version: 66.08
glider: 169
mission: 2
dive: 332
start: 10 19 110 10 29 19
data:
$ID,169
$MISSION,2
$DIVE,332
$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,-7101.3848
$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
$GPS1,191010,102155,2339.522,12612.604,37,1.1,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.1
$GPS2,191010,102850,2339.600,12612.597,14,1.3,14,-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,305.6,1254,-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,16,-0.70,-72.6,0.0,0.0,0,115,0.00,0.00,-96.88,0.000,2,0.000,0.000,149,1984,3152,0,0,0,0,0,0
$GC,118,-0.75,-112.8,4.1,-6.9,12,144,9.68,1.92,-7.00,0.000,4,0.234,0.070,2473,3164,3553,0,0,0,0,0,0
$GC,298,-0.74,-112.8,73.6,-25.7,41,307,0.00,1.83,0.00,0.000,6,0.000,0.046,2473,2007,3555,0,0,0,0,0,0
$GC,661,-0.74,-112.8,156.7,-20.0,102,670,0.00,1.75,0.00,0.000,4,0.000,0.050,2473,880,3555,0,0,0,0,0,0
$GC,687,-0.75,-112.8,161.2,-20.3,105,693,0.00,1.80,0.00,0.000,6,0.000,0.050,2473,2047,3556,0,0,0,0,0,0
$GC,1042,-0.75,-112.8,228.5,-17.3,166,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2047,3556,0,0,0,0,0,0
$GC,1404,-0.76,-112.8,292.4,-16.5,227,1410,0.00,1.73,0.00,0.000,4,0.000,0.057,2473,3167,3556,0,0,0,0,0,0
$GC,1468,-0.77,-112.8,303.0,-15.6,236,1476,0.00,1.80,0.00,0.000,6,0.000,0.041,2472,2001,3556,0,0,0,0,0,0
$GC,1795,-0.78,-112.8,355.3,-17.1,267,1799,0.00,1.85,0.00,0.000,4,0.000,0.055,2473,3175,3555,0,0,0,0,0,0
$GC,1834,-0.79,-112.8,362.4,-17.0,270,1844,0.00,1.80,0.00,0.000,6,0.000,0.042,2473,2005,3554,0,0,0,0,0,0
$GC,2160,-0.80,-112.8,412.9,-14.3,301,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2004,3552,0,0,0,0,0,0
$GC,2481,-0.81,-112.8,457.5,-14.8,331,2484,0.00,1.83,0.00,0.000,4,0.000,0.057,2473,3168,3550,0,0,0,0,0,0
$GC,2496,-0.83,-112.8,460.5,-14.7,332,2505,0.00,1.80,0.00,0.000,6,0.000,0.041,2473,2001,3550,0,0,0,0,0,0
$GC,2823,-0.84,-112.8,505.4,-13.5,363,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2000,3548,0,0,0,0,0,0
$GC,3142,-0.86,-112.8,546.7,-12.5,393,3145,0.00,1.83,0.00,0.000,4,0.000,0.055,2472,3169,3545,0,0,0,0,0,0
$GC,3192,-0.88,-112.8,553.2,-11.9,397,3198,0.00,1.80,0.00,0.000,6,0.000,0.041,2473,2003,3545,0,0,0,0,0,0
$GC,3517,-0.89,-112.8,593.3,-13.1,428,3520,0.00,1.85,0.00,0.000,4,0.000,0.056,2473,3171,3543,0,0,0,0,0,0
$GC,3577,-0.91,-112.8,600.8,-11.4,433,3585,0.10,1.80,0.00,0.000,6,0.121,0.044,2433,1997,3542,0,0,0,0,0,0
$GC,3893,-0.92,-112.8,645.2,-13.8,449,3897,0.00,1.85,0.00,0.000,4,0.000,0.057,2433,3169,3539,0,0,0,0,0,0
$GC,3926,-0.93,-112.8,650.0,-14.2,450,3930,0.00,1.80,0.00,0.000,6,0.000,0.044,2433,2003,3539,0,0,0,0,0,0
$GC,4248,-0.94,-112.8,695.4,-14.1,466,4252,0.00,1.70,0.00,0.000,4,0.000,0.053,2433,879,3536,0,0,0,0,0,0
$GC,4286,-0.95,-112.8,701.1,-13.7,467,4293,0.00,1.83,0.00,0.000,6,0.000,0.050,2433,2037,3535,0,0,0,0,0,0
$GC,4603,-0.96,-112.8,744.6,-13.9,483,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2037,3533,0,0,0,0,0,0
$GC,4912,-0.98,-112.8,787.6,-14.2,498,4915,0.00,1.75,0.00,0.000,4,0.000,0.060,2433,3168,3530,0,0,0,0,0,0
$GC,4961,-0.99,-112.8,794.8,-13.1,500,4965,0.00,1.83,0.00,0.000,6,0.000,0.045,2433,2002,3529,0,0,0,0,0,0
$GC,5289,-1.00,-112.8,838.5,-13.4,516,5293,0.00,1.73,0.00,0.000,4,0.000,0.055,2433,880,3526,0,0,0,0,0,0
$GC,5312,-1.01,-112.8,841.8,-13.0,517,5316,0.00,1.83,0.00,0.000,6,0.000,0.051,2433,2037,3526,0,0,0,0,0,0
$GC,5645,-1.03,-112.8,885.6,-12.6,533,5647,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2037,3523,0,0,0,0,0,0
$GC,5954,-1.04,-112.8,923.5,-12.1,548,5959,0.12,1.80,0.00,0.000,4,0.118,0.061,2386,3167,3521,0,0,0,0,0,0
$GC,6023,-1.05,-112.8,933.4,-14.4,551,6027,0.00,1.83,0.00,0.000,6,0.000,0.047,2386,2004,3520,0,0,0,0,0,0
$GC,6357,-1.05,-112.8,984.4,-15.1,567,6361,0.00,1.77,0.00,0.000,4,0.000,0.057,2386,880,3518,0,0,0,0,0,0
$STATE,6393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6393,begin apogee
$GC,6400,-0.18,0.0,990.7,14.9,568,6495,0.95,0.00,90.72,1.264,6,0.162,0.000,2664,2133,3091,0,0,0,0,0,0
$STATE,6497,end apogee,CONTROL_FINISHED_OK
$STATE,6497,begin climb
$GC,6499,0.75,112.8,993.9,0.0,573,6609,0.85,0.00,106.28,1.237,6,0.068,0.000,2971,2133,2630,0,0,0,0,0,0
$GC,6905,0.74,112.8,956.1,12.6,593,6909,0.00,1.77,0.00,0.000,4,0.000,0.045,2980,968,2616,0,0,0,0,0,0
$GC,6983,0.73,112.8,945.9,13.1,596,6987,0.00,1.83,0.00,0.000,6,0.000,0.039,2977,2148,2615,0,0,0,0,0,0
$GC,7305,0.73,112.8,906.3,12.3,612,7308,0.00,1.73,0.00,0.000,4,0.000,0.046,2977,3281,2611,0,0,0,0,0,0
$GC,7410,0.72,112.8,892.0,13.0,616,7417,0.00,1.83,0.00,0.000,6,0.000,0.034,2986,2089,2610,0,0,0,0,0,0
$GC,7726,0.71,112.8,854.4,11.5,632,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2087,2609,0,0,0,0,0,0
$GC,8036,0.70,112.8,818.6,11.7,647,8038,0.12,0.00,0.00,0.000,6,0.211,0.000,2956,2087,2607,0,0,0,0,0,0
$GC,8345,0.70,114.5,785.4,10.8,662,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2087,2606,0,0,0,0,0,0
$GC,8654,0.71,123.0,752.8,10.1,677,8662,0.00,0.00,5.85,0.868,6,0.000,0.000,2956,2087,2589,0,0,0,0,0,0
$GC,8963,0.72,137.4,721.2,9.5,692,8986,0.00,1.70,15.55,1.047,4,0.000,0.044,2965,968,2530,0,0,0,0,0,0
$GC,9063,0.73,138.4,710.4,10.9,696,9068,0.00,1.83,0.00,0.000,6,0.000,0.039,2962,2153,2526,0,0,0,0,0,0
$GC,9386,0.72,138.4,675.5,11.5,712,9387,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2153,2524,0,0,0,0,0,0
$GC,9697,0.72,138.4,641.1,11.6,727,9700,0.00,1.80,0.00,0.000,4,0.000,0.045,2971,960,2523,0,0,0,0,0,0
$GC,9774,0.72,138.4,631.4,11.8,730,9778,0.00,1.83,0.00,0.000,6,0.000,0.038,2970,2152,2522,0,0,0,0,0,0
$GC,10097,0.73,140.4,595.9,10.8,747,10099,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2152,2521,0,0,0,0,0,0
$GC,10416,0.74,149.1,564.0,10.1,777,10429,0.00,0.00,10.93,0.914,6,0.000,0.000,2970,2152,2483,0,0,0,0,0,0
$GC,10743,0.74,149.1,528.0,11.1,808,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2152,2479,0,0,0,0,0,0
$GC,11065,0.74,149.1,491.8,11.4,838,11068,0.00,1.77,0.00,0.000,4,0.000,0.044,2979,968,2478,0,0,0,0,0,0
$GC,11103,0.74,149.1,487.0,11.5,841,11110,0.00,1.80,0.00,0.000,6,0.000,0.038,2977,2151,2477,0,0,0,0,0,0
$GC,11429,0.75,158.7,453.7,10.0,872,11444,0.00,1.88,9.85,0.826,4,0.000,0.044,2986,956,2444,0,0,0,0,0,0
$GC,11492,0.76,164.8,447.5,10.4,877,11505,0.00,1.80,7.53,0.767,6,0.000,0.037,2980,2152,2419,0,0,0,0,0,0
$GC,11823,0.77,173.0,413.0,10.2,908,11836,0.00,1.77,8.98,0.779,4,0.000,0.044,2980,3277,2385,0,0,0,0,0,0
$GC,11862,0.77,178.9,409.2,10.4,911,11874,0.00,1.80,7.05,0.722,6,0.000,0.032,2989,2080,2361,0,0,0,0,0,0
$GC,12194,0.77,178.9,371.7,11.6,942,12197,0.00,1.65,0.00,0.000,4,0.000,0.044,2997,968,2357,0,0,0,0,0,0
$GC,12230,0.77,178.9,367.5,11.1,945,12234,0.00,1.77,0.00,0.000,6,0.000,0.037,2997,2150,2356,0,0,0,0,0,0
$GC,12561,0.77,178.9,328.8,12.0,976,12565,0.00,1.73,0.00,0.000,4,0.000,0.044,2997,3272,2356,0,0,0,0,0,0
$GC,12588,0.77,178.9,325.1,13.1,978,12598,0.00,1.80,0.00,0.000,6,0.000,0.032,3006,2085,2355,0,0,0,0,0,0
$GC,12924,0.77,178.9,284.2,12.0,1019,12930,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2085,2355,0,0,0,0,0,0
$GC,13277,0.79,196.9,245.8,9.2,1080,13301,0.00,1.75,17.08,0.710,4,0.000,0.041,3015,956,2287,0,0,0,0,0,0
$GC,13387,0.80,204.5,235.4,10.2,1097,13403,0.00,1.80,8.20,0.628,6,0.000,0.034,3015,2161,2256,0,0,0,0,0,0
$GC,13755,0.81,204.5,193.3,12.5,1159,13761,0.00,1.67,0.00,0.000,4,0.000,0.041,3015,3274,2252,0,0,0,0,0,0
$GC,13793,0.81,204.5,188.2,12.3,1165,13800,0.12,1.77,0.00,0.000,6,0.190,0.029,2993,2077,2252,0,0,0,0,0,0
$GC,14152,0.84,222.6,149.7,9.2,1226,14178,0.00,1.70,16.98,0.628,4,0.000,0.041,3001,963,2182,0,0,0,0,0,0
$GC,14287,0.86,235.2,135.9,9.7,1247,14305,0.00,1.80,11.77,0.591,6,0.000,0.034,3000,2153,2131,0,0,0,0,0,0
$GC,14661,0.91,263.3,98.1,8.1,1309,14694,0.00,1.83,24.23,0.598,4,0.000,0.037,3009,968,2015,0,0,0,0,0,0
$GC,14739,0.94,278.2,90.9,9.5,1320,14765,0.00,1.80,13.50,0.557,6,0.000,0.033,3009,2158,1954,0,0,0,0,0,0
$GC,15117,1.01,318.5,54.8,6.9,1383,15158,0.12,1.73,33.10,0.568,4,0.086,0.037,3075,3269,1791,0,0,0,0,0,0
$GC,15260,1.02,318.5,38.2,12.9,1405,15269,0.00,1.80,0.00,0.000,6,0.000,0.028,3084,2082,1786,0,0,0,0,0,0
$STATE,15583,end climb,SURFACE_DEPTH_REACHED
$STATE,15583,begin surface coast
$FINISH,0.1,0.998089
$STATE,15616,end surface coast,CONTROL_FINISHED_OK
$STATE,15616,begin surface
$SM_CCo,15632,207.73,0.480,1,0,481,640.23
$SM_GC,0.99,0.00,0.00,207.73,0.000,0.000,0.480,139,1990,481,-8.06,-0.99,640.23
$IRIDIUM_FIX,2330.93,12612.19,191010,050551
$TT8_MAMPS,0.026964
$HUMID,40.70
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,23.0,46.670
$10V_AH,10.1,39.790
$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,20.425,96.900,387.575,207.725,0.000,27.543,37.638,209.451,0.000,0.000,15.116,3618.964,7743.046,704.098,3895.775,287.443,0.000,2001.650,0.000,3639.571,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,91.035,1263.780,480.420,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,993.469,0.000,2121.871,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333832
$DATA_FILE_SIZE,86942,1464
$CAP_FILE_SIZE,162007,0
$CFSIZE,260165632,236539904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055, 14.0,1
$GPS,191010,145431,2341.157,12611.105,38,1.6,38,-3.5