version: 66.08
glider: 169
mission: 2
dive: 373
start: 10 26 110 15 43 30
data:
$ID,169
$MISSION,2
$DIVE,373
$N_DIVES,380
$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,-7173.6816
$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
$GPS1,261010,153554,2321.398,12600.796,56,1.6,56,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-57.6
$GPS2,261010,154302,2321.488,12600.599,12,1.7,12,-3.4
$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,181.9,222035,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,116,0.00,0.00,-98.15,0.000,2,0.000,0.000,126,1997,3105,0,0,0,0,0,0
$GC,119,-0.69,-204.4,3.5,-4.9,12,153,10.10,1.80,-14.38,0.000,4,0.241,0.073,2499,882,3927,0,0,0,0,0,0
$GC,319,-0.68,-204.4,62.8,-21.7,44,328,0.00,1.80,0.00,0.000,6,0.000,0.050,2500,2035,3927,0,0,0,0,0,0
$GC,685,-0.67,-204.4,149.5,-20.7,105,694,0.00,1.75,0.00,0.000,4,0.000,0.055,2499,3164,3929,0,0,0,0,0,0
$GC,735,-0.67,-204.4,158.7,-17.7,113,742,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,2006,3929,0,0,0,0,0,0
$GC,1078,-0.67,-204.4,221.6,-19.7,174,1087,0.00,1.85,0.00,0.000,4,0.000,0.057,2499,3165,3929,0,0,0,0,0,0
$GC,1146,-0.68,-204.4,232.2,-14.7,185,1153,0.00,1.75,0.00,0.000,6,0.000,0.039,2500,1995,3929,0,0,0,0,0,0
$GC,1490,-0.68,-204.4,284.1,-14.9,246,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1994,3929,0,0,0,0,0,0
$GC,1822,-0.69,-204.4,332.0,-15.0,286,1825,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3169,3927,0,0,0,0,0,0
$GC,1868,-0.70,-204.4,338.6,-13.8,290,1872,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,2000,3927,0,0,0,0,0,0
$GC,2202,-0.70,-204.4,384.8,-13.8,321,2205,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3178,3925,0,0,0,0,0,0
$GC,2252,-0.72,-204.4,391.2,-12.2,325,2255,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,1999,3924,0,0,0,0,0,0
$GC,2583,-0.72,-204.4,433.3,-12.5,356,2587,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3174,3922,0,0,0,0,0,0
$GC,2622,-0.74,-204.4,437.3,-10.7,359,2626,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,2001,3922,0,0,0,0,0,0
$GC,2953,-0.74,-204.4,475.4,-11.0,390,2955,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2000,3920,0,0,0,0,0,0
$GC,3274,-0.75,-204.4,511.3,-11.0,420,3278,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3162,3917,0,0,0,0,0,0
$GC,3334,-0.77,-204.4,518.1,-9.5,425,3341,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,1994,3916,0,0,0,0,0,0
$GC,3660,-0.78,-204.4,553.9,-11.1,456,3664,0.00,1.83,0.00,0.000,4,0.000,0.056,2500,3168,3914,0,0,0,0,0,0
$GC,3733,-0.80,-204.4,561.6,-9.7,462,3739,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,1999,3913,0,0,0,0,0,0
$GC,4058,-0.81,-204.4,596.5,-10.8,493,4062,0.00,1.83,0.00,0.000,4,0.000,0.055,2499,3177,3910,0,0,0,0,0,0
$GC,4097,-0.83,-204.4,600.6,-9.8,496,4104,0.10,1.77,0.00,0.000,6,0.115,0.041,2458,1994,3910,0,0,0,0,0,0
$GC,4414,-0.83,-204.4,644.7,-14.3,512,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1993,3907,0,0,0,0,0,0
$GC,4722,-0.83,-204.4,688.6,-13.8,527,4726,0.00,1.88,0.00,0.000,4,0.000,0.059,2457,3174,3904,0,0,0,0,0,0
$GC,4801,-0.85,-204.4,698.6,-11.5,530,4804,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2004,3904,0,0,0,0,0,0
$GC,5123,-0.85,-204.4,741.5,-13.4,546,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2003,3901,0,0,0,0,0,0
$GC,5432,-0.86,-204.4,781.5,-13.0,561,5436,0.00,1.83,0.00,0.000,4,0.000,0.060,2457,3167,3898,0,0,0,0,0,0
$GC,5465,-0.86,-204.4,785.8,-12.3,562,5469,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2001,3898,0,0,0,0,0,0
$GC,5787,-0.87,-204.4,827.4,-12.9,578,5788,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1999,3895,0,0,0,0,0,0
$GC,6097,-0.88,-204.4,867.1,-12.6,593,6100,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3168,3893,0,0,0,0,0,0
$GC,6135,-0.89,-204.4,872.1,-12.1,594,6142,0.00,1.80,0.00,0.000,6,0.000,0.046,2457,2001,3893,0,0,0,0,0,0
$GC,6452,-0.89,-204.4,910.0,-11.7,610,6456,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3168,3891,0,0,0,0,0,0
$GC,6485,-0.90,-204.4,913.9,-11.0,611,6489,0.00,1.80,0.00,0.000,6,0.000,0.046,2457,1998,3890,0,0,0,0,0,0
$GC,6807,-0.91,-204.4,951.4,-12.0,627,6811,0.00,1.88,0.00,0.000,4,0.000,0.060,2457,3168,3888,0,0,0,0,0,0
$GC,6868,-0.93,-204.4,958.4,-10.8,629,6875,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,2005,3887,0,0,0,0,0,0
$GC,7184,-0.93,-204.4,996.2,-12.3,645,7188,0.00,1.85,0.00,0.000,4,0.000,0.061,2457,3166,3885,0,0,0,0,0,0
$STATE,7215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7215,begin apogee
$GC,7221,-0.18,0.0,1000.4,12.0,646,7402,0.65,0.05,171.05,1.268,6,0.122,0.072,2670,2135,3089,0,0,0,0,0,0
$STATE,7403,end apogee,CONTROL_FINISHED_OK
$STATE,7403,begin climb
$GC,7406,0.69,204.4,1011.6,0.0,655,7607,0.77,2.03,192.18,1.246,4,0.062,0.046,2958,970,2256,0,0,0,0,0,0
$GC,7736,0.67,204.4,986.7,15.0,670,7740,0.00,1.83,0.00,0.000,6,0.000,0.041,2957,2138,2246,0,0,0,0,0,0
$GC,8063,0.66,204.4,937.3,14.9,686,8064,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2140,2241,0,0,0,0,0,0
$GC,8373,0.65,204.4,890.3,15.6,701,8376,0.00,1.73,0.00,0.000,4,0.000,0.048,2957,3275,2238,0,0,0,0,0,0
$GC,8434,0.63,204.4,879.7,16.9,703,8442,0.08,1.80,0.00,0.000,6,0.174,0.035,2942,2092,2237,0,0,0,0,0,0
$GC,8750,0.62,204.4,832.1,15.2,719,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2091,2236,0,0,0,0,0,0
$GC,9059,0.61,204.4,784.6,15.3,734,9060,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2091,2235,0,0,0,0,0,0
$GC,9369,0.61,209.7,740.2,13.6,749,9372,0.00,1.70,0.00,0.000,4,0.000,0.047,2950,961,2234,0,0,0,0,0,0
$GC,9397,0.60,210.7,736.4,13.8,750,9400,0.00,1.77,0.00,0.000,6,0.000,0.041,2948,2153,2234,0,0,0,0,0,0
$GC,9724,0.61,223.7,692.5,13.3,766,9746,0.00,1.80,15.43,1.022,4,0.000,0.044,2957,969,2177,0,0,0,0,0,0
$GC,9809,0.63,246.9,681.2,12.8,769,9837,0.00,1.77,22.35,1.034,6,0.000,0.041,2957,2149,2084,0,0,0,0,0,0
$GC,10147,0.62,246.9,632.7,14.7,786,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2149,2075,0,0,0,0,0,0
$GC,10458,0.61,246.9,587.3,14.7,805,10459,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2149,2073,0,0,0,0,0,0
$GC,10777,0.60,246.9,539.3,15.6,835,10781,0.12,1.70,0.00,0.000,4,0.180,0.047,2923,3276,2069,0,0,0,0,0,0
$GC,10837,0.60,246.9,530.3,14.1,840,10845,0.00,1.80,0.00,0.000,6,0.000,0.036,2932,2087,2069,0,0,0,0,0,0
$GC,11164,0.66,295.0,489.2,11.7,871,11213,0.00,1.77,41.20,0.934,4,0.000,0.045,2940,967,1887,0,0,0,0,0,0
$GC,11263,0.72,335.0,477.3,12.1,879,11304,0.00,1.83,35.88,0.907,6,0.000,0.038,2940,2159,1725,0,0,0,0,0,0
$GC,11625,0.74,352.4,429.4,13.1,912,11649,0.00,1.90,15.18,0.830,4,0.000,0.046,2948,971,1653,0,0,0,0,0,0
$GC,11696,0.78,376.7,420.3,12.8,918,11722,0.00,1.77,21.75,0.846,6,0.000,0.039,2948,2153,1555,0,0,0,0,0,0
$GC,12039,0.78,376.7,371.2,14.6,950,12043,0.10,1.83,0.00,0.000,4,0.099,0.045,3012,974,1548,0,0,0,0,0,0
$GC,12088,0.78,376.7,362.3,17.8,954,12097,0.00,1.77,0.00,0.000,6,0.000,0.038,3009,2140,1547,0,0,0,0,0,0
$GC,12415,0.77,376.7,301.5,18.9,985,12420,0.12,1.77,0.00,0.000,4,0.177,0.043,2985,965,1546,0,0,0,0,0,0
$GC,12490,0.77,376.7,289.8,14.6,997,12497,0.00,1.77,0.00,0.000,6,0.000,0.037,2985,2155,1545,0,0,0,0,0,0
$GC,12836,0.77,376.7,234.8,16.1,1058,12844,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2154,1545,0,0,0,0,0,0
$GC,13187,0.77,376.7,180.5,14.3,1119,13194,0.00,1.80,0.00,0.000,4,0.000,0.043,2994,960,1545,0,0,0,0,0,0
$GC,13237,0.79,387.1,173.7,13.4,1127,13254,0.00,1.75,9.10,0.605,6,0.000,0.035,2993,2160,1511,0,0,0,0,0,0
$GC,13604,0.84,431.7,125.2,11.9,1189,13644,0.00,0.00,38.28,0.641,6,0.000,0.000,2994,2160,1330,0,0,0,0,0,0
$GC,13997,0.97,525.1,83.9,9.6,1254,14080,0.12,1.92,75.68,0.605,4,0.083,0.040,3069,961,949,0,0,0,0,0,0
$GC,14283,1.03,568.3,45.3,11.9,1298,14324,0.00,1.80,34.67,0.565,6,0.000,0.034,3069,2154,772,0,0,0,0,0,0
$STATE,14590,end climb,SURFACE_DEPTH_REACHED
$STATE,14590,begin surface coast
$FINISH,0.0,0.997570
$STATE,14623,end surface coast,CONTROL_FINISHED_OK
$STATE,14623,begin surface
$SM_CCo,14640,50.62,0.057,0,0,481,640.23
$SM_GC,0.75,0.00,0.00,50.62,0.000,0.000,0.057,138,1974,481,-8.10,-1.44,640.23
$IRIDIUM_FIX,2314.48,12600.09,261010,111125
$TT8_MAMPS,0.026964
$HUMID,46.02
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.5,55.173
$10V_AH,10.0,46.087
$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,20.250,94.025,672.725,50.625,0.000,28.378,41.239,224.378,0.000,0.000,13.123,3324.387,7083.133,714.393,3706.913,277.484,0.000,2031.562,0.000,3428.476,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,72.675,1267.605,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,916.327,0.000,1926.693,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80295,1353
$CAP_FILE_SIZE,158335,0
$CFSIZE,260165632,233218048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185, 44.6,1
$GPS,261010,194954,2320.098,12601.437,65,1.3,66,-3.4