version: 66.08
glider: 169
mission: 2
dive: 364
start: 10 25 110 1 21 19
data:
$ID,169
$MISSION,2
$DIVE,364
$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,-7157.5815
$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
$GPS1,251010,011406,2330.851,12605.307,38,1.1,38,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.7
$GPS2,251010,012050,2330.907,12605.241,18,1.3,18,-3.5
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,175.4,239578,-19.5,-13.889
$D_GRID,1000
$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,-204.4,0.0,0.0,0,112,0.00,0.00,-95.10,0.000,2,0.000,0.000,144,1973,3062,0,0,0,0,0,0
$GC,115,-0.69,-204.4,3.7,-6.3,12,150,10.27,1.73,-14.90,0.000,4,0.250,0.061,2499,865,3928,0,0,0,0,0,0
$GC,259,-0.68,-204.4,55.5,-25.4,34,267,0.00,1.85,0.00,0.000,6,0.000,0.050,2499,2042,3929,0,0,0,0,0,0
$GC,624,-0.67,-204.4,148.6,-24.8,95,633,0.00,1.83,0.00,0.000,4,0.000,0.050,2499,875,3931,0,0,0,0,0,0
$GC,676,-0.67,-204.4,159.0,-18.3,103,683,0.00,1.80,0.00,0.000,6,0.000,0.048,2499,2035,3931,0,0,0,0,0,0
$GC,1019,-0.67,-204.4,219.9,-15.2,164,1027,0.00,1.75,0.00,0.000,4,0.000,0.054,2499,3168,3932,0,0,0,0,0,0
$GC,1142,-0.68,-204.4,234.9,-12.1,185,1150,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,1997,3932,0,0,0,0,0,0
$GC,1488,-0.68,-204.4,286.8,-14.0,246,1496,0.00,1.85,0.00,0.000,4,0.000,0.056,2499,3162,3931,0,0,0,0,0,0
$GC,1545,-0.68,-204.4,294.0,-12.3,255,1552,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,1988,3931,0,0,0,0,0,0
$GC,1880,-0.69,-204.4,339.0,-13.2,290,1884,0.00,1.85,0.00,0.000,4,0.000,0.056,2499,3168,3930,0,0,0,0,0,0
$GC,1949,-0.70,-204.4,346.9,-10.9,296,1953,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,1999,3930,0,0,0,0,0,0
$GC,2282,-0.70,-204.4,389.7,-12.7,327,2286,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3162,3929,0,0,0,0,0,0
$GC,2329,-0.71,-204.4,395.2,-10.8,331,2333,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,2004,3928,0,0,0,0,0,0
$GC,2661,-0.72,-204.4,437.2,-12.4,362,2664,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3177,3926,0,0,0,0,0,0
$GC,2685,-0.73,-204.4,440.1,-12.1,364,2688,0.00,1.80,0.00,0.000,6,0.000,0.040,2499,1989,3926,0,0,0,0,0,0
$GC,3018,-0.74,-204.4,482.0,-12.7,395,3022,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3168,3924,0,0,0,0,0,0
$GC,3069,-0.75,-204.4,488.2,-10.9,399,3075,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,1998,3923,0,0,0,0,0,0
$GC,3395,-0.76,-204.4,525.6,-11.6,430,3398,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3171,3921,0,0,0,0,0,0
$GC,3455,-0.78,-204.4,532.2,-10.0,435,3462,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,2000,3920,0,0,0,0,0,0
$GC,3781,-0.79,-204.4,567.1,-10.2,466,3785,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3174,3918,0,0,0,0,0,0
$GC,3831,-0.81,-204.4,572.1,-9.4,470,3838,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,2001,3917,0,0,0,0,0,0
$GC,4156,-0.82,-204.4,602.6,-9.5,500,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2000,3915,0,0,0,0,0,0
$GC,4466,-0.83,-204.4,631.4,-9.4,515,4470,0.10,1.85,0.00,0.000,4,0.131,0.056,2461,3171,3913,0,0,0,0,0,0
$GC,4528,-0.84,-204.4,638.0,-11.0,517,4536,0.00,1.80,0.00,0.000,6,0.000,0.045,2461,2002,3912,0,0,0,0,0,0
$GC,4844,-0.84,-204.4,676.9,-12.6,533,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2462,2000,3910,0,0,0,0,0,0
$GC,5154,-0.85,-204.4,717.3,-13.1,548,5158,0.00,1.88,0.00,0.000,4,0.000,0.058,2461,3174,3907,0,0,0,0,0,0
$GC,5237,-0.85,-204.4,727.5,-10.7,551,5243,0.00,1.80,0.00,0.000,6,0.000,0.047,2462,2004,3906,0,0,0,0,0,0
$GC,5553,-0.86,-204.4,769.8,-13.8,567,5557,0.00,1.83,0.00,0.000,4,0.000,0.059,2461,3167,3904,0,0,0,0,0,0
$GC,5600,-0.87,-204.4,775.8,-12.4,569,5603,0.00,1.77,0.00,0.000,6,0.000,0.044,2461,1997,3903,0,0,0,0,0,0
$GC,5933,-0.88,-204.4,818.2,-11.8,585,5936,0.00,1.88,0.00,0.000,4,0.000,0.060,2461,3173,3901,0,0,0,0,0,0
$GC,5983,-0.89,-204.4,824.0,-10.9,587,5987,0.00,1.80,0.00,0.000,6,0.000,0.046,2461,1998,3901,0,0,0,0,0,0
$GC,6310,-0.89,-204.4,860.9,-10.7,603,6314,0.00,1.85,0.00,0.000,4,0.000,0.060,2461,3170,3898,0,0,0,0,0,0
$GC,6338,-0.90,-204.4,863.9,-10.5,604,6341,0.00,1.77,0.00,0.000,6,0.000,0.045,2461,2004,3899,0,0,0,0,0,0
$GC,6666,-0.91,-204.4,896.1,-10.1,620,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2002,3896,0,0,0,0,0,0
$GC,6975,-0.92,-204.4,928.4,-10.8,635,6979,0.00,1.88,0.00,0.000,4,0.000,0.060,2461,3162,3894,0,0,0,0,0,0
$GC,7053,-0.93,-204.4,936.4,-9.5,638,7057,0.00,1.77,0.00,0.000,6,0.000,0.046,2461,2003,3894,0,0,0,0,0,0
$GC,7375,-0.94,-204.4,970.2,-10.6,654,7379,0.00,1.85,0.00,0.000,4,0.000,0.060,2461,3172,3892,0,0,0,0,0,0
$GC,7431,-0.95,-204.4,976.0,-9.9,656,7436,0.08,1.85,0.00,0.000,6,0.082,0.047,2426,2002,3892,0,0,0,0,0,0
$STATE,7627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7627,begin apogee
$GC,7632,-0.18,0.0,1002.4,13.8,666,7811,0.80,0.08,172.80,1.271,6,0.155,0.106,2667,2092,3092,0,0,0,0,0,0
$STATE,7812,end apogee,CONTROL_FINISHED_OK
$STATE,7812,begin climb
$GC,7814,0.69,204.4,1011.9,0.0,674,8019,0.80,2.00,195.23,1.246,4,0.058,0.045,2954,3268,2255,0,0,0,0,0,0
$GC,8246,0.67,204.4,966.1,16.7,694,8249,0.00,1.80,0.00,0.000,6,0.000,0.037,2963,2079,2242,0,0,0,0,0,0
$GC,8579,0.66,204.4,913.4,15.6,710,8582,0.00,1.65,0.00,0.000,4,0.000,0.045,2971,967,2238,0,0,0,0,0,0
$GC,8594,0.64,204.4,910.5,15.8,710,8601,0.00,1.80,0.00,0.000,6,0.000,0.040,2967,2149,2238,0,0,0,0,0,0
$GC,8912,0.63,204.4,861.4,15.0,726,8916,0.12,1.77,0.00,0.000,4,0.194,0.045,2944,964,2237,0,0,0,0,0,0
$GC,8944,0.62,204.4,856.3,14.6,727,8948,0.00,1.80,0.00,0.000,6,0.000,0.040,2938,2147,2236,0,0,0,0,0,0
$GC,9266,0.61,204.4,811.2,14.4,743,9269,0.00,1.67,0.00,0.000,4,0.000,0.049,2938,3269,2234,0,0,0,0,0,0
$GC,9321,0.60,204.4,802.5,16.4,745,9325,0.00,1.75,0.00,0.000,6,0.000,0.034,2947,2084,2234,0,0,0,0,0,0
$GC,9643,0.59,204.4,755.9,14.8,761,9646,0.00,1.67,0.00,0.000,4,0.000,0.045,2955,963,2233,0,0,0,0,0,0
$GC,9715,0.58,204.4,744.9,15.0,764,9720,0.12,1.77,0.00,0.000,6,0.177,0.040,2917,2160,2232,0,0,0,0,0,0
$GC,10044,0.61,234.3,703.3,12.5,780,10074,0.00,1.77,24.75,1.057,4,0.000,0.048,2917,3272,2134,0,0,0,0,0,0
$GC,10143,0.61,234.3,689.8,14.0,784,10147,0.00,1.80,0.00,0.000,6,0.000,0.034,2926,2077,2129,0,0,0,0,0,0
$GC,10465,0.62,249.3,647.4,13.2,800,10487,0.00,1.73,14.25,0.975,4,0.000,0.047,2934,976,2073,0,0,0,0,0,0
$GC,10566,0.65,277.1,634.0,12.6,804,10600,0.00,1.75,25.90,1.003,6,0.000,0.039,2934,2148,1960,0,0,0,0,0,0
$GC,10911,0.66,286.0,586.2,13.5,825,10925,0.00,1.88,8.05,0.846,4,0.000,0.044,2943,962,1925,0,0,0,0,0,0
$GC,10948,0.67,291.2,580.8,13.7,828,10961,0.00,1.77,6.35,0.780,6,0.000,0.039,2943,2148,1903,0,0,0,0,0,0
$GC,11279,0.67,291.2,533.2,14.3,859,11282,0.00,1.77,0.00,0.000,4,0.000,0.045,2952,967,1897,0,0,0,0,0,0
$GC,11317,0.67,291.2,527.4,14.2,862,11324,0.00,1.80,0.00,0.000,6,0.000,0.039,2952,2148,1898,0,0,0,0,0,0
$GC,11644,0.66,291.2,479.5,14.9,893,11648,0.00,1.77,0.00,0.000,4,0.000,0.044,2961,962,1896,0,0,0,0,0,0
$GC,11679,0.66,291.2,474.0,14.3,896,11683,0.00,1.80,0.00,0.000,6,0.000,0.039,2961,2145,1895,0,0,0,0,0,0
$GC,12012,0.66,291.2,420.0,16.3,927,12015,0.00,1.77,0.00,0.000,4,0.000,0.044,2969,967,1895,0,0,0,0,0,0
$GC,12061,0.65,291.2,411.4,16.4,931,12068,0.00,1.75,0.00,0.000,6,0.000,0.039,2969,2150,1895,0,0,0,0,0,0
$GC,12389,0.65,291.2,360.8,14.3,962,12392,0.00,1.80,0.00,0.000,4,0.000,0.043,2977,956,1895,0,0,0,0,0,0
$GC,12416,0.64,291.2,356.2,14.9,964,12425,0.10,1.80,0.00,0.000,6,0.143,0.037,2943,2148,1894,0,0,0,0,0,0
$GC,12742,0.66,304.9,314.5,13.3,995,12757,0.00,0.00,12.45,0.741,6,0.000,0.000,2943,2148,1847,0,0,0,0,0,0
$GC,13086,0.70,335.3,271.9,12.5,1046,13123,0.00,1.88,27.45,0.751,4,0.000,0.044,2951,959,1722,0,0,0,0,0,0
$GC,13221,0.79,406.8,255.9,10.6,1068,13292,0.00,1.83,60.83,0.744,6,0.000,0.037,2951,2153,1430,0,0,0,0,0,0
$GC,13635,0.85,452.3,204.8,11.8,1138,13679,0.15,1.90,37.67,0.695,4,0.073,0.044,3033,961,1247,0,0,0,0,0,0
$GC,13768,0.85,452.3,181.3,17.4,1159,13775,0.00,1.80,0.00,0.000,6,0.000,0.037,3033,2153,1242,0,0,0,0,0,0
$GC,14124,0.85,452.3,114.9,18.6,1220,14133,0.00,1.80,0.00,0.000,4,0.000,0.041,3043,973,1241,0,0,0,0,0,0
$GC,14326,0.85,452.3,81.9,16.3,1254,14335,0.10,1.77,0.00,0.000,6,0.132,0.035,3007,2160,1240,0,0,0,0,0,0
$GC,14695,1.00,565.8,41.4,8.7,1315,14794,0.12,1.88,90.22,0.573,4,0.084,0.039,3085,971,783,0,0,0,0,0,0
$GC,14940,1.01,567.2,6.7,13.8,1351,14948,0.00,1.77,0.00,0.000,6,0.000,0.032,3085,2154,780,0,0,0,0,0,0
$STATE,14966,end climb,SURFACE_DEPTH_REACHED
$STATE,14966,begin surface coast
$FINISH,0.1,1.021700
$STATE,14991,end surface coast,CONTROL_FINISHED_OK
$STATE,14992,begin surface
$SM_CCo,15009,53.92,0.058,0,0,481,640.23
$SM_GC,0.86,0.00,0.00,53.92,0.000,0.000,0.058,150,1979,481,-8.06,-1.30,640.23
$IRIDIUM_FIX,2323.87,12609.42,241010,212105
$TT8_MAMPS,0.026215
$HUMID,45.31
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.5,53.223
$10V_AH,9.9,44.690
$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,21.225,119.375,675.950,53.925,0.000,30.198,37.558,200.268,0.000,0.000,19.085,3368.366,7317.906,739.594,3740.823,292.372,0.000,2115.828,0.000,3474.643,0.000,0.545,0.000
$DEVICE_MAMPS,250.155,106.335,1271.430,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,919.697,0.000,1849.845,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333644
$DATA_FILE_SIZE,80377,1359
$CAP_FILE_SIZE,170051,0
$CFSIZE,260165632,233930752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.128, 23.5,1
$GPS,251010,053331,2329.551,12605.463,40,1.2,40,-3.4