version: 66.08
glider: 169
mission: 2
dive: 345
start: 10 21 110 17 26 1
data:
$ID,169
$MISSION,2
$DIVE,345
$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,-7121.3608
$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
$GPS1,211010,171901,2400.129,12611.311,36,1.4,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.4
$GPS2,211010,172532,2400.194,12611.296,12,1.6,12,-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,123.8,1244,-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,-102.8,0.0,0.0,0,113,0.00,0.00,-95.82,0.000,2,0.000,0.000,133,1976,3113,0,0,0,0,0,0
$GC,116,-0.83,-172.4,4.3,-7.6,12,142,9.65,0.00,-11.75,0.000,6,0.234,0.000,2452,1976,3798,0,0,0,0,0,0
$GC,492,-0.82,-172.4,140.6,-25.3,75,501,0.00,1.90,0.00,0.000,4,0.000,0.057,2447,3165,3800,0,0,0,0,0,0
$GC,618,-0.83,-172.4,172.3,-21.6,96,626,0.00,1.80,0.00,0.000,6,0.000,0.042,2447,2004,3800,0,0,0,0,0,0
$GC,978,-0.83,-172.4,258.6,-23.0,157,985,0.00,1.83,0.00,0.000,4,0.000,0.057,2447,3176,3801,0,0,0,0,0,0
$GC,1041,-0.84,-172.4,271.8,-19.7,167,1048,0.00,1.80,0.00,0.000,6,0.000,0.043,2447,2000,3801,0,0,0,0,0,0
$GC,1380,-0.84,-172.4,341.4,-20.3,209,1383,0.00,1.83,0.00,0.000,4,0.000,0.056,2447,3173,3801,0,0,0,0,0,0
$GC,1407,-0.85,-172.4,347.8,-20.7,211,1415,0.00,1.80,0.00,0.000,6,0.000,0.043,2447,2005,3801,0,0,0,0,0,0
$GC,1733,-0.86,-172.4,409.8,-18.5,242,1737,0.00,1.83,0.00,0.000,4,0.000,0.057,2447,3174,3800,0,0,0,0,0,0
$GC,1795,-0.87,-172.4,419.7,-15.7,247,1798,0.00,1.77,0.00,0.000,6,0.000,0.043,2447,1999,3800,0,0,0,0,0,0
$GC,2125,-0.88,-172.4,476.5,-17.8,278,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1997,3799,0,0,0,0,0,0
$GC,2446,-0.90,-172.4,529.4,-16.3,308,2449,0.00,1.85,0.00,0.000,4,0.000,0.056,2447,3170,3797,0,0,0,0,0,0
$GC,2484,-0.91,-172.4,536.0,-15.3,311,2491,0.00,1.80,0.00,0.000,6,0.000,0.044,2447,2007,3796,0,0,0,0,0,0
$GC,2810,-0.93,-172.4,585.3,-14.2,342,2813,0.00,1.85,0.00,0.000,4,0.000,0.057,2447,3168,3794,0,0,0,0,0,0
$GC,2913,-0.96,-184.8,598.8,-12.8,351,2916,0.00,1.77,0.00,0.000,6,0.000,0.043,2447,2003,3793,0,0,0,0,0,0
$GC,3235,-0.99,-196.2,640.5,-12.9,367,3237,0.10,0.00,0.00,0.000,6,0.132,0.000,2410,2001,3790,0,0,0,0,0,0
$GC,3544,-1.00,-196.2,692.2,-17.0,382,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2001,3787,0,0,0,0,0,0
$GC,3853,-1.01,-196.2,746.1,-16.9,397,3856,0.00,1.83,0.00,0.000,4,0.000,0.057,2409,3167,3783,0,0,0,0,0,0
$GC,3913,-1.02,-196.2,756.3,-15.3,399,3920,0.00,1.80,0.00,0.000,6,0.000,0.044,2409,2005,3782,0,0,0,0,0,0
$GC,4230,-1.03,-196.2,808.6,-16.9,415,4233,0.00,1.85,0.00,0.000,4,0.000,0.060,2408,3167,3779,0,0,0,0,0,0
$GC,4257,-1.05,-196.2,813.6,-17.4,416,4261,0.00,1.83,0.00,0.000,6,0.000,0.045,2409,2000,3779,0,0,0,0,0,0
$GC,4585,-1.06,-196.2,868.9,-17.5,432,4588,0.00,1.83,0.00,0.000,4,0.000,0.058,2407,3167,3776,0,0,0,0,0,0
$GC,4662,-1.07,-196.2,882.5,-16.8,435,4666,0.00,1.83,0.00,0.000,6,0.000,0.045,2407,2002,3775,0,0,0,0,0,0
$GC,4985,-1.08,-196.2,938.9,-17.7,451,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2001,3772,0,0,0,0,0,0
$GC,5293,-1.09,-196.2,993.6,-17.7,466,5297,0.00,1.85,0.00,0.000,4,0.000,0.060,2407,3169,3770,0,0,0,0,0,0
$STATE,5330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5330,begin apogee
$GC,5335,-0.18,0.0,1000.2,15.7,467,5486,0.82,0.05,144.07,1.266,6,0.146,0.073,2661,2136,3091,0,0,0,0,0,0
$STATE,5486,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5488,0.86,196.2,1008.8,0.0,474,5682,0.95,2.00,186.40,1.241,4,0.058,0.044,3014,974,2291,0,0,0,0,0,0
$GC,5707,0.85,196.2,993.1,19.2,485,5710,0.00,1.90,0.00,0.000,6,0.000,0.037,3014,2153,2286,0,0,0,0,0,0
$GC,6040,0.84,196.2,924.1,21.2,501,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2153,2276,0,0,0,0,0,0
$GC,6349,0.84,196.2,862.6,19.3,516,6352,0.00,1.67,0.00,0.000,4,0.000,0.046,3014,3274,2273,0,0,0,0,0,0
$GC,6409,0.83,196.2,849.6,21.8,518,6416,0.00,1.80,0.00,0.000,6,0.000,0.034,3023,2092,2272,0,0,0,0,0,0
$GC,6726,0.82,196.2,784.8,20.6,534,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2091,2270,0,0,0,0,0,0
$GC,7036,0.81,196.2,722.3,20.1,549,7037,0.12,0.00,0.00,0.000,6,0.217,0.000,2994,2090,2268,0,0,0,0,0,0
$GC,7344,0.81,196.2,669.6,16.8,564,7347,0.00,1.70,0.00,0.000,4,0.000,0.047,3001,966,2267,0,0,0,0,0,0
$GC,7382,0.81,196.2,663.0,17.1,565,7389,0.00,1.80,0.00,0.000,6,0.000,0.039,3000,2146,2267,0,0,0,0,0,0
$GC,7699,0.81,196.2,607.0,18.3,581,7703,0.00,1.77,0.00,0.000,4,0.000,0.046,3009,961,2265,0,0,0,0,0,0
$GC,7846,0.81,196.2,580.0,17.9,592,7849,0.00,1.80,0.00,0.000,6,0.000,0.040,3007,2158,2265,0,0,0,0,0,0
$GC,8177,0.81,196.2,524.6,15.5,623,8180,0.00,1.67,0.00,0.000,4,0.000,0.046,3007,3272,2264,0,0,0,0,0,0
$GC,8234,0.80,196.2,514.6,17.8,628,8237,0.00,1.77,0.00,0.000,6,0.000,0.035,3016,2086,2263,0,0,0,0,0,0
$GC,8566,0.80,196.2,459.6,16.2,659,8570,0.00,1.70,0.00,0.000,4,0.000,0.045,3025,968,2263,0,0,0,0,0,0
$GC,8670,0.80,196.2,442.5,16.2,668,8675,0.10,1.80,0.00,0.000,6,0.180,0.038,2993,2157,2262,0,0,0,0,0,0
$GC,9002,0.80,196.2,393.8,14.5,699,9005,0.00,1.77,0.00,0.000,4,0.000,0.044,3002,970,2262,0,0,0,0,0,0
$GC,9196,0.80,196.2,365.5,14.8,716,9200,0.00,1.77,0.00,0.000,6,0.000,0.037,3002,2156,2261,0,0,0,0,0,0
$GC,9529,0.80,196.2,317.9,14.2,747,9530,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2158,2261,0,0,0,0,0,0
$GC,9863,0.83,218.8,273.4,11.8,795,9885,0.00,1.88,16.33,0.734,4,0.000,0.043,3011,960,2198,0,0,0,0,0,0
$GC,10004,0.85,231.0,255.8,12.8,818,10021,0.00,1.80,12.25,0.694,6,0.000,0.037,3011,2145,2149,0,0,0,0,0,0
$GC,10373,0.86,234.5,207.9,13.6,880,10383,0.00,1.73,0.00,0.000,4,0.000,0.044,3011,3273,2142,0,0,0,0,0,0
$GC,10409,0.86,237.7,203.1,13.6,885,10424,0.00,1.77,6.80,0.582,6,0.000,0.031,3020,2079,2120,0,0,0,0,0,0
$GC,10778,0.89,259.5,155.4,11.9,947,10807,0.00,1.70,20.20,0.646,4,0.000,0.041,3029,970,2029,0,0,0,0,0,0
$GC,11006,0.92,271.8,124.2,12.8,984,11025,0.00,1.77,10.93,0.582,6,0.000,0.034,3029,2150,1982,0,0,0,0,0,0
$GC,11381,0.98,316.1,81.6,9.9,1046,11430,0.00,1.88,37.60,0.603,4,0.000,0.041,3038,964,1800,0,0,0,0,0,0
$GC,11625,1.07,375.3,55.2,8.5,1085,11682,0.08,1.77,47.53,0.580,6,0.055,0.032,3097,2149,1559,0,0,0,0,0,0
$STATE,12032,end climb,SURFACE_DEPTH_REACHED
$STATE,12032,begin surface coast
$FINISH,-0.0,1.002736
$STATE,12057,end surface coast,CONTROL_FINISHED_OK
$STATE,12057,begin surface
$SM_CCo,12074,164.38,0.056,0,0,481,640.23
$SM_GC,0.81,0.00,0.00,164.38,0.000,0.000,0.056,149,1976,481,-8.06,-1.39,640.23
$IRIDIUM_FIX,2352.12,12610.66,211010,131300
$TT8_MAMPS,0.026964
$HUMID,42.32
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.7,49.169
$10V_AH,10.0,41.773
$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,20.200,75.850,482.100,164.375,0.000,30.709,44.300,185.441,0.000,0.000,14.030,2841.631,5650.350,671.127,3220.843,240.327,0.000,1757.923,0.000,2976.170,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,72.675,1266.075,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.575,0.000,1753.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,70377,1156
$CAP_FILE_SIZE,129366,0
$CFSIZE,260165632,235532288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 64.2,1
$GPS,211010,205107,2359.268,12613.329,39,1.0,39,-3.6