version: 66.08
glider: 169
mission: 2
dive: 336
start: 10 20 110 4 6 58
data:
$ID,169
$MISSION,2
$DIVE,336
$N_DIVES,348
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,240
$T_MISSION,300
$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,-7106.4243
$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
$GPS1,201010,035927,2343.465,12614.491,37,2.6,56,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-70.0
$GPS2,201010,040631,2343.553,12614.479,15,1.9,32,-3.5
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,NWALL_MID
$TGT_LATLONG,2400.000,12612.000
$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,346.0,30747,-19.5,-13.889
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,112,0.00,0.00,-93.75,0.000,2,0.000,0.000,139,2053,3028,0,0,0,0,0,0
$GC,115,-0.69,-204.4,3.7,-6.0,12,150,10.00,1.77,-15.73,0.000,4,0.240,0.073,2489,3161,3927,0,0,0,0,0,0
$GC,332,-0.67,-204.4,81.6,-27.1,47,341,0.00,1.83,0.00,0.000,6,0.000,0.046,2490,2003,3929,0,0,0,0,0,0
$GC,695,-0.67,-204.4,167.0,-22.1,108,704,0.00,1.73,0.00,0.000,4,0.000,0.048,2489,882,3930,0,0,0,0,0,0
$GC,721,-0.66,-204.4,172.0,-23.0,111,728,0.00,1.77,0.00,0.000,6,0.000,0.049,2489,2052,3930,0,0,0,0,0,0
$GC,1077,-0.65,-204.4,244.8,-18.8,172,1086,0.00,1.75,0.00,0.000,4,0.000,0.057,2489,3167,3930,0,0,0,0,0,0
$GC,1174,-0.66,-204.4,259.7,-13.4,188,1183,0.00,1.80,0.00,0.000,6,0.000,0.041,2489,2001,3930,0,0,0,0,0,0
$GC,1523,-0.66,-204.4,318.1,-16.6,239,1527,0.00,1.85,0.00,0.000,4,0.000,0.056,2489,3173,3930,0,0,0,0,0,0
$GC,1618,-0.67,-204.4,331.9,-13.3,247,1622,0.00,1.77,0.00,0.000,6,0.000,0.042,2489,1997,3929,0,0,0,0,0,0
$GC,1948,-0.67,-204.4,383.8,-14.9,278,1952,0.00,1.83,0.00,0.000,4,0.000,0.057,2489,3167,3928,0,0,0,0,0,0
$GC,1976,-0.67,-204.4,388.0,-14.7,280,1985,0.00,1.80,0.00,0.000,6,0.000,0.041,2489,2001,3928,0,0,0,0,0,0
$GC,2304,-0.67,-204.4,434.6,-14.3,311,2307,0.00,1.85,0.00,0.000,4,0.000,0.056,2489,3171,3927,0,0,0,0,0,0
$GC,2384,-0.68,-204.4,444.9,-11.0,318,2388,0.00,1.77,0.00,0.000,6,0.000,0.043,2489,1998,3926,0,0,0,0,0,0
$GC,2717,-0.69,-204.4,488.7,-13.2,349,2721,0.00,1.88,0.00,0.000,4,0.000,0.056,2489,3167,3924,0,0,0,0,0,0
$GC,2779,-0.70,-204.4,496.4,-11.1,354,2789,0.00,1.80,0.00,0.000,6,0.000,0.041,2489,2002,3923,0,0,0,0,0,0
$GC,3105,-0.71,-204.4,535.8,-12.3,385,3108,0.00,1.85,0.00,0.000,4,0.000,0.056,2489,3168,3921,0,0,0,0,0,0
$GC,3174,-0.72,-204.4,543.7,-10.5,391,3178,0.00,1.77,0.00,0.000,6,0.000,0.042,2489,1992,3920,0,0,0,0,0,0
$GC,3505,-0.73,-204.4,583.0,-12.1,422,3509,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3169,3918,0,0,0,0,0,0
$GC,3596,-0.74,-204.4,593.0,-10.5,430,3600,0.00,1.80,0.00,0.000,6,0.000,0.043,2489,1994,3917,0,0,0,0,0,0
$GC,3930,-0.75,-204.4,628.9,-10.8,449,3934,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3172,3915,0,0,0,0,0,0
$GC,3986,-0.77,-204.4,634.5,-9.3,451,3990,0.00,1.80,0.00,0.000,6,0.000,0.043,2489,2007,3914,0,0,0,0,0,0
$GC,4308,-0.78,-204.4,665.5,-9.5,467,4312,0.00,1.83,0.00,0.000,4,0.000,0.057,2489,3171,3912,0,0,0,0,0,0
$GC,4364,-0.79,-204.4,670.6,-8.2,469,4368,0.00,1.80,0.00,0.000,6,0.000,0.043,2489,2005,3911,0,0,0,0,0,0
$GC,4686,-0.80,-204.4,700.7,-9.5,485,4690,0.00,1.83,0.00,0.000,4,0.000,0.057,2489,3173,3907,0,0,0,0,0,0
$GC,4764,-0.82,-204.4,707.5,-8.1,488,4768,0.00,1.80,0.00,0.000,6,0.000,0.043,2489,1978,3907,0,0,0,0,0,0
$GC,5086,-0.83,-204.4,740.1,-10.6,504,5090,0.00,1.88,0.00,0.000,4,0.000,0.056,2489,3176,3904,0,0,0,0,0,0
$GC,5136,-0.85,-204.4,745.3,-10.1,506,5140,0.00,1.77,0.00,0.000,6,0.000,0.043,2489,2003,3904,0,0,0,0,0,0
$GC,5464,-0.86,-204.4,782.1,-11.8,522,5466,0.10,0.00,0.00,0.000,6,0.127,0.000,2451,2002,3901,0,0,0,0,0,0
$GC,5773,-0.86,-204.4,824.0,-13.0,537,5777,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3170,3898,0,0,0,0,0,0
$GC,5868,-0.87,-204.4,835.1,-11.6,541,5872,0.00,1.77,0.00,0.000,6,0.000,0.045,2451,2003,3897,0,0,0,0,0,0
$GC,6196,-0.88,-204.4,875.3,-12.3,557,6200,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3167,3895,0,0,0,0,0,0
$GC,6245,-0.89,-204.4,880.9,-10.1,559,6249,0.00,1.77,0.00,0.000,6,0.000,0.045,2450,1998,3895,0,0,0,0,0,0
$GC,6573,-0.89,-204.4,918.2,-11.4,575,6577,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3171,3893,0,0,0,0,0,0
$GC,6642,-0.90,-204.4,925.3,-10.3,578,6646,0.00,1.83,0.00,0.000,6,0.000,0.047,2450,2005,3892,0,0,0,0,0,0
$GC,6975,-0.91,-204.4,961.6,-11.1,594,6979,0.00,1.90,0.00,0.000,4,0.000,0.064,2450,3168,3890,0,0,0,0,0,0
$GC,7047,-0.92,-204.4,969.5,-11.0,597,7051,0.00,1.77,0.00,0.000,6,0.000,0.046,2450,2004,3890,0,0,0,0,0,0
$STATE,7310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7310,begin apogee
$GC,7315,-0.18,0.0,1000.0,11.8,610,7492,0.70,0.05,170.32,1.271,6,0.146,0.067,2665,2099,3090,0,0,0,0,0,0
$STATE,7493,end apogee,CONTROL_FINISHED_OK
$STATE,7493,begin climb
$GC,7495,0.69,204.4,1010.3,0.0,618,7696,0.77,1.98,192.90,1.244,4,0.052,0.044,2947,3265,2257,0,0,0,0,0,0
$GC,7803,0.67,204.4,984.2,16.6,631,7811,0.00,1.83,0.00,0.000,6,0.000,0.037,2956,2094,2245,0,0,0,0,0,0
$GC,8119,0.66,204.4,931.1,17.4,647,8123,0.00,1.75,0.00,0.000,4,0.000,0.048,2965,963,2241,0,0,0,0,0,0
$GC,8146,0.64,204.4,926.0,18.1,648,8150,0.00,1.83,0.00,0.000,6,0.000,0.039,2962,2150,2240,0,0,0,0,0,0
$GC,8474,0.63,204.4,869.4,17.4,664,8478,0.00,1.70,0.00,0.000,4,0.000,0.047,2962,3270,2238,0,0,0,0,0,0
$GC,8506,0.61,204.4,863.1,17.7,665,8511,0.12,1.80,0.00,0.000,6,0.177,0.036,2933,2092,2237,0,0,0,0,0,0
$GC,8828,0.61,209.5,816.7,13.7,681,8832,0.00,1.67,0.00,0.000,4,0.000,0.048,2941,970,2236,0,0,0,0,0,0
$GC,8884,0.61,209.5,808.5,14.0,683,8887,0.00,1.80,0.00,0.000,6,0.000,0.040,2938,2149,2236,0,0,0,0,0,0
$GC,9205,0.60,209.5,761.8,14.2,699,9206,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2150,2235,0,0,0,0,0,0
$GC,9515,0.59,209.5,714.9,15.4,714,9519,0.00,1.77,0.00,0.000,4,0.000,0.047,2947,971,2234,0,0,0,0,0,0
$GC,9615,0.58,209.5,699.4,14.6,718,9619,0.00,1.80,0.00,0.000,6,0.000,0.041,2947,2149,2233,0,0,0,0,0,0
$GC,9937,0.59,219.8,653.5,13.4,734,9953,0.00,1.80,11.30,0.966,4,0.000,0.046,2955,968,2194,0,0,0,0,0,0
$GC,10010,0.58,219.8,643.2,14.3,736,10015,0.15,1.77,0.00,0.000,6,0.179,0.041,2915,2149,2192,0,0,0,0,0,0
$GC,10332,0.65,282.1,606.0,11.0,752,10396,0.00,1.88,56.38,1.021,4,0.000,0.047,2922,974,1938,0,0,0,0,0,0
$GC,10424,0.72,334.8,595.0,11.5,757,10476,0.12,1.83,46.50,0.989,6,0.083,0.040,2985,2154,1726,0,0,0,0,0,0
$GC,10794,0.72,334.8,526.5,19.4,792,10798,0.00,1.83,0.00,0.000,4,0.000,0.046,2993,972,1715,0,0,0,0,0,0
$GC,10855,0.71,334.8,514.8,18.5,797,10862,0.08,1.83,0.00,0.000,6,0.164,0.040,2966,2153,1714,0,0,0,0,0,0
$GC,11181,0.71,334.8,457.2,17.6,828,11184,0.00,1.80,0.00,0.000,4,0.000,0.046,2974,960,1711,0,0,0,0,0,0
$GC,11230,0.71,334.8,448.2,16.9,832,11240,0.00,1.83,0.00,0.000,6,0.000,0.039,2974,2148,1711,0,0,0,0,0,0
$GC,11557,0.70,334.8,392.9,16.7,863,11561,0.00,1.80,0.00,0.000,4,0.000,0.045,2983,971,1709,0,0,0,0,0,0
$GC,11604,0.70,334.8,385.3,15.6,867,11608,0.00,1.75,0.00,0.000,6,0.000,0.040,2980,2145,1709,0,0,0,0,0,0
$GC,11936,0.70,334.8,329.2,17.1,898,11940,0.00,1.77,0.00,0.000,4,0.000,0.045,2989,969,1709,0,0,0,0,0,0
$GC,12026,0.70,334.8,313.4,17.4,906,12030,0.12,1.75,0.00,0.000,6,0.168,0.039,2954,2154,1709,0,0,0,0,0,0
$GC,12365,0.73,365.0,266.3,12.5,958,12394,0.00,1.88,23.95,0.742,4,0.000,0.044,2962,968,1602,0,0,0,0,0,0
$GC,12437,0.77,392.3,257.5,12.6,969,12466,0.00,1.80,24.12,0.727,6,0.000,0.037,2962,2160,1491,0,0,0,0,0,0
$GC,12810,0.83,432.5,208.8,12.1,1033,12853,0.10,1.90,34.30,0.699,4,0.096,0.043,3027,965,1325,0,0,0,0,0,0
$GC,12957,0.83,432.5,183.5,17.2,1057,12964,0.10,1.80,0.00,0.000,6,0.178,0.037,3001,2149,1323,0,0,0,0,0,0
$GC,13311,0.83,432.5,123.3,15.5,1118,13320,0.00,1.83,0.00,0.000,4,0.000,0.043,3010,962,1320,0,0,0,0,0,0
$GC,13405,0.83,432.5,108.0,15.7,1133,13414,0.00,1.80,0.00,0.000,6,0.000,0.036,3006,2152,1320,0,0,0,0,0,0
$GC,13765,0.93,505.5,62.3,10.6,1194,13831,0.00,1.85,58.62,0.591,4,0.000,0.041,3012,970,1030,0,0,0,0,0,0
$GC,13919,1.10,628.7,47.6,8.3,1216,14025,0.15,1.83,98.25,0.569,6,0.041,0.036,3104,2155,526,0,0,0,0,0,0
$STATE,14185,end climb,SURFACE_DEPTH_REACHED
$STATE,14185,begin surface coast
$FINISH,0.0,1.021632
$STATE,14204,end surface coast,CONTROL_FINISHED_OK
$STATE,14204,begin surface
$SM_CCo,14221,10.68,0.061,0,0,480,640.23
$SM_GC,0.65,0.00,0.00,10.68,0.000,0.000,0.061,153,1984,480,-8.06,-1.16,640.23
$IRIDIUM_FIX,2330.93,12612.19,191010,232357
$TT8_MAMPS,0.026215
$HUMID,47.00
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.6,47.385
$10V_AH,10.0,40.424
$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,21.025,116.375,716.650,10.675,0.000,24.331,35.774,217.348,0.000,0.000,32.808,3128.441,7006.622,685.218,3557.816,267.991,0.000,2022.431,0.000,3275.864,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,75.735,1271.430,61.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.944,0.000,1718.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,73594,1259
$CAP_FILE_SIZE,160729,0
$CFSIZE,260165632,236224512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,  1.3,1
$GPS,201010,080506,2346.209,12614.527,27,1.1,27,-3.5