.000,0.046,2970,3277,2484,0,0,0,0,0,0
$GC,9709,0.67,141.6,583.7,12.4,724,9717,0.10,1.80,0.00,0.000,6,0.174,0.035,2948,2090,2483,0,0,0,0,0,0
$GC,10034,0.68,152.3,550.7,10.0,755,10047,0.00,1.67,5.28,0.736,4,0.000,0.044,2957,967,2469,0,0,0,0,0,0
$GC,10162,0.70,166.1,538.3,9.7,766,10185,0.00,1.75,15.30,0.929,6,0.000,0.039,2950,2149,2412,0,0,0,0,0,0
$GC,10503,0.70,166.1,500.7,11.4,798,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2149,2407,0,0,0,0,0,0
$GC,10825,0.70,168.7,464.7,10.8,828,10829,0.00,1.80,0.00,0.000,4,0.000,0.044,2959,965,2406,0,0,0,0,0,0
$GC,10931,0.73,184.3,453.8,9.6,837,10957,0.00,1.77,17.35,0.874,6,0.000,0.038,2951,2161,2337,0,0,0,0,0,0
$GC,11274,0.73,184.3,416.9,11.7,869,11278,0.00,1.85,0.00,0.000,4,0.000,0.044,2959,961,2332,0,0,0,0,0,0
$GC,11416,0.74,184.3,399.8,12.9,881,11423,0.00,1.80,0.00,0.000,6,0.000,0.038,2951,2154,2332,0,0,0,0,0,0
$GC,11742,0.76,195.0,364.9,10.0,912,11756,0.00,1.88,10.00,0.753,4,0.000,0.043,2960,956,2296,0,0,0,0,0,0
$GC,11792,0.78,206.6,359.8,9.9,916,11810,0.00,1.80,12.55,0.769,6,0.000,0.037,2958,2153,2247,0,0,0,0,0,0
$GC,12136,0.81,223.4,325.3,9.4,948,12156,0.00,0.00,15.52,0.760,6,0.000,0.000,2957,2154,2180,0,0,0,0,0,0
$GC,12483,0.82,223.4,288.3,11.8,988,12493,0.10,1.85,0.00,0.000,4,0.096,0.041,3021,961,2172,0,0,0,0,0,0
$GC,12542,0.82,223.4,279.9,15.1,997,12549,0.00,1.80,0.00,0.000,6,0.000,0.036,3019,2148,2172,0,0,0,0,0,0
$GC,12900,0.82,223.4,227.1,13.1,1058,12910,0.00,1.70,0.00,0.000,4,0.000,0.043,3018,3267,2171,0,0,0,0,0,0
$GC,12947,0.81,223.4,220.8,14.4,1065,12955,0.12,1.77,0.00,0.000,6,0.197,0.031,2997,2071,2171,0,0,0,0,0,0
$GC,13308,0.82,223.4,178.3,11.4,1126,13318,0.00,1.65,0.00,0.000,4,0.000,0.041,3004,971,2171,0,0,0,0,0,0
$GC,13402,0.83,223.4,167.8,11.3,1141,13408,0.00,1.75,0.00,0.000,6,0.000,0.034,3003,2153,2171,0,0,0,0,0,0
$GC,13764,0.85,237.8,128.6,9.7,1202,13783,0.00,1.80,13.15,0.596,4,0.000,0.039,3012,956,2120,0,0,0,0,0,0
$GC,13961,0.88,254.3,109.8,9.5,1234,13987,0.00,1.80,15.55,0.590,6,0.000,0.034,3011,2152,2050,0,0,0,0,0,0
$GC,14338,0.93,288.6,75.3,7.8,1297,14372,0.00,1.75,28.42,0.582,4,0.000,0.039,3011,3275,1912,0,0,0,0,0,0
$GC,14401,0.97,308.2,69.6,9.2,1305,14426,0.00,1.80,17.08,0.555,6,0.000,0.028,3020,2084,1835,0,0,0,0,0,0
$GC,14778,1.05,361.9,41.1,6.0,1368,14828,0.12,1.70,43.53,0.554,4,0.082,0.036,3098,953,1613,0,0,0,0,0,0
$GC,14988,1.06,361.9,16.0,12.3,1401,14997,0.00,1.80,0.00,0.000,6,0.000,0.031,3097,2157,1607,0,0,0,0,0,0
$STATE,15086,end climb,SURFACE_DEPTH_REACHED
$STATE,15086,begin surface coast
$FINISH,0.1,1.021698
$STATE,15112,end surface coast,CONTROL_FINISHED_OK
$STATE,15112,begin surface
$SM_CCo,15129,178.32,0.055,0,0,481,640.23
$SM_GC,1.07,0.00,0.00,178.32,0.000,0.000,0.055,140,1997,481,-8.06,-0.79,640.23
$IRIDIUM_FIX,2330.93,12602.33,181010,202033
$TT8_MAMPS,0.026215
$HUMID,40.54
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,26.50
$XPDR_PINGS,0
$24V_AH,22.9,46.372
$10V_AH,10.1,39.446
$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,20.550,110.850,430.950,178.325,0.000,29.130,54.403,219.863,0.000,0.000,18.570,3549.371,7277.225,713.302,3933.345,275.614,0.000,2032.326,0.000,3639.241,0.000,0.545,0.000
$DEVICE_MAMPS,235.620,89.505,1263.780,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,962.862,0.000,2121.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333880
$DATA_FILE_SIZE,83633,1421
$CAP_FILE_SIZE,164908,0
$CFSIZE,260165632,236716032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 23.4,1
$GPS,191010,054055,2339.995,12611.392,41,1.2,41,-3.5