version: 66.08
glider: 169
mission: 2
dive: 331
start: 10 19 110 5 48 7
data:
$ID,169
$MISSION,2
$DIVE,331
$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,-7100.0303
$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
$GPS1,191010,054055,2339.995,12611.392,41,1.2,41,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.2
$GPS2,191010,054738,2340.070,12611.383,12,1.8,12,-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,122.0,1055,-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,-72.6,0.0,0.0,0,113,0.00,0.00,-95.97,0.000,2,0.000,0.000,134,1997,3127,0,0,0,0,0,0
$GC,116,-0.74,-106.3,4.2,-7.6,12,142,9.73,0.00,-7.15,0.000,6,0.232,0.000,2480,1997,3528,0,0,0,0,0,0
$GC,492,-0.74,-106.3,122.1,-24.4,75,500,0.00,1.88,0.00,0.000,4,0.000,0.057,2479,3167,3531,0,0,0,0,0,0
$GC,613,-0.74,-106.3,148.0,-19.9,95,621,0.00,1.80,0.00,0.000,6,0.000,0.042,2480,2005,3531,0,0,0,0,0,0
$GC,969,-0.75,-106.3,216.5,-19.0,156,978,0.00,1.88,0.00,0.000,4,0.000,0.059,2479,3168,3532,0,0,0,0,0,0
$GC,1031,-0.76,-106.3,226.8,-16.1,166,1041,0.00,1.80,0.00,0.000,6,0.000,0.043,2480,2005,3532,0,0,0,0,0,0
$GC,1391,-0.77,-106.3,282.8,-15.9,227,1398,0.00,1.73,0.00,0.000,4,0.000,0.051,2479,868,3532,0,0,0,0,0,0
$GC,1465,-0.78,-106.3,294.4,-15.5,239,1471,0.00,1.80,0.00,0.000,6,0.000,0.048,2479,2043,3532,0,0,0,0,0,0
$GC,1800,-0.79,-106.3,347.5,-16.1,273,1804,0.00,1.73,0.00,0.000,4,0.000,0.057,2480,3168,3529,0,0,0,0,0,0
$GC,1836,-0.80,-106.3,353.6,-16.4,276,1839,0.00,1.80,0.00,0.000,6,0.000,0.043,2479,2004,3529,0,0,0,0,0,0
$GC,2169,-0.81,-106.3,401.0,-13.1,307,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2002,3527,0,0,0,0,0,0
$GC,2488,-0.83,-106.3,441.8,-12.8,337,2491,0.00,1.85,0.00,0.000,4,0.000,0.056,2479,3169,3526,0,0,0,0,0,0
$GC,2545,-0.84,-106.3,449.2,-11.8,342,2549,0.00,1.80,0.00,0.000,6,0.000,0.044,2479,1998,3526,0,0,0,0,0,0
$GC,2878,-0.86,-106.3,488.4,-11.4,373,2879,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,1998,3523,0,0,0,0,0,0
$GC,3196,-0.87,-106.3,525.5,-11.5,403,3199,0.00,1.70,0.00,0.000,4,0.000,0.050,2480,868,3520,0,0,0,0,0,0
$GC,3223,-0.89,-106.3,529.0,-11.8,405,3230,0.10,1.80,0.00,0.000,6,0.123,0.047,2443,2046,3520,0,0,0,0,0,0
$GC,3548,-0.90,-106.3,574.1,-14.6,436,3552,0.00,1.73,0.00,0.000,4,0.000,0.058,2442,3167,3517,0,0,0,0,0,0
$GC,3622,-0.91,-106.3,584.5,-13.7,442,3631,0.00,1.80,0.00,0.000,6,0.000,0.044,2443,1996,3517,0,0,0,0,0,0
$GC,3941,-0.92,-106.3,626.7,-12.6,463,3945,0.00,1.70,0.00,0.000,4,0.000,0.054,2442,876,3514,0,0,0,0,0,0
$GC,4036,-0.93,-106.3,638.6,-12.0,467,4040,0.00,1.83,0.00,0.000,6,0.000,0.050,2442,2052,3513,0,0,0,0,0,0
$GC,4364,-0.95,-106.3,678.1,-12.1,483,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2052,3512,0,0,0,0,0,0
$GC,4673,-0.96,-106.3,717.8,-13.2,498,4676,0.00,1.73,0.00,0.000,4,0.000,0.060,2442,3167,3508,0,0,0,0,0,0
$GC,4756,-0.97,-106.3,728.8,-13.2,501,4762,0.00,1.80,0.00,0.000,6,0.000,0.045,2443,2000,3507,0,0,0,0,0,0
$GC,5072,-0.99,-106.3,771.2,-13.3,517,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1999,3506,0,0,0,0,0,0
$GC,5381,-1.00,-106.3,813.2,-13.4,532,5385,0.00,1.73,0.00,0.000,4,0.000,0.057,2443,874,3503,0,0,0,0,0,0
$GC,5420,-1.01,-106.3,818.5,-13.1,533,5427,0.08,1.83,0.00,0.000,6,0.083,0.052,2405,2034,3502,0,0,0,0,0,0
$GC,5736,-1.02,-106.3,864.0,-14.1,549,5740,0.00,1.77,0.00,0.000,4,0.000,0.061,2404,3171,3499,0,0,0,0,0,0
$GC,5763,-1.03,-106.3,868.1,-13.6,550,5767,0.00,1.83,0.00,0.000,6,0.000,0.048,2404,2000,3499,0,0,0,0,0,0
$GC,6090,-1.03,-106.3,911.3,-13.1,566,6094,0.00,1.85,0.00,0.000,4,0.000,0.060,2404,3168,3497,0,0,0,0,0,0
$GC,6129,-1.04,-106.3,916.5,-12.7,567,6136,0.00,1.80,0.00,0.000,6,0.000,0.048,2404,2004,3496,0,0,0,0,0,0
$GC,6445,-1.05,-106.3,956.4,-12.9,583,6449,0.00,1.75,0.00,0.000,4,0.000,0.060,2404,882,3494,0,0,0,0,0,0
$GC,6517,-1.06,-106.3,966.0,-13.4,586,6521,0.00,1.85,0.00,0.000,6,0.000,0.054,2404,2043,3493,0,0,0,0,0,0
$STATE,6719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6719,begin apogee
$GC,6724,-0.18,0.0,992.7,13.4,596,6818,0.85,0.08,85.78,1.267,6,0.152,0.113,2661,2095,3091,0,0,0,0,0,0
$STATE,6819,end apogee,CONTROL_FINISHED_OK
$STATE,6819,begin climb
$GC,6820,0.74,106.3,995.7,0.0,600,6929,0.85,1.85,100.35,1.239,4,0.063,0.046,2981,966,2655,0,0,0,0,0,0
$GC,6980,0.73,106.3,990.0,11.9,608,6984,0.00,1.90,0.00,0.000,6,0.000,0.041,2973,2144,2648,0,0,0,0,0,0
$GC,7313,0.72,106.3,948.3,12.3,624,7317,0.00,1.75,0.00,0.000,4,0.000,0.047,2973,3265,2641,0,0,0,0,0,0
$GC,7448,0.71,106.3,930.9,12.8,630,7452,0.00,1.77,0.00,0.000,6,0.000,0.037,2982,2081,2638,0,0,0,0,0,0
$GC,7781,0.70,106.3,890.7,11.9,646,7785,0.00,1.83,0.00,0.000,4,0.000,0.046,2977,3271,2636,0,0,0,0,0,0
$GC,7805,0.69,106.3,887.8,12.1,647,7809,0.12,1.80,0.00,0.000,6,0.207,0.037,2957,2084,2635,0,0,0,0,0,0
$GC,8138,0.69,106.3,851.1,11.1,663,8139,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2083,2633,0,0,0,0,0,0
$GC,8447,0.69,106.3,815.9,11.3,678,8450,0.00,1.83,0.00,0.000,4,0.000,0.046,2957,3272,2631,0,0,0,0,0,0
$GC,8582,0.68,106.3,799.4,12.0,684,8586,0.00,1.80,0.00,0.000,6,0.000,0.037,2966,2088,2631,0,0,0,0,0,0
$GC,8916,0.68,107.9,762.5,10.8,700,8919,0.00,1.67,0.00,0.000,4,0.000,0.047,2974,967,2630,0,0,0,0,0,0
$GC,9029,0.68,115.6,750.2,10.2,705,9038,0.00,1.83,4.55,0.763,6,0.000,0.042,2973,2154,2619,0,0,0,0,0,0
$GC,9362,0.69,131.3,716.5,9.4,721,9385,0.00,1.80,17.05,1.052,4,0.000,0.047,2974,3280,2555,0,0,0,0,0,0
$GC,9431,0.69,131.3,708.7,12.7,724,9435,0.12,1.83,0.00,0.000,6,0.200,0.036,2953,2086,2551,0,0,0,0,0,0
$GC,9763,0.70,142.3,676.2,9.9,740,9779,0.00,1.85,11.32,0.982,4,0.000,0.044,2950,3278,2510,0,0,0,0,0,0
$GC,9836,0.70,142.3,668.0,11.6,742,9839,0.00,1.83,0.00,0.000,6,0.000,0.037,2959,2084,2506,0,0,0,0,0,0
$GC,10157,0.70,142.3,629.4,12.5,758,10161,0.00,1.88,0.00,0.000,4,0.000,0.045,2957,3275,2504,0,0,0,0,0,0
$GC,10251,0.70,142.3,617.3,12.8,762,10255,0.00,1.83,0.00,0.000,6,0.000,0.037,2967,2091,2503,0,0,0,0,0,0
$GC,10574,0.70,144.2,580.1,10.8,785,10578,0.00,1.73,0.00,0.000,4,0.000,0.049,2975,971,2502,0,0,0,0,0,0
$GC,10802,0.71,149.5,556.0,10.5,805,10813,0.00,1.80,6.78,0.817,6,0.000,0.041,2974,2146,2481,0,0,0,0,0,0
$GC,11133,0.71,151.5,520.6,10.8,836,11137,0.00,1.70,0.00,0.000,4,0.000,0.047,2974,3277,2479,0,0,0,0,0,0
$GC,11224,0.70,151.5,510.5,12.1,844,11227,0.00,1.80,0.00,0.000,6,0.000,0.037,2983,2090,2478,0,0,0,0,0,0
$GC,11557,0.71,160.7,473.4,10.1,875,11574,0.00,1.70,12.30,0.868,4,0.000,0.045,2992,959,2434,0,0,0,0,0,0
$GC,11772,0.72,163.8,449.0,10.7,893,11776,0.00,1.83,0.00,0.000,6,0.000,0.041,2991,2159,2429,0,0,0,0,0,0
$GC,12102,0.72,163.8,410.0,11.1,924,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2159,2428,0,0,0,0,0,0
$GC,12423,0.72,168.9,374.7,10.5,954,12435,0.00,0.00,8.27,0.744,6,0.000,0.000,2991,2159,2402,0,0,0,0,0,0
$GC,12751,0.72,168.9,339.1,11.0,985,12754,0.00,1.83,0.00,0.000,4,0.000,0.045,2999,960,2398,0,0,0,0,0,0
$GC,12890,0.72,168.9,323.3,11.6,997,12894,0.12,1.80,0.00,0.000,6,0.185,0.039,2968,2155,2398,0,0,0,0,0,0
$GC,13226,0.75,184.5,289.4,9.4,1037,13248,0.00,1.83,15.73,0.742,4,0.000,0.043,2977,961,2337,0,0,0,0,0,0
$GC,13284,0.76,187.1,283.2,10.7,1046,13293,0.00,1.83,0.00,0.000,6,0.000,0.038,2974,2152,2335,0,0,0,0,0,0
$GC,13646,0.76,187.1,244.0,11.2,1107,13652,0.00,1.80,0.00,0.000,4,0.000,0.042,2984,961,2333,0,0,0,0,0,0
$GC,13689,0.78,193.4,239.1,10.4,1114,13705,0.00,1.80,8.98,0.646,6,0.000,0.037,2983,2146,2302,0,0,0,0,0,0
$GC,14059,0.79,202.3,199.7,10.1,1176,14074,0.00,1.85,9.18,0.620,4,0.000,0.042,2992,965,2266,0,0,0,0,0,0
$GC,14250,0.81,206.3,178.2,10.6,1208,14260,0.00,1.80,5.25,0.513,6,0.000,0.036,2992,2152,2248,0,0,0,0,0,0
$GC,14615,0.85,237.0,142.1,7.9,1269,14648,0.00,0.00,27.48,0.645,6,0.000,0.000,2992,2151,2123,0,0,0,0,0,0
$GC,15000,0.90,263.3,105.5,8.3,1333,15026,0.00,1.77,22.08,0.604,4,0.000,0.041,2991,3279,2016,0,0,0,0,0,0
$GC,15070,0.92,266.8,98.4,10.6,1343,15080,0.00,1.83,3.88,0.365,6,0.000,0.031,3001,2089,2002,0,0,0,0,0,0
$GC,15436,0.98,303.2,66.5,7.3,1404,15478,0.12,1.73,30.98,0.579,4,0.083,0.041,3079,974,1852,0,0,0,0,0,0
$GC,15592,0.99,303.2,49.8,11.1,1428,15601,0.08,1.77,0.00,0.000,6,0.159,0.034,3055,2152,1847,0,0,0,0,0,0
$GC,15960,1.01,310.6,18.4,10.3,1489,15977,0.00,1.73,6.70,0.441,4,0.000,0.038,3054,3277,1823,0,0,0,0,0,0
$GC,16080,1.04,324.2,6.3,9.6,1508,16097,0.00,1.80,12.60,0.483,6,0.000,0.031,3063,2084,1768,0,0,0,0,0,0
$STATE,16111,end climb,SURFACE_DEPTH_REACHED
$STATE,16111,begin surface coast
$FINISH,0.3,1.021704
$STATE,16137,end surface coast,CONTROL_FINISHED_OK
$STATE,16137,begin surface
$SM_CCo,16153,204.02,0.478,1,0,480,640.23
$SM_GC,1.03,0.00,0.00,204.02,0.000,0.000,0.478,151,1984,480,-8.06,-1.16,640.23
$IRIDIUM_FIX,2328.57,12614.09,191010,010145
$TT8_MAMPS,0.026215
$HUMID,40.54
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,26.70
$XPDR_PINGS,0
$24V_AH,23.0,46.520
$10V_AH,10.1,39.623
$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,20.550,111.600,389.225,204.025,0.000,25.614,41.060,201.863,0.000,0.000,13.127,3805.427,7764.017,672.059,4215.093,299.257,0.000,2091.774,0.000,3957.909,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,113.220,1266.840,478.125,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.491,0.000,2246.718,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333844
$DATA_FILE_SIZE,90148,1516
$CAP_FILE_SIZE,176510,0
$CFSIZE,260165632,236609536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,318.3,1
$GPS,191010,102155,2339.522,12612.604,37,1.1,37,-3.5