version: 66.08
glider: 169
mission: 2
dive: 340
start: 10 20 110 21 1 33
data:
$ID,169
$MISSION,2
$DIVE,340
$N_DIVES,353
$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,-7111.4541
$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
$GPS1,201010,205407,2352.835,12615.631,34,1.2,34,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-71.9
$GPS2,201010,210106,2352.851,12615.653,14,1.2,30,-3.6
$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,334.0,14611,-19.5,-13.889
$D_GRID,3765
$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,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,112,0.00,0.00,-93.45,0.000,2,0.000,0.000,137,2001,2996,0,0,0,0,0,0
$GC,115,-0.69,-204.4,3.5,-5.7,12,149,9.85,1.75,-16.60,0.000,4,0.236,0.067,2498,880,3927,0,0,0,0,0,0
$GC,258,-0.67,-204.4,52.3,-26.7,34,267,0.00,1.83,0.00,0.000,6,0.000,0.054,2498,2032,3928,0,0,0,0,0,0
$GC,623,-0.66,-204.4,144.4,-21.5,95,632,0.00,1.77,0.00,0.000,4,0.000,0.057,2498,3162,3930,0,0,0,0,0,0
$GC,723,-0.66,-204.4,161.3,-15.8,111,729,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,2003,3930,0,0,0,0,0,0
$GC,1080,-0.66,-204.4,228.1,-16.6,172,1088,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3167,3930,0,0,0,0,0,0
$GC,1103,-0.66,-204.4,231.6,-16.6,175,1110,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1999,3930,0,0,0,0,0,0
$GC,1459,-0.66,-204.4,289.8,-15.9,236,1467,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3163,3930,0,0,0,0,0,0
$GC,1521,-0.67,-204.4,298.4,-12.7,246,1531,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2004,3930,0,0,0,0,0,0
$GC,1856,-0.67,-204.4,347.4,-13.8,278,1860,0.00,1.83,0.00,0.000,4,0.000,0.056,2498,3177,3929,0,0,0,0,0,0
$GC,1926,-0.68,-204.4,356.1,-11.8,284,1929,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1998,3929,0,0,0,0,0,0
$GC,2259,-0.68,-204.4,400.2,-13.3,315,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1997,3927,0,0,0,0,0,0
$GC,2587,-0.69,-204.4,444.0,-12.8,346,2591,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3172,3925,0,0,0,0,0,0
$GC,2719,-0.70,-204.4,458.6,-10.4,357,2723,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,1996,3925,0,0,0,0,0,0
$GC,3051,-0.71,-204.4,496.0,-11.9,388,3055,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3922,0,0,0,0,0,0
$GC,3089,-0.72,-204.4,499.9,-11.0,391,3092,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,2000,3921,0,0,0,0,0,0
$GC,3420,-0.73,-204.4,537.8,-11.4,422,3424,0.00,1.88,0.00,0.000,4,0.000,0.054,2498,3168,3919,0,0,0,0,0,0
$GC,3499,-0.75,-204.4,546.1,-9.5,429,3503,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3919,0,0,0,0,0,0
$GC,3831,-0.76,-204.4,581.3,-11.0,460,3834,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3172,3916,0,0,0,0,0,0
$GC,3869,-0.78,-204.4,585.5,-9.9,463,3876,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3916,0,0,0,0,0,0
$GC,4201,-0.79,-204.4,620.1,-10.6,486,4204,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3176,3913,0,0,0,0,0,0
$GC,4269,-0.80,-204.4,626.8,-9.4,489,4273,0.00,1.80,0.00,0.000,6,0.000,0.043,2498,2001,3913,0,0,0,0,0,0
$GC,4603,-0.81,-204.4,661.8,-11.1,505,4606,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3173,3910,0,0,0,0,0,0
$GC,4675,-0.83,-204.4,669.2,-9.8,508,4679,0.10,1.77,0.00,0.000,6,0.117,0.042,2458,2001,3909,0,0,0,0,0,0
$GC,5003,-0.84,-204.4,713.3,-13.1,524,5006,0.00,1.83,0.00,0.000,4,0.000,0.058,2457,3168,3906,0,0,0,0,0,0
$GC,5098,-0.85,-204.4,724.8,-11.0,528,5101,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2002,3905,0,0,0,0,0,0
$GC,5425,-0.85,-204.4,765.4,-12.4,544,5429,0.00,1.85,0.00,0.000,4,0.000,0.059,2457,3168,3902,0,0,0,0,0,0
$GC,5464,-0.86,-204.4,770.3,-11.4,545,5471,0.00,1.80,0.00,0.000,6,0.000,0.045,2457,2001,3902,0,0,0,0,0,0
$GC,5781,-0.87,-204.4,810.4,-13.2,561,5785,0.00,1.83,0.00,0.000,4,0.000,0.059,2457,3167,3900,0,0,0,0,0,0
$GC,5808,-0.87,-204.4,814.1,-12.3,562,5812,0.00,1.80,0.00,0.000,6,0.000,0.043,2457,2004,3900,0,0,0,0,0,0
$GC,6136,-0.88,-204.4,853.4,-11.7,578,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2002,3897,0,0,0,0,0,0
$GC,6445,-0.89,-204.4,887.1,-10.7,593,6449,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3170,3895,0,0,0,0,0,0
$GC,6492,-0.90,-204.4,891.8,-9.7,595,6496,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,2004,3895,0,0,0,0,0,0
$GC,6826,-0.91,-204.4,928.2,-11.5,611,6829,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3172,3892,0,0,0,0,0,0
$GC,6872,-0.92,-204.4,933.4,-10.3,613,6876,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,1997,3892,0,0,0,0,0,0
$GC,7205,-0.93,-204.4,970.4,-10.8,629,7209,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3167,3890,0,0,0,0,0,0
$GC,7260,-0.94,-204.4,976.3,-9.4,631,7264,0.00,1.83,0.00,0.000,6,0.000,0.044,2457,2001,3889,0,0,0,0,0,0
$STATE,7498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7498,begin apogee
$GC,7503,-0.18,0.0,1001.0,10.3,643,7679,0.65,0.08,169.60,1.281,6,0.136,0.105,2663,2092,3091,0,0,0,0,0,0
$STATE,7679,end apogee,CONTROL_FINISHED_OK
$STATE,7679,begin climb
$GC,7682,0.69,204.4,1008.5,0.0,651,7887,0.80,1.92,193.43,1.248,4,0.061,0.044,2957,970,2255,0,0,0,0,0,0
$GC,7981,0.68,204.4,981.2,15.7,665,7985,0.00,1.88,0.00,0.000,6,0.000,0.038,2957,2149,2246,0,0,0,0,0,0
$GC,8309,0.66,204.4,928.2,16.2,681,8312,0.00,1.80,0.00,0.000,4,0.000,0.045,2965,958,2240,0,0,0,0,0,0
$GC,8358,0.65,204.4,919.6,16.8,683,8362,0.00,1.83,0.00,0.000,6,0.000,0.041,2963,2157,2240,0,0,0,0,0,0
$GC,8686,0.64,204.4,864.9,17.1,699,8689,0.00,1.70,0.00,0.000,4,0.000,0.049,2964,3271,2238,0,0,0,0,0,0
$GC,8718,0.62,204.4,858.7,19.2,700,8723,0.12,1.80,0.00,0.000,6,0.173,0.037,2934,2089,2236,0,0,0,0,0,0
$GC,9041,0.61,204.4,809.4,15.4,716,9044,0.00,1.70,0.00,0.000,4,0.000,0.046,2943,958,2235,0,0,0,0,0,0
$GC,9164,0.60,204.4,790.5,14.9,721,9168,0.00,1.80,0.00,0.000,6,0.000,0.041,2935,2150,2234,0,0,0,0,0,0
$GC,9486,0.60,204.4,744.3,13.9,737,9490,0.00,1.83,0.00,0.000,4,0.000,0.046,2944,966,2233,0,0,0,0,0,0
$GC,9563,0.60,208.5,733.5,13.7,740,9566,0.00,1.80,0.00,0.000,6,0.000,0.041,2944,2146,2233,0,0,0,0,0,0
$GC,9885,0.62,234.0,691.5,12.7,756,9914,0.00,1.73,24.27,1.060,4,0.000,0.047,2944,3268,2137,0,0,0,0,0,0
$GC,9943,0.61,234.0,683.2,14.3,759,9947,0.00,1.80,0.00,0.000,6,0.000,0.036,2953,2075,2133,0,0,0,0,0,0
$GC,10276,0.60,234.0,636.2,13.9,775,10278,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2073,2127,0,0,0,0,0,0
$GC,10587,0.59,234.0,591.5,14.3,792,10591,0.12,1.67,0.00,0.000,4,0.194,0.047,2930,958,2126,0,0,0,0,0,0
$GC,10621,0.66,287.0,587.1,11.5,795,10678,0.00,1.80,46.53,1.011,6,0.000,0.041,2928,2151,1918,0,0,0,0,0,0
$GC,10995,0.69,316.7,539.4,12.5,830,11029,0.00,1.90,25.85,0.952,4,0.000,0.047,2934,973,1798,0,0,0,0,0,0
$GC,11103,0.74,350.4,525.6,12.3,839,11143,0.10,1.80,30.42,0.938,6,0.095,0.039,2997,2146,1661,0,0,0,0,0,0
$GC,11463,0.73,350.4,457.3,19.8,873,11468,0.12,1.73,0.00,0.000,4,0.176,0.046,2961,3272,1651,0,0,0,0,0,0
$GC,11479,0.73,350.4,453.5,18.7,874,11488,0.00,1.83,0.00,0.000,6,0.000,0.034,2970,2080,1651,0,0,0,0,0,0
$GC,11807,0.73,350.4,398.7,16.0,905,11811,0.00,1.65,0.00,0.000,4,0.000,0.046,2978,968,1649,0,0,0,0,0,0
$GC,11945,0.73,350.4,377.0,14.6,917,11948,0.00,1.77,0.00,0.000,6,0.000,0.037,2977,2152,1648,0,0,0,0,0,0
$GC,12278,0.72,350.4,325.1,16.2,948,12282,0.00,1.77,0.00,0.000,4,0.000,0.044,2985,969,1647,0,0,0,0,0,0
$GC,12361,0.72,350.4,311.1,15.5,955,12369,0.00,1.77,0.00,0.000,6,0.000,0.037,2985,2143,1647,0,0,0,0,0,0
$GC,12703,0.72,350.4,257.2,15.2,1010,12711,0.00,1.80,0.00,0.000,4,0.000,0.044,2993,963,1647,0,0,0,0,0,0
$GC,12831,0.72,350.4,237.7,14.6,1032,12840,0.08,1.80,0.00,0.000,6,0.142,0.037,2967,2158,1647,0,0,0,0,0,0
$GC,13185,0.74,360.2,189.0,13.4,1093,13199,0.00,1.80,7.53,0.587,4,0.000,0.041,2974,968,1620,0,0,0,0,0,0
$GC,13299,0.78,392.2,174.3,12.4,1112,13336,0.00,1.77,27.67,0.670,6,0.000,0.035,2974,2149,1492,0,0,0,0,0,0
$GC,13690,0.87,456.6,120.7,10.9,1177,13749,0.10,1.90,53.75,0.634,4,0.096,0.041,3040,965,1228,0,0,0,0,0,0
$GC,13806,0.87,456.6,104.0,15.2,1193,13814,0.00,1.83,0.00,0.000,6,0.000,0.034,3039,2153,1225,0,0,0,0,0,0
$GC,14172,0.96,521.4,50.9,10.9,1254,14230,0.00,1.90,51.90,0.575,4,0.000,0.041,3042,963,964,0,0,0,0,0,0
$GC,14317,1.10,628.4,36.6,9.0,1275,14408,0.08,1.80,84.95,0.558,6,0.055,0.032,3098,2152,529,0,0,0,0,0,0
$STATE,14519,end climb,SURFACE_DEPTH_REACHED
$STATE,14519,begin surface coast
$FINISH,0.0,1.009107
$STATE,14540,end surface coast,CONTROL_FINISHED_OK
$STATE,14540,begin surface
$SM_CCo,14557,11.07,0.060,0,0,481,640.23
$SM_GC,0.76,0.00,0.00,11.07,0.000,0.000,0.060,147,1973,481,-8.07,-1.47,640.23
$IRIDIUM_FIX,2345.05,12609.78,201010,161609
$TT8_MAMPS,0.026215
$HUMID,45.35
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.6,48.241
$10V_AH,10.1,41.045
$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,20.600,115.900,715.900,11.075,0.000,29.001,15.255,223.492,0.000,0.000,30.935,3239.906,7089.660,707.359,3646.327,292.640,0.000,2068.073,0.000,3381.871,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,104.805,1281.375,59.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.229,0.000,1779.440,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76962,1308
$CAP_FILE_SIZE,164381,0
$CFSIZE,260165632,235888640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046, 60.6,1
$GPS,211010,010531,2355.226,12615.429,41,1.3,41,-3.6