version: 66.08
glider: 169
mission: 2
dive: 333
start: 10 19 110 15 1 48
data:
$ID,169
$MISSION,2
$DIVE,333
$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,-7102.6426
$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
$GPS1,191010,145431,2341.157,12611.105,38,1.6,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-72.8
$GPS2,191010,150119,2341.154,12611.108,16,2.0,33,-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,160.9,2618,-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,12,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,-95.57,0.000,2,0.000,0.000,126,1991,3114,0,0,0,0,0,0
$GC,116,-0.74,-109.1,4.1,-7.3,12,142,9.85,1.73,-7.55,0.000,4,0.237,0.063,2482,863,3538,0,0,0,0,0,0
$GC,266,-0.73,-109.1,60.3,-33.7,36,275,0.00,1.88,0.00,0.000,6,0.000,0.053,2482,2041,3540,0,0,0,0,0,0
$GC,631,-0.73,-109.1,149.0,-22.9,97,640,0.00,1.77,0.00,0.000,4,0.000,0.059,2482,3166,3541,0,0,0,0,0,0
$GC,743,-0.74,-109.1,171.2,-20.0,115,750,0.00,1.75,0.00,0.000,6,0.000,0.040,2482,2002,3541,0,0,0,0,0,0
$GC,1098,-0.75,-109.1,237.6,-15.3,176,1107,0.00,1.73,0.00,0.000,4,0.000,0.048,2482,871,3542,0,0,0,0,0,0
$GC,1137,-0.75,-109.1,244.0,-16.9,182,1146,0.00,1.83,0.00,0.000,6,0.000,0.047,2482,2050,3541,0,0,0,0,0,0
$GC,1498,-0.76,-109.1,299.1,-15.4,243,1505,0.00,1.75,0.00,0.000,4,0.000,0.057,2482,3167,3541,0,0,0,0,0,0
$GC,1550,-0.78,-109.1,307.8,-14.9,248,1558,0.00,1.77,0.00,0.000,6,0.000,0.040,2482,2002,3541,0,0,0,0,0,0
$GC,1878,-0.79,-109.1,357.5,-14.3,279,1882,0.00,1.73,0.00,0.000,4,0.000,0.049,2482,876,3539,0,0,0,0,0,0
$GC,1926,-0.80,-109.1,364.4,-13.7,283,1930,0.00,1.77,0.00,0.000,6,0.000,0.048,2482,2052,3539,0,0,0,0,0,0
$GC,2259,-0.82,-109.1,410.2,-14.0,314,2262,0.00,1.73,0.00,0.000,4,0.000,0.056,2482,3171,3537,0,0,0,0,0,0
$GC,2296,-0.83,-109.1,415.2,-13.4,317,2299,0.00,1.75,0.00,0.000,6,0.000,0.043,2483,2003,3537,0,0,0,0,0,0
$GC,2626,-0.85,-109.1,457.9,-13.1,348,2630,0.00,1.70,0.00,0.000,4,0.000,0.050,2482,875,3535,0,0,0,0,0,0
$GC,2642,-0.86,-109.1,460.3,-13.7,349,2649,0.00,1.80,0.00,0.000,6,0.000,0.047,2482,2039,3535,0,0,0,0,0,0
$GC,2968,-0.88,-109.1,502.3,-12.9,380,2972,0.10,1.77,0.00,0.000,4,0.122,0.059,2443,3172,3532,0,0,0,0,0,0
$GC,3013,-0.89,-109.1,508.9,-14.8,384,3017,0.00,1.80,0.00,0.000,6,0.000,0.045,2444,2001,3532,0,0,0,0,0,0
$GC,3345,-0.90,-109.1,560.0,-14.8,415,3346,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2000,3530,0,0,0,0,0,0
$GC,3673,-0.91,-109.1,605.5,-13.5,444,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,1999,3527,0,0,0,0,0,0
$GC,3982,-0.92,-109.1,648.1,-14.0,459,3985,0.00,1.85,0.00,0.000,4,0.000,0.057,2443,3171,3524,0,0,0,0,0,0
$GC,4005,-0.93,-109.1,651.5,-14.3,460,4009,0.00,1.83,0.00,0.000,6,0.000,0.045,2444,2004,3523,0,0,0,0,0,0
$GC,4338,-0.94,-109.1,694.2,-12.2,476,4342,0.00,1.88,0.00,0.000,4,0.000,0.059,2444,3166,3521,0,0,0,0,0,0
$GC,4376,-0.96,-109.1,698.8,-11.9,477,4383,0.00,1.80,0.00,0.000,6,0.000,0.044,2443,2006,3520,0,0,0,0,0,0
$GC,4692,-0.97,-109.1,735.2,-11.5,493,4696,0.00,1.75,0.00,0.000,4,0.000,0.055,2444,867,3518,0,0,0,0,0,0
$GC,4761,-0.99,-109.1,743.5,-12.2,496,4764,0.00,1.85,0.00,0.000,6,0.000,0.051,2444,2039,3517,0,0,0,0,0,0
$GC,5094,-1.00,-109.1,783.7,-12.1,512,5096,0.10,0.00,0.00,0.000,6,0.133,0.000,2406,2039,3515,0,0,0,0,0,0
$GC,5403,-1.00,-109.1,827.8,-13.4,527,5407,0.00,1.77,0.00,0.000,4,0.000,0.063,2406,3172,3511,0,0,0,0,0,0
$GC,5449,-1.01,-109.1,834.2,-13.4,529,5453,0.00,1.83,0.00,0.000,6,0.000,0.048,2406,2000,3511,0,0,0,0,0,0
$GC,5782,-1.02,-109.1,884.0,-15.2,545,5785,0.00,1.73,0.00,0.000,4,0.000,0.055,2406,880,3509,0,0,0,0,0,0
$GC,5814,-1.03,-109.1,889.4,-15.6,546,5818,0.00,1.83,0.00,0.000,6,0.000,0.051,2405,2034,3508,0,0,0,0,0,0
$GC,6136,-1.04,-109.1,937.8,-14.7,562,6140,0.00,1.80,0.00,0.000,4,0.000,0.055,2406,879,3506,0,0,0,0,0,0
$GC,6169,-1.04,-109.1,942.8,-14.5,563,6173,0.00,1.83,0.00,0.000,6,0.000,0.051,2406,2034,3506,0,0,0,0,0,0
$GC,6491,-1.05,-109.1,987.3,-13.3,579,6495,0.00,1.77,0.00,0.000,4,0.000,0.060,2406,3174,3503,0,0,0,0,0,0
$STATE,6513,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6513,begin apogee
$GC,6519,-0.18,0.0,990.4,13.3,580,6613,0.85,0.05,87.40,1.262,6,0.150,0.076,2663,2137,3091,0,0,0,0,0,0
$STATE,6614,end apogee,CONTROL_FINISHED_OK
$STATE,6614,begin climb
$GC,6616,0.74,109.1,993.0,0.0,584,6725,0.85,1.92,102.55,1.235,4,0.067,0.045,2964,3270,2645,0,0,0,0,0,0
$GC,6749,0.75,121.9,990.3,9.7,590,6767,0.00,1.90,13.60,1.100,6,0.000,0.034,2972,2093,2594,0,0,0,0,0,0
$GC,7085,0.74,121.9,946.5,12.7,607,7088,0.00,1.83,0.00,0.000,4,0.000,0.044,2964,3271,2581,0,0,0,0,0,0
$GC,7162,0.73,121.9,935.7,13.4,610,7166,0.00,1.83,0.00,0.000,6,0.000,0.034,2972,2081,2581,0,0,0,0,0,0
$GC,7484,0.73,121.9,896.0,12.1,626,7488,0.00,1.65,0.00,0.000,4,0.000,0.046,2981,968,2577,0,0,0,0,0,0
$GC,7539,0.72,121.9,889.5,11.6,628,7543,0.00,1.80,0.00,0.000,6,0.000,0.039,2974,2158,2577,0,0,0,0,0,0
$GC,7860,0.72,121.9,851.2,12.0,644,7864,0.00,1.70,0.00,0.000,4,0.000,0.047,2974,3276,2575,0,0,0,0,0,0
$GC,7910,0.71,121.9,844.7,13.3,646,7914,0.00,1.80,0.00,0.000,6,0.000,0.035,2983,2078,2574,0,0,0,0,0,0
$GC,8237,0.70,121.9,804.2,12.0,662,8241,0.00,1.85,0.00,0.000,4,0.000,0.047,2974,3275,2574,0,0,0,0,0,0
$GC,8283,0.69,121.9,798.2,12.5,664,8287,0.00,1.77,0.00,0.000,6,0.000,0.035,2983,2079,2573,0,0,0,0,0,0
$GC,8616,0.68,121.9,756.1,12.1,680,8620,0.12,1.85,0.00,0.000,4,0.215,0.046,2948,3273,2572,0,0,0,0,0,0
$GC,8661,0.68,121.9,750.9,11.2,682,8665,0.00,1.77,0.00,0.000,6,0.000,0.035,2956,2078,2571,0,0,0,0,0,0
$GC,8994,0.69,132.3,716.1,9.9,698,9005,0.00,1.70,6.47,0.885,4,0.000,0.045,2965,957,2552,0,0,0,0,0,0
$GC,9026,0.70,138.2,712.4,10.4,699,9038,0.00,1.83,7.75,0.923,6,0.000,0.040,2963,2148,2527,0,0,0,0,0,0
$GC,9361,0.71,142.3,675.2,10.6,716,9370,0.00,1.80,5.07,0.781,4,0.000,0.044,2971,963,2510,0,0,0,0,0,0
$GC,9432,0.71,145.4,667.0,10.7,719,9441,0.00,1.83,4.95,0.762,6,0.000,0.040,2967,2153,2497,0,0,0,0,0,0
$GC,9758,0.71,146.6,631.0,10.9,735,9762,0.00,1.70,0.00,0.000,4,0.000,0.046,2967,3270,2494,0,0,0,0,0,0
$GC,9804,0.71,146.6,625.6,12.2,737,9808,0.00,1.77,0.00,0.000,6,0.000,0.035,2975,2081,2494,0,0,0,0,0,0
$GC,10130,0.70,146.6,588.8,11.5,757,10134,0.00,1.83,0.00,0.000,4,0.000,0.047,2974,3274,2493,0,0,0,0,0,0
$GC,10225,0.70,146.6,576.6,13.5,765,10232,0.00,1.80,0.00,0.000,6,0.000,0.035,2983,2077,2492,0,0,0,0,0,0
$GC,10551,0.70,152.0,541.7,10.5,796,10563,0.00,1.75,6.80,0.812,4,0.000,0.047,2991,957,2471,0,0,0,0,0,0
$GC,10615,0.70,152.0,534.5,11.8,801,10622,0.12,1.80,0.00,0.000,6,0.193,0.040,2960,2150,2471,0,0,0,0,0,0
$GC,10940,0.70,152.0,497.0,11.5,832,10943,0.00,1.73,0.00,0.000,4,0.000,0.046,2951,3280,2469,0,0,0,0,0,0
$GC,10976,0.70,152.0,492.8,12.6,835,10980,0.00,1.83,0.00,0.000,6,0.000,0.035,2960,2087,2469,0,0,0,0,0,0
$GC,11307,0.71,160.6,454.6,10.1,866,11323,0.00,1.75,9.62,0.823,4,0.000,0.045,2968,963,2436,0,0,0,0,0,0
$GC,11372,0.72,162.5,448.2,10.8,871,11376,0.00,1.77,0.00,0.000,6,0.000,0.037,2967,2156,2435,0,0,0,0,0,0
$GC,11703,0.75,183.1,417.5,8.9,902,11730,0.00,1.90,22.10,0.864,4,0.000,0.044,2976,961,2343,0,0,0,0,0,0
$GC,11837,0.75,183.1,403.9,11.6,913,11840,0.00,1.83,0.00,0.000,6,0.000,0.038,2974,2159,2339,0,0,0,0,0,0
$GC,12168,0.75,183.1,363.3,13.1,944,12171,0.00,1.73,0.00,0.000,4,0.000,0.046,2974,3271,2336,0,0,0,0,0,0
$GC,12285,0.75,183.1,346.3,15.0,954,12296,0.00,1.80,0.00,0.000,6,0.000,0.032,2983,2090,2336,0,0,0,0,0,0
$GC,12613,0.76,183.1,306.1,11.4,985,12617,0.00,1.73,0.00,0.000,4,0.000,0.044,2992,965,2336,0,0,0,0,0,0
$GC,12691,0.77,191.6,297.5,10.1,993,12707,0.00,1.75,8.10,0.679,6,0.000,0.037,2990,2151,2308,0,0,0,0,0,0
$GC,13059,0.77,191.6,256.3,11.9,1055,13066,0.00,1.77,0.00,0.000,4,0.000,0.041,2999,960,2306,0,0,0,0,0,0
$GC,13260,0.78,196.0,233.9,10.6,1089,13276,0.00,1.75,5.43,0.557,6,0.000,0.036,2991,2152,2290,0,0,0,0,0,0
$GC,13627,0.79,196.0,193.0,12.4,1151,13635,0.00,1.77,0.00,0.000,4,0.000,0.039,2999,956,2290,0,0,0,0,0,0
$GC,13741,0.80,200.1,180.1,10.6,1170,13751,0.00,1.80,5.25,0.514,6,0.000,0.034,2991,2156,2275,0,0,0,0,0,0
$GC,14103,0.85,235.0,144.8,7.5,1231,14145,0.00,1.85,31.62,0.650,4,0.000,0.041,3000,964,2130,0,0,0,0,0,0
$GC,14201,0.88,253.0,136.6,9.2,1245,14227,0.00,1.80,15.93,0.608,6,0.000,0.034,2999,2149,2058,0,0,0,0,0,0
$GC,14577,0.90,259.2,97.1,10.4,1308,14586,0.00,0.00,5.20,0.456,6,0.000,0.000,2999,2149,2034,0,0,0,0,0,0
$GC,14941,0.95,282.7,60.1,8.6,1369,14968,0.10,1.75,21.20,0.565,4,0.096,0.041,3055,3274,1937,0,0,0,0,0,0
$GC,14978,0.98,296.0,56.5,9.6,1373,14996,0.00,1.80,12.10,0.521,6,0.000,0.030,3064,2082,1883,0,0,0,0,0,0
$GC,15348,1.02,322.4,22.7,8.3,1435,15381,0.00,1.73,22.45,0.532,4,0.000,0.040,3073,958,1774,0,0,0,0,0,0
$GC,15483,1.04,327.7,8.8,10.5,1456,15493,0.00,1.80,5.18,0.392,6,0.000,0.032,3071,2153,1755,0,0,0,0,0,0
$STATE,15534,end climb,SURFACE_DEPTH_REACHED
$STATE,15534,begin surface coast
$FINISH,0.1,1.021703
$STATE,15559,end surface coast,CONTROL_FINISHED_OK
$STATE,15559,begin surface
$SM_CCo,15576,205.55,0.504,1,0,480,640.23
$SM_GC,1.02,0.00,0.00,205.55,0.000,0.000,0.504,149,1974,480,-8.06,-1.41,640.23
$IRIDIUM_FIX,2328.57,12610.81,191010,101056
$TT8_MAMPS,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,26.00
$XPDR_PINGS,0
$24V_AH,23.0,46.822
$10V_AH,10.0,39.962
$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,20.450,128.825,398.775,205.550,0.000,24.484,37.288,196.938,0.000,0.000,33.910,3681.435,7477.882,699.892,4030.069,296.593,0.000,2067.685,0.000,3765.831,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,76.500,1262.250,504.135,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,996.444,0.000,2182.708,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,86884,1468
$CAP_FILE_SIZE,176208,0
$CFSIZE,260165632,236441600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.053,337.8,1
$GPS,191010,192601,2339.764,12611.539,35,1.4,35,-3.5