version: 66.08
glider: 169
mission: 2
dive: 352
start: 10 22 110 22 16 27
data:
$ID,169
$MISSION,2
$DIVE,352
$N_DIVES,360
$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,-7134.8203
$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
$GPS1,221010,220900,2347.530,12609.470,42,1.0,42,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-71.0
$GPS2,221010,221600,2347.560,12609.442,34,1.1,39,-3.5
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,NWALL_S
$TGT_LATLONG,2340.000,12612.000
$TGT_RADIUS,2000.000
$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,167.7,14658,-19.5,-13.889
$D_GRID,4276
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.75,0.000,2,0.000,0.000,139,1977,3077,0,0,0,0,0,0
$GC,115,-0.69,-204.4,4.1,-7.7,12,142,9.80,0.00,-14.35,0.000,6,0.235,0.000,2499,1978,3928,0,0,0,0,0,0
$GC,492,-0.67,-204.4,127.0,-24.4,75,501,0.00,1.90,0.00,0.000,4,0.000,0.061,2499,3159,3932,0,0,0,0,0,0
$GC,624,-0.67,-204.4,153.8,-17.3,97,631,0.00,1.77,0.00,0.000,6,0.000,0.042,2499,2001,3933,0,0,0,0,0,0
$GC,981,-0.67,-204.4,220.5,-17.3,158,990,0.00,1.85,0.00,0.000,4,0.000,0.057,2499,3164,3933,0,0,0,0,0,0
$GC,1075,-0.68,-204.4,236.2,-16.8,173,1082,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,1999,3933,0,0,0,0,0,0
$GC,1431,-0.68,-204.4,293.5,-14.4,234,1441,0.00,1.85,0.00,0.000,4,0.000,0.056,2499,3164,3932,0,0,0,0,0,0
$GC,1521,-0.68,-204.4,304.6,-11.6,245,1528,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,1998,3932,0,0,0,0,0,0
$GC,1846,-0.69,-204.4,351.3,-14.6,276,1850,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3176,3931,0,0,0,0,0,0
$GC,1953,-0.70,-204.4,364.8,-11.6,285,1956,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,1993,3930,0,0,0,0,0,0
$GC,2286,-0.70,-204.4,410.3,-13.4,316,2289,0.00,1.83,0.00,0.000,4,0.000,0.055,2499,3168,3929,0,0,0,0,0,0
$GC,2323,-0.71,-204.4,415.1,-12.5,319,2327,0.00,1.80,0.00,0.000,6,0.000,0.041,2499,1999,3929,0,0,0,0,0,0
$GC,2654,-0.72,-204.4,457.2,-12.6,350,2658,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3176,3927,0,0,0,0,0,0
$GC,2747,-0.73,-204.4,467.4,-10.6,358,2751,0.00,1.83,0.00,0.000,6,0.000,0.041,2499,1998,3926,0,0,0,0,0,0
$GC,3077,-0.74,-204.4,506.4,-11.6,389,3081,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3171,3924,0,0,0,0,0,0
$GC,3161,-0.76,-204.4,515.1,-9.9,396,3168,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,1995,3923,0,0,0,0,0,0
$GC,3487,-0.77,-204.4,549.7,-11.0,427,3491,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3168,3921,0,0,0,0,0,0
$GC,3548,-0.78,-204.4,556.0,-9.1,432,3555,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,1998,3920,0,0,0,0,0,0
$GC,3874,-0.79,-204.4,590.0,-10.6,463,3878,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3176,3917,0,0,0,0,0,0
$GC,3946,-0.81,-204.4,597.0,-9.3,469,3953,0.00,1.80,0.00,0.000,6,0.000,0.042,2499,1992,3916,0,0,0,0,0,0
$GC,4275,-0.82,-204.4,631.6,-11.2,487,4279,0.10,1.88,0.00,0.000,4,0.128,0.057,2459,3175,3914,0,0,0,0,0,0
$GC,4352,-0.83,-204.4,641.9,-12.9,490,4356,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2003,3913,0,0,0,0,0,0
$GC,4675,-0.83,-204.4,685.9,-13.5,506,4678,0.00,1.85,0.00,0.000,4,0.000,0.058,2459,3170,3911,0,0,0,0,0,0
$GC,4792,-0.84,-204.4,700.4,-12.1,511,4796,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2001,3910,0,0,0,0,0,0
$GC,5120,-0.85,-204.4,743.5,-13.2,527,5124,0.00,1.85,0.00,0.000,4,0.000,0.058,2459,3175,3906,0,0,0,0,0,0
$GC,5170,-0.86,-204.4,750.0,-11.9,529,5174,0.00,1.80,0.00,0.000,6,0.000,0.045,2460,1996,3906,0,0,0,0,0,0
$GC,5498,-0.86,-204.4,791.0,-13.1,545,5501,0.00,1.88,0.00,0.000,4,0.000,0.060,2459,3173,3903,0,0,0,0,0,0
$GC,5616,-0.87,-204.4,805.3,-11.8,550,5620,0.00,1.80,0.00,0.000,6,0.000,0.047,2459,2000,3903,0,0,0,0,0,0
$GC,5943,-0.88,-204.4,846.4,-12.5,566,5947,0.00,1.83,0.00,0.000,4,0.000,0.059,2460,3167,3900,0,0,0,0,0,0
$GC,5994,-0.89,-204.4,852.3,-11.0,568,5997,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2002,3900,0,0,0,0,0,0
$GC,6321,-0.89,-204.4,890.1,-11.4,584,6325,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3167,3897,0,0,0,0,0,0
$GC,6377,-0.91,-204.4,896.2,-10.4,586,6381,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2002,3897,0,0,0,0,0,0
$GC,6699,-0.91,-204.4,930.9,-11.0,602,6702,0.00,1.83,0.00,0.000,4,0.000,0.060,2459,3167,3895,0,0,0,0,0,0
$GC,6805,-0.92,-204.4,942.2,-9.7,606,6813,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2002,3894,0,0,0,0,0,0
$GC,7122,-0.93,-204.4,976.7,-11.3,622,7125,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3171,3892,0,0,0,0,0,0
$GC,7217,-0.94,-204.4,986.8,-10.0,626,7220,0.00,1.80,0.00,0.000,6,0.000,0.047,2459,2000,3892,0,0,0,0,0,0
$STATE,7335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7335,begin apogee
$GC,7341,-0.18,0.0,1000.1,11.2,632,7519,0.65,0.05,171.77,1.271,6,0.132,0.067,2668,2098,3090,0,0,0,0,0,0
$STATE,7520,end apogee,CONTROL_FINISHED_OK
$STATE,7520,begin climb
$GC,7523,0.69,204.4,1009.2,0.0,640,7727,0.77,1.90,193.38,1.247,4,0.047,0.046,2970,966,2255,0,0,0,0,0,0
$GC,7981,0.67,204.4,955.2,17.2,661,7984,0.00,1.80,0.00,0.000,6,0.000,0.041,2969,2156,2243,0,0,0,0,0,0
$GC,8308,0.66,204.4,900.4,16.5,677,8309,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2156,2239,0,0,0,0,0,0
$GC,8617,0.64,204.4,850.7,15.6,692,8621,0.12,1.83,0.00,0.000,4,0.194,0.047,2947,961,2237,0,0,0,0,0,0
$GC,8722,0.64,204.4,835.3,15.3,696,8728,0.00,1.77,0.00,0.000,6,0.000,0.041,2947,2153,2237,0,0,0,0,0,0
$GC,9038,0.63,204.4,788.5,14.8,712,9041,0.00,1.77,0.00,0.000,4,0.000,0.045,2956,969,2235,0,0,0,0,0,0
$GC,9061,0.61,204.4,785.0,15.1,713,9064,0.00,1.77,0.00,0.000,6,0.000,0.040,2950,2151,2235,0,0,0,0,0,0
$GC,9394,0.60,204.4,735.6,14.4,729,9398,0.00,1.77,0.00,0.000,4,0.000,0.046,2959,968,2234,0,0,0,0,0,0
$GC,9440,0.59,204.4,728.9,14.6,731,9444,0.00,1.75,0.00,0.000,6,0.000,0.040,2951,2148,2233,0,0,0,0,0,0
$GC,9774,0.61,227.1,683.2,12.9,747,9794,0.00,0.00,18.02,1.024,6,0.000,0.000,2951,2148,2165,0,0,0,0,0,0
$GC,10103,0.63,246.8,640.2,13.0,763,10128,0.00,1.88,18.95,0.998,4,0.000,0.047,2960,973,2083,0,0,0,0,0,0
$GC,10179,0.63,253.8,629.7,13.6,766,10193,0.00,1.83,7.47,0.850,6,0.000,0.040,2951,2147,2056,0,0,0,0,0,0
$GC,10505,0.63,253.8,584.2,14.4,787,10508,0.00,1.77,0.00,0.000,4,0.000,0.045,2960,969,2048,0,0,0,0,0,0
$GC,10565,0.62,253.8,574.9,14.1,792,10572,0.00,1.80,0.00,0.000,6,0.000,0.039,2952,2146,2047,0,0,0,0,0,0
$GC,10891,0.62,253.8,528.5,13.9,823,10895,0.00,1.80,0.00,0.000,4,0.000,0.045,2961,963,2045,0,0,0,0,0,0
$GC,11010,0.65,284.4,512.7,12.5,833,11043,0.00,1.77,27.35,0.935,6,0.000,0.040,2960,2154,1930,0,0,0,0,0,0
$GC,11371,0.64,284.4,461.0,14.5,867,11375,0.00,1.80,0.00,0.000,4,0.000,0.044,2969,962,1922,0,0,0,0,0,0
$GC,11397,0.64,284.4,457.3,14.6,869,11402,0.12,1.77,0.00,0.000,6,0.171,0.039,2934,2152,1922,0,0,0,0,0,0
$GC,11728,0.68,321.3,417.3,12.2,900,11767,0.00,1.90,32.08,0.867,4,0.000,0.046,2943,964,1780,0,0,0,0,0,0
$GC,11854,0.75,366.1,402.2,11.8,910,11899,0.00,1.83,38.92,0.851,6,0.000,0.038,2941,2146,1598,0,0,0,0,0,0
$GC,12217,0.75,366.1,350.2,14.5,944,12221,0.00,1.83,0.00,0.000,4,0.000,0.046,2947,974,1588,0,0,0,0,0,0
$GC,12302,0.77,375.1,338.2,13.5,951,12314,0.00,1.77,7.62,0.683,6,0.000,0.037,2947,2146,1561,0,0,0,0,0,0
$GC,12640,0.80,400.1,291.6,12.7,987,12671,0.12,1.88,22.50,0.754,4,0.082,0.044,3023,964,1458,0,0,0,0,0,0
$GC,12709,0.80,400.1,279.8,17.2,997,12716,0.10,1.83,0.00,0.000,6,0.151,0.038,2991,2153,1456,0,0,0,0,0,0
$GC,13069,0.79,400.1,215.5,17.7,1058,13078,0.00,1.83,0.00,0.000,4,0.000,0.043,2999,961,1454,0,0,0,0,0,0
$GC,13151,0.79,400.1,201.8,15.9,1071,13157,0.00,1.75,0.00,0.000,6,0.000,0.036,2999,2153,1453,0,0,0,0,0,0
$GC,13511,0.79,400.1,140.4,14.9,1132,13520,0.00,1.80,0.00,0.000,4,0.000,0.041,3008,968,1453,0,0,0,0,0,0
$GC,13648,0.80,400.1,120.5,14.2,1154,13658,0.00,1.77,0.00,0.000,6,0.000,0.034,3008,2154,1452,0,0,0,0,0,0
$GC,14016,0.92,495.2,72.9,9.5,1215,14098,0.00,1.90,76.72,0.605,4,0.000,0.042,3012,970,1072,0,0,0,0,0,0
$GC,14190,1.13,645.0,58.7,7.0,1240,14322,0.17,1.80,118.88,0.580,6,0.045,0.036,3105,2148,458,0,0,0,0,0,0
$STATE,14501,end climb,SURFACE_DEPTH_REACHED
$STATE,14501,begin surface coast
$FINISH,0.2,1.021649
$STATE,14515,end surface coast,CONTROL_FINISHED_OK
$STATE,14515,begin surface
$SM_CCo,14592,0.00,0.000,0,0,453,647.10
$SM_GC,0.90,8.55,0.00,0.00,0.090,0.000,0.000,150,1994,453,-8.04,-0.88,647.10
$IRIDIUM_FIX,2340.34,12608.39,221010,171710
$TT8_MAMPS,0.026215
$HUMID,46.14
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.6,50.657
$10V_AH,10.0,42.837
$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,20.525,112.925,733.675,0.000,0.000,28.562,40.097,195.692,0.000,0.000,40.830,3205.720,7135.749,697.480,3682.072,277.849,0.000,2075.363,0.000,3398.808,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,78.795,1270.665,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,871.812,0.000,1747.410,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76843,1289
$CAP_FILE_SIZE,163942,0
$CFSIZE,260165632,234926080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,355.8,1
$GPS,231010,022037,2345.641,12609.178,32,0.9,32,-3.5