version: 66.08
glider: 169
mission: 2
dive: 342
start: 10 21 110 5 19 42
data:
$ID,169
$MISSION,2
$DIVE,342
$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,-7114.8662
$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
$GPS1,211010,051301,2357.606,12615.327,41,1.2,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.4
$GPS2,211010,051914,2357.652,12615.348,12,1.7,12,-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,296.2,7141,-19.5,-13.889
$D_GRID,2897
$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,15,-0.69,-204.4,0.0,0.0,0,116,0.00,0.00,-98.60,0.000,2,0.000,0.000,139,2060,3167,0,0,0,0,0,0
$GC,119,-0.69,-204.4,4.2,-7.5,12,146,9.65,1.92,-12.65,0.000,4,0.230,0.067,2497,866,3929,0,0,0,0,0,0
$GC,208,-0.68,-204.4,43.8,-28.8,25,217,0.00,1.88,0.00,0.000,6,0.000,0.054,2497,2040,3931,0,0,0,0,0,0
$GC,574,-0.67,-204.4,144.7,-20.5,86,584,0.00,1.77,0.00,0.000,4,0.000,0.060,2498,3167,3932,0,0,0,0,0,0
$GC,622,-0.66,-204.4,154.7,-20.3,93,629,0.00,1.75,0.00,0.000,6,0.000,0.043,2497,2002,3932,0,0,0,0,0,0
$GC,977,-0.66,-204.4,222.5,-19.0,154,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2001,3934,0,0,0,0,0,0
$GC,1335,-0.66,-204.4,284.2,-16.0,215,1342,0.00,1.80,0.00,0.000,4,0.000,0.056,2497,3168,3933,0,0,0,0,0,0
$GC,1447,-0.66,-204.4,301.1,-13.3,233,1453,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,1998,3934,0,0,0,0,0,0
$GC,1772,-0.67,-204.4,350.1,-15.4,264,1775,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3168,3931,0,0,0,0,0,0
$GC,1810,-0.67,-204.4,355.1,-14.1,267,1813,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,2004,3931,0,0,0,0,0,0
$GC,2141,-0.68,-204.4,400.3,-13.3,298,2144,0.00,1.83,0.00,0.000,4,0.000,0.056,2497,3168,3931,0,0,0,0,0,0
$GC,2202,-0.69,-204.4,407.3,-10.9,303,2206,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,2003,3930,0,0,0,0,0,0
$GC,2533,-0.69,-204.4,448.7,-12.5,334,2534,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2001,3928,0,0,0,0,0,0
$GC,2853,-0.70,-204.4,486.0,-11.6,364,2857,0.00,1.80,0.00,0.000,4,0.000,0.055,2497,3168,3926,0,0,0,0,0,0
$GC,2946,-0.71,-204.4,496.7,-10.4,372,2950,0.00,1.80,0.00,0.000,6,0.000,0.040,2497,1996,3925,0,0,0,0,0,0
$GC,3277,-0.72,-204.4,539.3,-12.9,403,3281,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3922,0,0,0,0,0,0
$GC,3357,-0.74,-204.4,548.1,-10.0,410,3361,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,1998,3922,0,0,0,0,0,0
$GC,3688,-0.75,-204.4,586.8,-11.2,441,3692,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3163,3920,0,0,0,0,0,0
$GC,3760,-0.76,-204.4,594.4,-9.6,447,3766,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,1975,3919,0,0,0,0,0,0
$GC,4088,-0.78,-204.4,625.4,-8.8,466,4092,0.00,1.90,0.00,0.000,4,0.000,0.055,2497,3169,3916,0,0,0,0,0,0
$GC,4144,-0.79,-204.4,630.2,-8.3,468,4148,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,1979,3915,0,0,0,0,0,0
$GC,4466,-0.81,-204.4,660.7,-9.5,484,4470,0.00,1.88,0.00,0.000,4,0.000,0.056,2497,3172,3913,0,0,0,0,0,0
$GC,4516,-0.82,-204.4,665.2,-8.0,486,4520,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,1969,3913,0,0,0,0,0,0
$GC,4844,-0.83,-204.4,696.6,-9.9,502,4848,0.10,1.90,0.00,0.000,4,0.126,0.057,2459,3167,3910,0,0,0,0,0,0
$GC,4926,-0.85,-204.4,706.3,-11.8,505,4933,0.00,1.77,0.00,0.000,6,0.000,0.042,2459,2003,3909,0,0,0,0,0,0
$GC,5242,-0.85,-204.4,749.2,-14.0,521,5246,0.00,1.88,0.00,0.000,4,0.000,0.059,2459,3168,3906,0,0,0,0,0,0
$GC,5298,-0.86,-204.4,756.7,-12.3,523,5302,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,1999,3905,0,0,0,0,0,0
$GC,5620,-0.87,-204.4,799.3,-13.2,539,5624,0.00,1.83,0.00,0.000,4,0.000,0.059,2459,3167,3903,0,0,0,0,0,0
$GC,5682,-0.88,-204.4,807.1,-11.7,541,5688,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,1999,3903,0,0,0,0,0,0
$GC,5998,-0.88,-204.4,846.7,-12.4,557,6001,0.00,1.83,0.00,0.000,4,0.000,0.060,2459,3167,3900,0,0,0,0,0,0
$GC,6076,-0.90,-204.4,855.9,-11.1,560,6079,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2002,3900,0,0,0,0,0,0
$GC,6397,-0.90,-204.4,893.3,-11.4,576,6401,0.00,1.83,0.00,0.000,4,0.000,0.060,2459,3167,3898,0,0,0,0,0,0
$GC,6470,-0.92,-204.4,901.1,-10.3,579,6473,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2000,3897,0,0,0,0,0,0
$GC,6798,-0.92,-204.4,936.7,-10.7,595,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1998,3894,0,0,0,0,0,0
$GC,7107,-0.93,-204.4,970.1,-11.1,610,7110,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3168,3893,0,0,0,0,0,0
$GC,7198,-0.94,-204.4,979.0,-10.0,614,7202,0.00,1.77,0.00,0.000,6,0.000,0.046,2459,2003,3892,0,0,0,0,0,0
$STATE,7405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7405,begin apogee
$GC,7410,-0.18,0.0,1001.0,10.8,624,7588,0.65,0.08,170.98,1.279,6,0.138,0.107,2664,2093,3090,0,0,0,0,0,0
$STATE,7589,end apogee,CONTROL_FINISHED_OK
$STATE,7589,begin climb
$GC,7591,0.69,204.4,1009.7,0.0,632,7795,0.80,1.88,193.57,1.248,4,0.062,0.047,2957,973,2255,0,0,0,0,0,0
$GC,7947,0.67,204.4,973.1,17.4,648,7954,0.00,1.85,0.00,0.000,6,0.000,0.041,2950,2150,2245,0,0,0,0,0,0
$GC,8263,0.66,204.4,920.9,16.2,664,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2150,2240,0,0,0,0,0,0
$GC,8572,0.65,204.4,871.4,16.1,679,8576,0.00,1.77,0.00,0.000,4,0.000,0.047,2959,969,2238,0,0,0,0,0,0
$GC,8611,0.64,204.4,864.8,16.4,680,8618,0.00,1.80,0.00,0.000,6,0.000,0.041,2951,2143,2238,0,0,0,0,0,0
$GC,8927,0.63,204.4,815.3,15.5,696,8931,0.00,1.70,0.00,0.000,4,0.000,0.048,2948,3274,2236,0,0,0,0,0,0
$GC,8965,0.62,204.4,809.0,15.6,697,8972,0.00,1.80,0.00,0.000,6,0.000,0.034,2956,2088,2235,0,0,0,0,0,0
$GC,9282,0.60,204.4,760.8,15.4,713,9286,0.12,1.83,0.00,0.000,4,0.202,0.046,2922,3271,2234,0,0,0,0,0,0
$GC,9353,0.60,208.5,750.6,13.7,716,9357,0.00,1.80,0.00,0.000,6,0.000,0.034,2930,2087,2234,0,0,0,0,0,0
$GC,9681,0.62,223.9,707.3,13.2,732,9704,0.00,1.70,15.30,1.037,4,0.000,0.044,2939,960,2177,0,0,0,0,0,0
$GC,9800,0.61,223.9,690.9,14.4,737,9803,0.00,1.80,0.00,0.000,6,0.000,0.040,2935,2158,2173,0,0,0,0,0,0
$GC,10127,0.61,223.9,642.6,15.3,753,10131,0.00,1.80,0.00,0.000,4,0.000,0.047,2944,964,2171,0,0,0,0,0,0
$GC,10173,0.60,223.9,635.8,14.0,755,10177,0.00,1.77,0.00,0.000,6,0.000,0.041,2938,2154,2171,0,0,0,0,0,0
$GC,10499,0.60,223.9,585.9,15.0,774,10503,0.00,1.77,0.00,0.000,4,0.000,0.047,2947,970,2169,0,0,0,0,0,0
$GC,10567,0.59,223.9,575.9,14.5,780,10571,0.00,1.77,0.00,0.000,6,0.000,0.041,2947,2149,2169,0,0,0,0,0,0
$GC,10899,0.62,252.6,532.3,12.6,811,10933,0.00,1.83,26.17,0.958,4,0.000,0.044,2956,962,2059,0,0,0,0,0,0
$GC,10960,0.62,253.3,524.1,13.9,816,10967,0.00,1.85,0.00,0.000,6,0.000,0.040,2950,2152,2056,0,0,0,0,0,0
$GC,11288,0.64,273.2,479.4,13.0,847,11313,0.00,1.75,18.30,0.897,4,0.000,0.046,2950,3275,1975,0,0,0,0,0,0
$GC,11362,0.64,273.2,468.8,14.6,853,11365,0.00,1.80,0.00,0.000,6,0.000,0.033,2959,2086,1973,0,0,0,0,0,0
$GC,11692,0.63,273.2,423.1,13.9,884,11696,0.00,1.70,0.00,0.000,4,0.000,0.045,2967,973,1969,0,0,0,0,0,0
$GC,11847,0.63,273.2,401.2,14.0,897,11853,0.00,1.77,0.00,0.000,6,0.000,0.037,2962,2152,1968,0,0,0,0,0,0
$GC,12172,0.63,280.7,356.0,13.5,928,12186,0.00,1.73,7.05,0.697,4,0.000,0.044,2962,3279,1945,0,0,0,0,0,0
$GC,12212,0.63,280.7,350.5,14.9,931,12216,0.12,1.80,0.00,0.000,6,0.176,0.033,2938,2077,1943,0,0,0,0,0,0
$GC,12542,0.68,325.2,311.1,11.9,962,12591,0.00,1.77,39.40,0.791,4,0.000,0.045,2946,961,1763,0,0,0,0,0,0
$GC,12738,0.75,370.3,288.7,11.8,987,12782,0.00,1.80,38.30,0.763,6,0.000,0.037,2946,2153,1580,0,0,0,0,0,0
$GC,13132,0.76,377.3,236.5,13.6,1053,13147,0.00,1.85,6.28,0.580,4,0.000,0.042,2952,960,1551,0,0,0,0,0,0
$GC,13272,0.83,420.4,219.4,11.9,1076,13315,0.10,1.80,37.20,0.706,6,0.046,0.034,3013,2150,1376,0,0,0,0,0,0
$GC,13667,0.82,420.4,147.1,17.3,1142,13676,0.00,1.80,0.00,0.000,4,0.000,0.042,3022,974,1370,0,0,0,0,0,0
$GC,13807,0.82,420.4,125.3,14.3,1165,13816,0.00,1.77,0.00,0.000,6,0.000,0.034,3020,2153,1370,0,0,0,0,0,0
$GC,14174,0.91,489.8,71.5,10.7,1226,14239,0.00,1.88,56.12,0.599,4,0.000,0.041,3026,965,1092,0,0,0,0,0,0
$GC,14376,1.11,633.9,52.9,7.3,1257,14499,0.12,1.80,114.18,0.577,6,0.044,0.034,3106,2154,504,0,0,0,0,0,0
$STATE,14663,end climb,SURFACE_DEPTH_REACHED
$STATE,14664,begin surface coast
$FINISH,0.0,1.020917
$STATE,14684,end surface coast,CONTROL_FINISHED_OK
$STATE,14684,begin surface
$SM_CCo,14701,7.35,0.062,0,0,482,640.23
$SM_GC,0.56,0.00,0.00,7.35,0.000,0.000,0.062,149,1987,482,-8.06,-1.07,640.23
$IRIDIUM_FIX,2345.05,12616.37,211010,010127
$TT8_MAMPS,0.026964
$HUMID,47.59
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.6,48.666
$10V_AH,10.0,41.342
$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,20.125,112.275,722.850,7.350,0.000,24.584,15.175,205.929,0.000,0.000,12.964,3223.058,7263.321,700.744,3619.487,265.608,0.000,2071.462,0.000,3375.223,0.000,0.543,0.000
$DEVICE_MAMPS,229.500,107.100,1279.080,61.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.370,0.000,1757.051,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333672
$DATA_FILE_SIZE,77001,1303
$CAP_FILE_SIZE,163794,0
$CFSIZE,260165632,235728896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 59.9,1
$GPS,211010,092600,2359.406,12614.136,36,1.2,41,-3.6