version: 66.08
glider: 169
mission: 2
dive: 337
start: 10 20 110 8 12 49
data:
$ID,169
$MISSION,2
$DIVE,337
$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,-7107.6821
$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
$GPS1,201010,080506,2346.209,12614.527,27,1.1,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.2
$GPS2,201010,081222,2346.342,12614.549,13,2.5,32,-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,352.2,25660,-19.5,-13.889
$D_GRID,4814
$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,16,-0.69,-204.4,0.0,0.0,0,110,0.00,0.00,-91.85,0.000,2,0.000,0.000,138,1984,2942,0,0,0,0,0,0
$GC,113,-0.69,-204.4,3.1,-4.7,12,148,9.95,1.92,-18.02,0.000,4,0.238,0.073,2493,3173,3926,0,0,0,0,0,0
$GC,156,-0.62,-204.4,20.9,-40.5,17,166,0.10,1.83,0.00,0.000,6,0.189,0.041,2523,2000,3926,0,0,0,0,0,0
$GC,523,-0.62,-204.4,110.1,-17.3,78,532,0.00,1.73,0.00,0.000,4,0.000,0.047,2523,879,3927,0,0,0,0,0,0
$GC,599,-0.62,-204.4,123.1,-15.8,90,608,0.00,1.80,0.00,0.000,6,0.000,0.048,2523,2035,3928,0,0,0,0,0,0
$GC,960,-0.62,-204.4,185.5,-17.3,151,967,0.00,1.73,0.00,0.000,4,0.000,0.055,2523,3174,3929,0,0,0,0,0,0
$GC,1106,-0.63,-204.4,206.2,-13.2,175,1113,0.00,1.75,0.00,0.000,6,0.000,0.041,2523,2002,3930,0,0,0,0,0,0
$GC,1463,-0.64,-204.4,257.6,-13.2,236,1472,0.00,1.85,0.00,0.000,4,0.000,0.055,2523,3167,3929,0,0,0,0,0,0
$GC,1560,-0.65,-204.4,268.9,-10.9,252,1569,0.00,1.77,0.00,0.000,6,0.000,0.038,2523,2003,3929,0,0,0,0,0,0
$GC,1917,-0.66,-204.4,311.8,-12.4,305,1921,0.00,1.80,0.00,0.000,4,0.000,0.054,2523,3168,3929,0,0,0,0,0,0
$GC,2014,-0.67,-204.4,323.1,-10.7,313,2021,0.00,1.75,0.00,0.000,6,0.000,0.038,2523,1995,3928,0,0,0,0,0,0
$GC,2339,-0.68,-204.4,363.1,-11.5,344,2343,0.00,1.85,0.00,0.000,4,0.000,0.054,2523,3174,3926,0,0,0,0,0,0
$GC,2387,-0.70,-204.4,367.9,-8.9,348,2391,0.00,1.75,0.00,0.000,6,0.000,0.040,2523,2002,3927,0,0,0,0,0,0
$GC,2721,-0.71,-204.4,399.8,-10.3,379,2724,0.00,1.85,0.00,0.000,4,0.000,0.054,2523,3165,3924,0,0,0,0,0,0
$GC,2815,-0.73,-204.4,408.2,-8.4,387,2819,0.00,1.75,0.00,0.000,6,0.000,0.037,2523,1993,3924,0,0,0,0,0,0
$GC,3148,-0.74,-204.4,441.8,-9.9,418,3151,0.00,1.83,0.00,0.000,4,0.000,0.054,2523,3168,3922,0,0,0,0,0,0
$GC,3233,-0.76,-204.4,449.5,-8.4,425,3240,0.10,1.75,0.00,0.000,6,0.119,0.038,2485,1998,3921,0,0,0,0,0,0
$GC,3559,-0.76,-204.4,492.2,-12.9,456,3563,0.00,1.88,0.00,0.000,4,0.000,0.056,2484,3168,3920,0,0,0,0,0,0
$GC,3628,-0.77,-204.4,500.7,-11.7,462,3632,0.00,1.77,0.00,0.000,6,0.000,0.040,2485,1993,3919,0,0,0,0,0,0
$GC,3959,-0.78,-204.4,541.9,-12.7,493,3963,0.00,1.85,0.00,0.000,4,0.000,0.056,2485,3168,3918,0,0,0,0,0,0
$GC,3998,-0.79,-204.4,547.0,-11.7,496,4005,0.00,1.80,0.00,0.000,6,0.000,0.040,2485,1970,3917,0,0,0,0,0,0
$GC,4324,-0.80,-204.4,585.7,-11.6,527,4328,0.00,1.90,0.00,0.000,4,0.000,0.056,2484,3173,3915,0,0,0,0,0,0
$GC,4419,-0.81,-204.4,595.6,-10.1,535,4425,0.00,1.80,0.00,0.000,6,0.000,0.043,2485,1997,3914,0,0,0,0,0,0
$GC,4736,-0.82,-204.4,629.9,-11.4,553,4740,0.00,1.85,0.00,0.000,4,0.000,0.056,2484,3167,3912,0,0,0,0,0,0
$GC,4831,-0.83,-204.4,639.9,-9.9,557,4835,0.00,1.77,0.00,0.000,6,0.000,0.041,2484,2003,3911,0,0,0,0,0,0
$GC,5159,-0.84,-204.4,676.1,-10.8,573,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2002,3908,0,0,0,0,0,0
$GC,5469,-0.85,-204.4,706.5,-9.8,588,5472,0.00,1.85,0.00,0.000,4,0.000,0.057,2484,3168,3905,0,0,0,0,0,0
$GC,5546,-0.87,-204.4,713.7,-8.8,591,5550,0.00,1.80,0.00,0.000,6,0.000,0.042,2484,2004,3905,0,0,0,0,0,0
$GC,5869,-0.88,-204.4,746.3,-10.6,607,5874,0.10,1.85,0.00,0.000,4,0.125,0.059,2446,3169,3903,0,0,0,0,0,0
$GC,5942,-0.88,-204.4,755.8,-12.8,610,5945,0.00,1.83,0.00,0.000,6,0.000,0.046,2446,1974,3902,0,0,0,0,0,0
$GC,6270,-0.89,-204.4,800.2,-13.3,626,6273,0.00,1.88,0.00,0.000,4,0.000,0.060,2446,3167,3899,0,0,0,0,0,0
$GC,6316,-0.90,-204.4,806.0,-12.2,628,6319,0.00,1.77,0.00,0.000,6,0.000,0.044,2446,2002,3899,0,0,0,0,0,0
$GC,6649,-0.90,-204.4,849.7,-13.3,644,6652,0.00,1.83,0.00,0.000,4,0.000,0.060,2446,3167,3896,0,0,0,0,0,0
$GC,6712,-0.91,-204.4,857.5,-12.0,646,6720,0.00,1.77,0.00,0.000,6,0.000,0.045,2446,2003,3896,0,0,0,0,0,0
$GC,7028,-0.91,-204.4,900.0,-13.4,662,7032,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3162,3894,0,0,0,0,0,0
$GC,7067,-0.92,-204.4,905.2,-12.5,663,7074,0.00,1.83,0.00,0.000,6,0.000,0.045,2446,2002,3893,0,0,0,0,0,0
$GC,7383,-0.93,-204.4,945.1,-12.4,679,7387,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3170,3892,0,0,0,0,0,0
$GC,7433,-0.94,-204.4,951.3,-10.9,681,7437,0.00,1.80,0.00,0.000,6,0.000,0.047,2446,2004,3892,0,0,0,0,0,0
$GC,7761,-0.94,-204.4,990.5,-11.8,697,7765,0.00,1.85,0.00,0.000,4,0.000,0.062,2446,3168,3889,0,0,0,0,0,0
$GC,7830,-0.95,-204.4,998.3,-11.1,700,7833,0.00,1.77,0.00,0.000,6,0.000,0.047,2446,2003,3889,0,0,0,0,0,0
$STATE,7843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7843,begin apogee
$GC,7849,-0.18,0.0,1000.2,10.6,700,8026,0.70,0.08,170.77,1.271,6,0.136,0.108,2666,2093,3091,0,0,0,0,0,0
$STATE,8027,end apogee,CONTROL_FINISHED_OK
$STATE,8027,begin climb
$GC,8029,0.69,204.4,1008.3,0.0,709,8230,0.77,2.03,193.30,1.243,4,0.053,0.044,2948,3269,2256,0,0,0,0,0,0
$GC,8399,0.67,204.4,966.0,18.7,726,8402,0.00,1.85,0.00,0.000,6,0.000,0.036,2957,2073,2243,0,0,0,0,0,0
$GC,8726,0.66,204.4,910.1,17.1,742,8729,0.00,1.65,0.00,0.000,4,0.000,0.048,2966,971,2239,0,0,0,0,0,0
$GC,8753,0.65,204.4,904.9,17.6,743,8757,0.00,1.80,0.00,0.000,6,0.000,0.041,2963,2142,2238,0,0,0,0,0,0
$GC,9081,0.63,204.4,847.8,18.0,759,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2143,2236,0,0,0,0,0,0
$GC,9390,0.62,204.4,793.9,17.6,774,9391,0.12,0.00,0.00,0.000,6,0.197,0.000,2933,2144,2235,0,0,0,0,0,0
$GC,9699,0.61,204.4,748.9,14.0,789,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2144,2234,0,0,0,0,0,0
$GC,10008,0.63,224.7,708.4,13.0,804,10031,0.00,1.80,15.70,1.034,4,0.000,0.045,2941,970,2174,0,0,0,0,0,0
$GC,10048,0.65,245.2,703.1,13.0,805,10077,0.00,1.77,20.38,1.041,6,0.000,0.041,2938,2148,2089,0,0,0,0,0,0
$GC,10385,0.65,245.2,653.1,15.2,822,10389,0.00,1.80,0.00,0.000,4,0.000,0.047,2947,970,2081,0,0,0,0,0,0
$GC,10435,0.64,245.2,645.1,15.2,824,10439,0.00,1.77,0.00,0.000,6,0.000,0.041,2946,2150,2080,0,0,0,0,0,0
$GC,10753,0.64,245.2,595.9,15.3,840,10754,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2151,2078,0,0,0,0,0,0
$GC,11073,0.63,245.2,548.9,14.5,870,11076,0.00,1.80,0.00,0.000,4,0.000,0.047,2955,963,2076,0,0,0,0,0,0
$GC,11146,0.65,262.1,538.9,13.1,876,11166,0.00,1.77,14.38,0.931,6,0.000,0.041,2955,2147,2021,0,0,0,0,0,0
$GC,11494,0.67,279.3,492.8,13.1,909,11520,0.00,1.85,16.02,0.907,4,0.000,0.045,2964,970,1951,0,0,0,0,0,0
$GC,11556,0.68,293.5,484.2,13.2,914,11574,0.00,1.80,13.95,0.874,6,0.000,0.040,2964,2146,1894,0,0,0,0,0,0
$GC,11900,0.68,293.5,432.8,14.7,946,11903,0.00,1.83,0.00,0.000,4,0.000,0.045,2972,971,1885,0,0,0,0,0,0
$GC,11969,0.68,293.5,422.4,15.0,952,11973,0.00,1.80,0.00,0.000,6,0.000,0.041,2972,2155,1884,0,0,0,0,0,0
$GC,12302,0.67,293.5,370.7,16.2,983,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2155,1883,0,0,0,0,0,0
$GC,12629,0.67,293.5,317.0,15.3,1014,12633,0.00,1.77,0.00,0.000,4,0.000,0.044,2981,970,1883,0,0,0,0,0,0
$GC,12699,0.66,293.5,306.2,14.1,1020,12703,0.12,1.75,0.00,0.000,6,0.168,0.039,2946,2149,1883,0,0,0,0,0,0
$GC,13049,0.78,386.9,265.3,9.6,1076,13133,0.10,0.00,77.65,0.759,6,0.096,0.000,3003,2150,1511,0,0,0,0,0,0
$GC,13481,0.77,386.9,187.8,17.8,1148,13490,0.00,1.83,0.00,0.000,4,0.000,0.043,3012,972,1503,0,0,0,0,0,0
$GC,13621,0.77,386.9,165.2,15.9,1171,13629,0.08,1.80,0.00,0.000,6,0.145,0.037,2985,2157,1502,0,0,0,0,0,0
$GC,13986,0.84,440.8,116.1,11.4,1232,14035,0.00,1.90,43.62,0.629,4,0.000,0.044,2994,967,1292,0,0,0,0,0,0
$GC,14195,0.94,505.3,91.8,10.9,1265,14255,0.08,1.80,52.65,0.605,6,0.051,0.036,3052,2148,1029,0,0,0,0,0,0
$GC,14607,0.97,522.8,32.4,13.1,1332,14632,0.00,1.83,14.65,0.526,4,0.000,0.044,3055,977,957,0,0,0,0,0,0
$GC,14722,1.06,587.2,18.5,10.9,1350,14780,0.00,1.77,51.53,0.544,6,0.000,0.034,3055,2152,696,0,0,0,0,0,0
$STATE,14857,end climb,SURFACE_DEPTH_REACHED
$STATE,14857,begin surface coast
$FINISH,0.1,1.021668
$STATE,14882,end surface coast,CONTROL_FINISHED_OK
$STATE,14882,begin surface
$SM_CCo,14899,39.67,0.057,0,0,480,640.23
$SM_GC,0.96,0.00,0.00,39.67,0.000,0.000,0.057,150,1981,480,-8.06,-1.24,640.23
$IRIDIUM_FIX,2335.63,12613.58,201010,040417
$TT8_MAMPS,0.026964
$HUMID,44.80
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.6,47.596
$10V_AH,10.0,40.585
$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,20.600,109.200,684.600,39.675,0.000,25.612,40.642,221.552,0.000,0.000,34.653,3385.925,7125.396,701.098,3858.732,293.729,0.000,2089.897,0.000,3572.207,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,107.865,1270.665,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.550,0.000,1974.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333748
$DATA_FILE_SIZE,80299,1374
$CAP_FILE_SIZE,167324,0
$CFSIZE,260165632,236130304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039, 42.3,1
$GPS,201010,122254,2348.671,12615.088,38,1.1,38,-3.5