version: 66.08
glider: 169
mission: 2
dive: 344
start: 10 21 110 13 43 49
data:
$ID,169
$MISSION,2
$DIVE,344
$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,-7119.1855
$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
$GPS1,211010,133707,2400.315,12612.566,40,1.1,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-74.7
$GPS2,211010,134319,2400.315,12612.572,9,1.1,15,-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,251.2,1131,-27.7,-13.889
$D_GRID,2517
$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,-0.74,-102.8,0.0,0.0,0,118,0.00,0.00,-100.72,0.000,2,0.000,0.000,123,1994,3267,0,0,0,0,0,0
$GC,121,-0.81,-156.6,4.6,-9.0,12,146,9.95,1.85,-7.62,0.000,4,0.242,0.068,2451,3168,3733,0,0,0,0,0,0
$GC,282,-0.80,-156.6,76.2,-33.7,38,291,0.00,1.83,0.00,0.000,6,0.000,0.047,2451,2007,3735,0,0,0,0,0,0
$GC,644,-0.79,-156.6,173.0,-25.0,99,652,0.00,1.73,0.00,0.000,4,0.000,0.052,2451,879,3736,0,0,0,0,0,0
$GC,672,-0.79,-156.6,180.0,-25.3,103,680,0.00,1.80,0.00,0.000,6,0.000,0.052,2450,2041,3736,0,0,0,0,0,0
$GC,1020,-0.80,-156.6,257.3,-20.6,164,1029,0.00,1.83,0.00,0.000,4,0.000,0.050,2451,871,3736,0,0,0,0,0,0
$GC,1042,-0.80,-156.6,261.7,-20.5,167,1050,0.00,1.80,0.00,0.000,6,0.000,0.050,2450,2043,3736,0,0,0,0,0,0
$GC,1385,-0.81,-156.6,332.4,-20.1,214,1389,0.00,1.73,0.00,0.000,4,0.000,0.059,2450,3171,3736,0,0,0,0,0,0
$GC,1559,-0.82,-156.6,362.0,-16.5,229,1563,0.00,1.83,0.00,0.000,6,0.000,0.046,2451,2002,3736,0,0,0,0,0,0
$GC,1890,-0.83,-156.6,419.9,-17.5,260,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2000,3736,0,0,0,0,0,0
$GC,2209,-0.84,-156.6,472.6,-16.2,290,2213,0.00,1.83,0.00,0.000,4,0.000,0.057,2450,3170,3734,0,0,0,0,0,0
$GC,2290,-0.85,-156.6,484.9,-14.9,297,2294,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2003,3733,0,0,0,0,0,0
$GC,2622,-0.87,-156.6,536.3,-14.5,328,2626,0.00,1.85,0.00,0.000,4,0.000,0.058,2450,3161,3731,0,0,0,0,0,0
$GC,2718,-0.89,-160.9,549.6,-13.5,336,2724,0.00,1.77,0.00,0.000,6,0.000,0.042,2450,2001,3730,0,0,0,0,0,0
$GC,3043,-0.90,-160.9,595.8,-14.0,367,3047,0.00,1.73,0.00,0.000,4,0.000,0.050,2450,880,3728,0,0,0,0,0,0
$GC,3070,-0.92,-161.0,599.9,-13.9,369,3077,0.00,1.80,0.00,0.000,6,0.000,0.049,2450,2051,3727,0,0,0,0,0,0
$GC,3386,-0.93,-163.2,642.8,-13.7,385,3390,0.00,1.70,0.00,0.000,4,0.000,0.058,2450,3168,3724,0,0,0,0,0,0
$GC,3469,-0.96,-169.7,654.0,-13.3,388,3476,0.00,1.80,0.00,0.000,6,0.000,0.044,2450,2002,3723,0,0,0,0,0,0
$GC,3786,-0.98,-169.7,699.1,-14.9,404,3791,0.10,1.85,0.00,0.000,4,0.131,0.058,2414,3175,3720,0,0,0,0,0,0
$GC,3841,-0.99,-169.7,708.4,-17.0,406,3845,0.00,1.83,0.00,0.000,6,0.000,0.047,2414,2002,3719,0,0,0,0,0,0
$GC,4164,-1.00,-169.7,762.1,-16.3,422,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2001,3717,0,0,0,0,0,0
$GC,4473,-1.01,-169.7,809.4,-15.3,437,4476,0.00,1.85,0.00,0.000,4,0.000,0.060,2414,3175,3715,0,0,0,0,0,0
$GC,4574,-1.03,-174.4,823.6,-13.5,441,4577,0.00,1.83,0.00,0.000,6,0.000,0.048,2414,2000,3713,0,0,0,0,0,0
$GC,4895,-1.04,-174.4,870.5,-14.5,457,4898,0.00,1.73,0.00,0.000,4,0.000,0.056,2414,877,3710,0,0,0,0,0,0
$GC,4933,-1.06,-174.4,876.1,-14.2,458,4940,0.00,1.83,0.00,0.000,6,0.000,0.052,2414,2050,3710,0,0,0,0,0,0
$GC,5250,-1.07,-176.2,920.0,-13.7,474,5254,0.00,1.77,0.00,0.000,4,0.000,0.063,2414,3166,3707,0,0,0,0,0,0
$GC,5296,-1.11,-190.3,926.0,-12.6,476,5301,0.08,1.83,0.00,0.000,6,0.077,0.047,2376,2002,3707,0,0,0,0,0,0
$GC,5631,-1.11,-190.3,978.0,-16.0,492,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2001,3704,0,0,0,0,0,0
$STATE,5771,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5771,begin apogee
$GC,5776,-0.18,0.0,1001.7,16.6,499,5913,0.98,0.08,129.62,1.265,6,0.160,0.108,2666,2094,3091,0,0,0,0,0,0
$STATE,5914,end apogee,CONTROL_FINISHED_OK
$STATE,5914,begin climb
$GC,5916,0.85,190.3,1007.3,0.0,505,6105,0.93,2.05,180.48,1.245,4,0.056,0.047,3000,3265,2314,0,0,0,0,0,0
$GC,6194,0.84,190.3,978.7,21.1,518,6198,0.00,1.88,0.00,0.000,6,0.000,0.037,3009,2089,2304,0,0,0,0,0,0
$GC,6516,0.84,190.3,915.0,19.4,534,6520,0.00,1.67,0.00,0.000,4,0.000,0.047,3018,964,2298,0,0,0,0,0,0
$GC,6594,0.83,190.3,900.3,18.7,537,6598,0.00,1.80,0.00,0.000,6,0.000,0.041,3018,2154,2297,0,0,0,0,0,0
$GC,6915,0.82,190.3,836.6,20.0,553,6919,0.00,1.77,0.00,0.000,4,0.000,0.045,3027,969,2294,0,0,0,0,0,0
$GC,6965,0.81,190.3,826.4,19.6,555,6970,0.12,1.80,0.00,0.000,6,0.208,0.040,2997,2146,2293,0,0,0,0,0,0
$GC,7292,0.81,190.3,766.0,18.0,571,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2146,2292,0,0,0,0,0,0
$GC,7602,0.81,190.3,715.9,16.6,586,7605,0.00,1.70,0.00,0.000,4,0.000,0.048,2989,3270,2291,0,0,0,0,0,0
$GC,7679,0.80,190.3,702.4,16.7,589,7683,0.00,1.80,0.00,0.000,6,0.000,0.036,2997,2090,2289,0,0,0,0,0,0
$GC,8001,0.80,190.3,650.6,16.2,605,8002,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2089,2288,0,0,0,0,0,0
$GC,8311,0.80,190.3,598.2,17.1,620,8315,0.00,1.83,0.00,0.000,4,0.000,0.045,2991,3277,2288,0,0,0,0,0,0
$GC,8373,0.79,190.3,587.2,17.4,625,8380,0.00,1.80,0.00,0.000,6,0.000,0.035,2999,2075,2287,0,0,0,0,0,0
$GC,8699,0.79,190.3,534.9,16.0,656,8703,0.00,1.67,0.00,0.000,4,0.000,0.047,3008,975,2286,0,0,0,0,0,0
$GC,8845,0.79,190.3,512.5,14.7,669,8848,0.00,1.75,0.00,0.000,6,0.000,0.039,3005,2157,2286,0,0,0,0,0,0
$GC,9177,0.79,190.3,463.2,14.8,700,9180,0.00,1.67,0.00,0.000,4,0.000,0.047,3005,3275,2285,0,0,0,0,0,0
$GC,9290,0.79,190.3,445.6,15.9,710,9294,0.00,1.75,0.00,0.000,6,0.000,0.034,3014,2087,2284,0,0,0,0,0,0
$GC,9623,0.79,190.3,395.8,14.6,741,9624,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2086,2284,0,0,0,0,0,0
$GC,9942,0.79,193.4,352.1,13.6,771,9946,0.00,1.70,0.00,0.000,4,0.000,0.043,3023,964,2284,0,0,0,0,0,0
$GC,10127,0.79,193.4,325.4,14.5,787,10135,0.12,1.75,0.00,0.000,6,0.190,0.037,2987,2153,2284,0,0,0,0,0,0
$GC,10459,0.81,204.9,284.9,12.9,828,10474,0.00,0.00,9.25,0.684,6,0.000,0.000,2987,2154,2254,0,0,0,0,0,0
$GC,10816,0.84,227.6,240.7,11.8,890,10845,0.00,1.85,21.30,0.714,4,0.000,0.042,2996,965,2162,0,0,0,0,0,0
$GC,10955,0.88,246.2,223.6,12.2,913,10977,0.00,1.77,17.33,0.687,6,0.000,0.036,2996,2149,2086,0,0,0,0,0,0
$GC,11320,0.92,274.4,177.2,11.3,976,11350,0.00,1.77,24.05,0.664,4,0.000,0.043,2996,3275,1971,0,0,0,0,0,0
$GC,11371,0.95,291.3,171.1,12.4,983,11393,0.00,1.80,15.57,0.634,6,0.000,0.031,3005,2078,1902,0,0,0,0,0,0
$GC,11744,1.00,321.0,122.9,11.2,1046,11778,0.12,1.73,25.42,0.623,4,0.085,0.041,3080,958,1781,0,0,0,0,0,0
$GC,11938,1.00,321.0,90.7,14.8,1077,11947,0.00,1.80,0.00,0.000,6,0.000,0.035,3079,2148,1776,0,0,0,0,0,0
$GC,12306,1.02,329.1,40.6,13.2,1138,12324,0.00,1.73,7.18,0.477,4,0.000,0.041,3079,3275,1748,0,0,0,0,0,0
$GC,12414,1.04,338.4,26.1,13.1,1155,12432,0.00,1.77,9.30,0.492,6,0.000,0.030,3089,2085,1710,0,0,0,0,0,0
$STATE,12608,end climb,SURFACE_DEPTH_REACHED
$STATE,12608,begin surface coast
$FINISH,0.0,1.021669
$STATE,12639,end surface coast,CONTROL_FINISHED_OK
$STATE,12640,begin surface
$SM_CCo,12656,190.95,0.057,0,0,481,640.23
$SM_GC,1.01,0.00,0.00,190.95,0.000,0.000,0.057,143,1977,481,-8.06,-1.36,640.23
$IRIDIUM_FIX,2349.77,12615.86,211010,090955
$TT8_MAMPS,0.026215
$HUMID,41.92
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.7,49.009
$10V_AH,10.0,41.635
$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,20.850,86.175,439.500,190.950,0.000,27.521,17.144,196.784,0.000,0.000,16.808,2970.684,5971.574,683.907,3337.564,249.015,0.000,1830.116,0.000,3103.143,0.000,0.542,0.000
$DEVICE_MAMPS,241.740,107.865,1265.310,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.571,0.000,1731.423,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333664
$DATA_FILE_SIZE,70334,1192
$CAP_FILE_SIZE,140100,0
$CFSIZE,260165632,235593728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.100, 72.6,1
$GPS,211010,171901,2400.129,12611.311,36,1.4,36,-3.6