version: 66.08
glider: 169
mission: 2
dive: 354
start: 10 23 110 6 50 26
data:
$ID,169
$MISSION,2
$DIVE,354
$N_DIVES,367
$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,-7138.2798
$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
$GPS1,231010,064306,2343.834,12609.680,31,1.1,31,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.1
$GPS2,231010,064958,2343.890,12609.654,15,6.6,34,-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,165.0,8231,-19.5,-13.889
$D_GRID,5000
$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,12,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,111,0.00,0.00,-94.03,0.000,2,0.000,0.000,124,1975,3028,0,0,0,0,0,0
$GC,114,-0.69,-204.4,3.5,-5.8,12,148,10.02,1.70,-15.50,0.000,4,0.239,0.063,2498,874,3927,0,0,0,0,0,0
$GC,268,-0.68,-204.4,60.3,-27.3,36,277,0.00,1.83,0.00,0.000,6,0.000,0.053,2497,2033,3928,0,0,0,0,0,0
$GC,634,-0.67,-204.4,151.7,-18.1,97,641,0.00,1.75,0.00,0.000,4,0.000,0.057,2498,3168,3930,0,0,0,0,0,0
$GC,744,-0.67,-204.4,168.5,-13.9,116,753,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2003,3930,0,0,0,0,0,0
$GC,1096,-0.67,-204.4,230.1,-17.3,177,1103,0.00,1.83,0.00,0.000,4,0.000,0.057,2498,3168,3930,0,0,0,0,0,0
$GC,1157,-0.68,-204.4,239.3,-14.0,187,1164,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1998,3930,0,0,0,0,0,0
$GC,1504,-0.68,-204.4,292.0,-15.1,248,1513,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3164,3930,0,0,0,0,0,0
$GC,1549,-0.68,-204.4,298.1,-13.3,255,1557,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1999,3930,0,0,0,0,0,0
$GC,1885,-0.69,-204.4,345.3,-13.4,287,1888,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3172,3928,0,0,0,0,0,0
$GC,1919,-0.69,-204.4,350.2,-13.1,290,1923,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2001,3928,0,0,0,0,0,0
$GC,2252,-0.70,-204.4,392.5,-12.8,321,2256,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3178,3926,0,0,0,0,0,0
$GC,2325,-0.71,-204.4,401.8,-11.7,327,2333,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1988,3925,0,0,0,0,0,0
$GC,2651,-0.71,-204.4,445.0,-13.0,358,2654,0.00,1.88,0.00,0.000,4,0.000,0.056,2497,3174,3924,0,0,0,0,0,0
$GC,2723,-0.73,-204.4,453.5,-10.6,364,2732,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2002,3923,0,0,0,0,0,0
$GC,3051,-0.73,-204.4,491.7,-10.9,395,3054,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3167,3921,0,0,0,0,0,0
$GC,3133,-0.75,-204.4,500.6,-9.2,402,3140,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,1994,3920,0,0,0,0,0,0
$GC,3459,-0.76,-204.4,534.8,-10.5,433,3462,0.00,1.88,0.00,0.000,4,0.000,0.054,2498,3168,3918,0,0,0,0,0,0
$GC,3509,-0.77,-204.4,539.7,-9.1,437,3515,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,1999,3917,0,0,0,0,0,0
$GC,3835,-0.78,-204.4,572.7,-10.4,468,3838,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3166,3915,0,0,0,0,0,0
$GC,3891,-0.80,-204.4,578.3,-9.0,473,3895,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1992,3915,0,0,0,0,0,0
$GC,4231,-0.81,-204.4,614.5,-11.1,499,4234,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3912,0,0,0,0,0,0
$GC,4269,-0.83,-204.4,618.9,-9.8,500,4277,0.10,1.77,0.00,0.000,6,0.117,0.041,2457,1980,3911,0,0,0,0,0,0
$GC,4586,-0.83,-204.4,661.6,-13.4,516,4590,0.00,1.85,0.00,0.000,4,0.000,0.058,2457,3166,3909,0,0,0,0,0,0
$GC,4647,-0.84,-204.4,669.4,-11.4,518,4654,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,1991,3908,0,0,0,0,0,0
$GC,4964,-0.84,-204.4,708.5,-12.3,534,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1989,3905,0,0,0,0,0,0
$GC,5273,-0.85,-204.4,744.9,-11.7,549,5277,0.00,1.88,0.00,0.000,4,0.000,0.059,2457,3169,3903,0,0,0,0,0,0
$GC,5386,-0.86,-204.4,757.2,-11.3,554,5390,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2002,3902,0,0,0,0,0,0
$GC,5720,-0.86,-204.4,798.6,-12.6,570,5723,0.00,1.83,0.00,0.000,4,0.000,0.059,2457,3166,3899,0,0,0,0,0,0
$GC,5769,-0.87,-204.4,804.7,-11.2,572,5772,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2001,3899,0,0,0,0,0,0
$GC,6097,-0.88,-204.4,845.6,-12.7,588,6101,0.00,1.85,0.00,0.000,4,0.000,0.059,2457,3167,3897,0,0,0,0,0,0
$GC,6153,-0.89,-204.4,852.4,-11.3,590,6157,0.00,1.80,0.00,0.000,6,0.000,0.045,2457,2006,3896,0,0,0,0,0,0
$GC,6475,-0.90,-204.4,892.7,-12.8,606,6479,0.00,1.83,0.00,0.000,4,0.000,0.060,2457,3167,3894,0,0,0,0,0,0
$GC,6522,-0.91,-204.4,898.2,-12.2,608,6526,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2001,3894,0,0,0,0,0,0
$GC,6855,-0.91,-204.4,939.6,-12.3,624,6859,0.00,1.85,0.00,0.000,4,0.000,0.058,2457,3167,3891,0,0,0,0,0,0
$GC,6939,-0.92,-204.4,949.3,-10.8,627,6947,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2003,3890,0,0,0,0,0,0
$GC,7256,-0.93,-204.4,986.8,-12.0,643,7259,0.00,1.85,0.00,0.000,4,0.000,0.059,2457,3172,3889,0,0,0,0,0,0
$GC,7357,-0.94,-204.4,998.2,-10.2,647,7360,0.00,1.83,0.00,0.000,6,0.000,0.047,2456,2000,3887,0,0,0,0,0,0
$STATE,7388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7389,begin apogee
$GC,7393,-0.18,0.0,1001.7,10.9,649,7572,0.65,0.05,171.95,1.275,6,0.135,0.066,2663,2097,3090,0,0,0,0,0,0
$STATE,7573,end apogee,CONTROL_FINISHED_OK
$STATE,7573,begin climb
$GC,7575,0.69,204.4,1011.4,0.0,657,7780,0.80,1.92,193.40,1.249,4,0.062,0.046,2957,975,2254,0,0,0,0,0,0
$GC,7947,0.68,204.4,972.2,16.3,674,7951,0.00,1.80,0.00,0.000,6,0.000,0.038,2957,2141,2244,0,0,0,0,0,0
$GC,8270,0.66,204.4,917.6,17.0,690,8273,0.00,1.73,0.00,0.000,4,0.000,0.046,2957,3277,2239,0,0,0,0,0,0
$GC,8308,0.65,204.4,910.3,18.3,691,8316,0.00,1.83,0.00,0.000,6,0.000,0.034,2965,2083,2239,0,0,0,0,0,0
$GC,8625,0.63,204.4,855.2,17.8,707,8629,0.12,1.70,0.00,0.000,4,0.205,0.045,2943,970,2237,0,0,0,0,0,0
$GC,8656,0.63,204.4,849.7,16.0,708,8660,0.00,1.80,0.00,0.000,6,0.000,0.038,2937,2154,2236,0,0,0,0,0,0
$GC,8978,0.62,204.4,800.6,15.1,724,8982,0.00,1.77,0.00,0.000,4,0.000,0.045,2946,968,2235,0,0,0,0,0,0
$GC,9006,0.61,204.4,796.0,15.9,725,9010,0.00,1.75,0.00,0.000,6,0.000,0.039,2945,2156,2235,0,0,0,0,0,0
$GC,9333,0.60,204.4,748.2,14.4,741,9337,0.00,1.77,0.00,0.000,4,0.000,0.046,2953,969,2234,0,0,0,0,0,0
$GC,9360,0.59,204.4,743.9,15.5,742,9364,0.00,1.80,0.00,0.000,6,0.000,0.040,2950,2149,2234,0,0,0,0,0,0
$GC,9688,0.58,204.4,698.4,13.9,758,9690,0.12,0.00,0.00,0.000,6,0.197,0.000,2919,2151,2233,0,0,0,0,0,0
$GC,9997,0.64,255.1,662.4,11.6,773,10045,0.00,1.92,42.85,1.053,4,0.000,0.047,2928,967,2049,0,0,0,0,0,0
$GC,10134,0.68,289.9,645.6,12.3,779,10172,0.00,1.83,31.48,1.017,6,0.000,0.040,2925,2144,1908,0,0,0,0,0,0
$GC,10490,0.70,300.4,598.0,13.4,797,10505,0.00,1.85,9.05,0.877,4,0.000,0.047,2934,973,1865,0,0,0,0,0,0
$GC,10625,0.71,309.4,580.0,13.5,809,10640,0.00,1.77,9.73,0.879,6,0.000,0.041,2934,2156,1828,0,0,0,0,0,0
$GC,10965,0.71,309.4,532.5,14.2,841,10969,0.00,1.80,0.00,0.000,4,0.000,0.047,2942,961,1822,0,0,0,0,0,0
$GC,11034,0.72,317.6,523.5,13.5,847,11047,0.00,1.77,7.93,0.815,6,0.000,0.041,2936,2152,1796,0,0,0,0,0,0
$GC,11363,0.72,317.6,476.7,14.6,878,11367,0.00,1.83,0.00,0.000,4,0.000,0.046,2944,971,1792,0,0,0,0,0,0
$GC,11454,0.72,317.6,464.0,14.0,886,11457,0.00,1.77,0.00,0.000,6,0.000,0.041,2944,2149,1791,0,0,0,0,0,0
$GC,11786,0.76,346.0,418.6,12.6,917,11822,0.00,1.90,25.83,0.868,4,0.000,0.047,2953,961,1678,0,0,0,0,0,0
$GC,11884,0.78,359.4,406.0,13.3,925,11908,0.00,1.83,12.70,0.802,6,0.000,0.039,2950,2160,1623,0,0,0,0,0,0
$GC,12225,0.78,359.4,355.0,15.5,957,12229,0.00,1.83,0.00,0.000,4,0.000,0.045,2959,962,1618,0,0,0,0,0,0
$GC,12286,0.78,359.4,345.4,14.9,962,12295,0.00,1.83,0.00,0.000,6,0.000,0.038,2958,2154,1618,0,0,0,0,0,0
$GC,12612,0.78,359.4,298.3,14.3,994,12621,0.00,1.83,0.00,0.000,4,0.000,0.044,2967,965,1617,0,0,0,0,0,0
$GC,12714,0.82,388.7,285.4,12.6,1011,12744,0.00,1.77,25.08,0.762,6,0.000,0.038,2963,2154,1506,0,0,0,0,0,0
$GC,13085,0.82,388.7,232.0,14.4,1075,13093,0.00,1.80,0.00,0.000,4,0.000,0.044,2972,968,1500,0,0,0,0,0,0
$GC,13216,0.84,401.7,214.9,13.3,1097,13238,0.00,1.77,12.05,0.663,6,0.000,0.036,2972,2160,1451,0,0,0,0,0,0
$GC,13581,0.85,401.7,162.9,14.3,1160,13590,0.00,1.83,0.00,0.000,4,0.000,0.043,2981,971,1448,0,0,0,0,0,0
$GC,13754,0.93,461.5,142.2,11.2,1189,13813,0.10,1.77,50.45,0.656,6,0.048,0.035,3044,2153,1208,0,0,0,0,0,0
$GC,14164,0.93,461.5,68.7,15.3,1256,14172,0.00,1.83,0.00,0.000,4,0.000,0.042,3053,964,1203,0,0,0,0,0,0
$GC,14271,1.07,567.3,55.4,9.1,1273,14361,0.00,1.77,84.03,0.589,6,0.000,0.034,3054,2153,777,0,0,0,0,0,0
$STATE,14705,end climb,SURFACE_DEPTH_REACHED
$STATE,14705,begin surface coast
$FINISH,0.1,1.021676
$STATE,14737,end surface coast,CONTROL_FINISHED_OK
$STATE,14737,begin surface
$SM_CCo,14753,51.80,0.058,0,0,481,640.23
$SM_GC,0.87,0.00,0.00,51.80,0.000,0.000,0.058,147,1984,481,-8.07,-1.16,640.23
$IRIDIUM_FIX,2337.99,12610.29,231010,020240
$TT8_MAMPS,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.6,51.080
$10V_AH,10.0,43.150
$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,20.150,119.775,676.500,51.800,0.000,23.638,37.009,195.895,0.000,0.000,37.301,3350.310,7067.345,741.125,3771.219,276.729,0.000,2130.505,0.000,3495.762,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,77.265,1275.255,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.703,0.000,1843.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,80144,1348
$CAP_FILE_SIZE,168314,0
$CFSIZE,260165632,234749952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,350.3,1
$GPS,231010,105824,2341.982,12609.532,27,1.3,44,-3.5