version: 66.08
glider: 169
mission: 2
dive: 377
start: 10 27 110 8 46 43
data:
$ID,169
$MISSION,2
$DIVE,377
$N_DIVES,390
$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,-7181.6567
$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
$GPS1,271010,083930,2316.455,12558.628,65,1.3,65,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-63.7
$GPS2,271010,084614,2316.461,12558.585,13,1.9,13,-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,177.9,212771,-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,-204.4,0.0,0.0,0,123,0.00,0.00,-105.95,0.000,2,0.000,0.000,122,1994,3298,0,0,0,0,0,0
$GC,126,-0.69,-204.4,4.7,-9.7,13,152,9.98,1.90,-9.82,0.000,4,0.247,0.067,2490,3168,3928,0,0,0,0,0,0
$GC,265,-0.67,-204.4,61.2,-32.2,35,274,0.00,1.83,0.00,0.000,6,0.000,0.046,2490,2006,3929,0,0,0,0,0,0
$GC,629,-0.65,-204.4,160.7,-25.9,96,639,0.10,1.88,0.00,0.000,4,0.177,0.060,2515,3162,3930,0,0,0,0,0,0
$GC,690,-0.65,-204.4,171.7,-16.2,105,696,0.00,1.75,0.00,0.000,6,0.000,0.041,2515,2000,3930,0,0,0,0,0,0
$GC,1046,-0.66,-204.4,227.2,-16.1,166,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1998,3931,0,0,0,0,0,0
$GC,1407,-0.66,-204.4,278.5,-13.2,227,1414,0.00,1.83,0.00,0.000,4,0.000,0.055,2515,3168,3930,0,0,0,0,0,0
$GC,1493,-0.68,-204.4,288.5,-10.7,241,1500,0.00,1.77,0.00,0.000,6,0.000,0.039,2515,1998,3930,0,0,0,0,0,0
$GC,1828,-0.68,-204.4,329.7,-12.6,280,1832,0.00,1.85,0.00,0.000,4,0.000,0.054,2515,3175,3929,0,0,0,0,0,0
$GC,1899,-0.70,-204.4,338.0,-11.4,286,1902,0.00,1.77,0.00,0.000,6,0.000,0.041,2515,1998,3929,0,0,0,0,0,0
$GC,2232,-0.71,-204.4,379.9,-12.3,317,2236,0.00,1.88,0.00,0.000,4,0.000,0.055,2515,3171,3927,0,0,0,0,0,0
$GC,2281,-0.72,-204.4,385.5,-11.1,321,2285,0.00,1.80,0.00,0.000,6,0.000,0.041,2515,2002,3927,0,0,0,0,0,0
$GC,2612,-0.73,-204.4,420.1,-10.1,352,2615,0.00,1.83,0.00,0.000,4,0.000,0.054,2515,3168,3925,0,0,0,0,0,0
$GC,2674,-0.75,-204.4,426.5,-9.5,357,2681,0.00,1.75,0.00,0.000,6,0.000,0.039,2515,1996,3924,0,0,0,0,0,0
$GC,3000,-0.76,-204.4,461.9,-11.1,388,3004,0.00,1.83,0.00,0.000,4,0.000,0.054,2515,3170,3922,0,0,0,0,0,0
$GC,3047,-0.78,-204.4,467.0,-10.6,392,3051,0.10,1.75,0.00,0.000,6,0.111,0.041,2470,2002,3921,0,0,0,0,0,0
$GC,3377,-0.78,-204.4,513.8,-14.1,423,3381,0.00,1.83,0.00,0.000,4,0.000,0.057,2469,3168,3919,0,0,0,0,0,0
$GC,3412,-0.79,-204.4,518.6,-14.2,426,3415,0.00,1.77,0.00,0.000,6,0.000,0.041,2470,1990,3919,0,0,0,0,0,0
$GC,3744,-0.79,-204.4,563.4,-13.2,457,3747,0.00,1.85,0.00,0.000,4,0.000,0.057,2470,3169,3916,0,0,0,0,0,0
$GC,3815,-0.80,-204.4,572.6,-11.8,463,3822,0.00,1.77,0.00,0.000,6,0.000,0.043,2470,1997,3916,0,0,0,0,0,0
$GC,4140,-0.81,-204.4,613.7,-12.8,489,4144,0.00,1.83,0.00,0.000,4,0.000,0.058,2470,3167,3913,0,0,0,0,0,0
$GC,4201,-0.82,-204.4,621.5,-11.7,491,4208,0.00,1.75,0.00,0.000,6,0.000,0.043,2470,2003,3913,0,0,0,0,0,0
$GC,4518,-0.83,-204.4,660.9,-12.6,507,4521,0.00,1.85,0.00,0.000,4,0.000,0.057,2470,3168,3910,0,0,0,0,0,0
$GC,4579,-0.84,-204.4,668.3,-11.0,509,4586,0.00,1.80,0.00,0.000,6,0.000,0.044,2470,2006,3909,0,0,0,0,0,0
$GC,4896,-0.84,-204.4,707.1,-12.2,525,4900,0.00,1.83,0.00,0.000,4,0.000,0.060,2470,3167,3906,0,0,0,0,0,0
$GC,4924,-0.85,-204.4,710.7,-12.2,526,4927,0.00,1.77,0.00,0.000,6,0.000,0.043,2470,1995,3906,0,0,0,0,0,0
$GC,5251,-0.86,-204.4,749.9,-11.8,542,5255,0.00,1.85,0.00,0.000,4,0.000,0.058,2470,3173,3903,0,0,0,0,0,0
$GC,5324,-0.87,-204.4,758.0,-9.9,545,5327,0.00,1.77,0.00,0.000,6,0.000,0.044,2470,2003,3903,0,0,0,0,0,0
$GC,5652,-0.88,-204.4,793.5,-11.1,561,5655,0.00,1.85,0.00,0.000,4,0.000,0.059,2470,3167,3900,0,0,0,0,0,0
$GC,5724,-0.89,-204.4,801.0,-10.0,564,5728,0.00,1.77,0.00,0.000,6,0.000,0.044,2470,1995,3899,0,0,0,0,0,0
$GC,6052,-0.90,-204.4,836.8,-10.9,580,6056,0.00,1.88,0.00,0.000,4,0.000,0.060,2470,3170,3897,0,0,0,0,0,0
$GC,6098,-0.92,-204.4,841.9,-10.3,582,6103,0.10,1.77,0.00,0.000,6,0.106,0.045,2428,2003,3896,0,0,0,0,0,0
$GC,6431,-0.92,-204.4,888.9,-14.2,598,6435,0.00,1.85,0.00,0.000,4,0.000,0.060,2427,3174,3894,0,0,0,0,0,0
$GC,6464,-0.92,-204.4,893.8,-14.4,599,6468,0.00,1.83,0.00,0.000,6,0.000,0.047,2427,2011,3894,0,0,0,0,0,0
$GC,6786,-0.92,-204.4,937.6,-13.7,615,6789,0.00,1.73,0.00,0.000,4,0.000,0.057,2427,882,3892,0,0,0,0,0,0
$GC,6813,-0.92,-204.4,941.7,-14.6,616,6817,0.00,1.83,0.00,0.000,6,0.000,0.052,2427,2037,3891,0,0,0,0,0,0
$GC,7141,-0.92,-204.4,984.6,-12.9,632,7144,0.00,1.75,0.00,0.000,4,0.000,0.061,2427,3167,3890,0,0,0,0,0,0
$GC,7187,-0.93,-204.4,990.3,-11.7,634,7191,0.00,1.77,0.00,0.000,6,0.000,0.047,2427,2004,3889,0,0,0,0,0,0
$STATE,7270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7270,begin apogee
$GC,7275,-0.18,0.0,1001.2,12.9,638,7453,0.73,0.08,171.85,1.272,6,0.129,0.106,2662,2095,3091,0,0,0,0,0,0
$STATE,7454,end apogee,CONTROL_FINISHED_OK
$STATE,7454,begin climb
$GC,7456,0.69,204.4,1009.2,0.0,646,7660,0.80,2.00,193.50,1.245,4,0.054,0.044,2957,3274,2254,0,0,0,0,0,0
$GC,7713,0.67,204.4,989.5,18.7,658,7717,0.00,1.88,0.00,0.000,6,0.000,0.034,2966,2089,2247,0,0,0,0,0,0
$GC,8040,0.66,204.4,931.2,17.7,674,8044,0.00,1.67,0.00,0.000,4,0.000,0.047,2974,969,2240,0,0,0,0,0,0
$GC,8136,0.64,204.4,914.2,17.5,678,8140,0.12,1.77,0.00,0.000,6,0.187,0.041,2943,2156,2239,0,0,0,0,0,0
$GC,8462,0.63,204.4,863.0,15.6,694,8466,0.00,1.80,0.00,0.000,4,0.000,0.047,2952,970,2237,0,0,0,0,0,0
$GC,8534,0.62,204.4,852.1,14.6,697,8538,0.00,1.75,0.00,0.000,6,0.000,0.041,2952,2147,2236,0,0,0,0,0,0
$GC,8861,0.61,204.4,800.8,15.9,713,8865,0.00,1.70,0.00,0.000,4,0.000,0.047,2952,3279,2235,0,0,0,0,0,0
$GC,8894,0.60,204.4,795.0,16.8,714,8898,0.10,1.83,0.00,0.000,6,0.168,0.037,2930,2083,2234,0,0,0,0,0,0
$GC,9216,0.59,204.4,749.5,13.9,730,9220,0.00,1.85,0.00,0.000,4,0.000,0.047,2924,3279,2233,0,0,0,0,0,0
$GC,9284,0.58,204.4,739.7,15.1,733,9288,0.00,1.83,0.00,0.000,6,0.000,0.037,2933,2084,2232,0,0,0,0,0,0
$GC,9617,0.59,210.4,693.7,13.6,749,9621,0.00,1.70,0.00,0.000,4,0.000,0.047,2941,970,2232,0,0,0,0,0,0
$GC,9664,0.60,224.5,687.5,13.2,751,9686,0.00,1.80,15.73,1.019,6,0.000,0.040,2938,2152,2175,0,0,0,0,0,0
$GC,9997,0.60,234.7,642.9,13.4,767,10012,0.00,1.83,10.35,0.942,4,0.000,0.044,2947,959,2133,0,0,0,0,0,0
$GC,10068,0.62,247.8,633.0,13.3,770,10087,0.00,1.80,13.60,0.965,6,0.000,0.039,2947,2160,2080,0,0,0,0,0,0
$GC,10399,0.61,247.8,586.2,14.5,790,10403,0.00,1.80,0.00,0.000,4,0.000,0.046,2956,966,2073,0,0,0,0,0,0
$GC,10445,0.61,247.8,579.3,14.5,794,10449,0.10,1.77,0.00,0.000,6,0.177,0.041,2930,2153,2072,0,0,0,0,0,0
$GC,10777,0.64,275.1,536.1,12.6,825,10808,0.00,0.00,24.50,0.956,6,0.000,0.000,2930,2153,1968,0,0,0,0,0,0
$GC,11126,0.65,288.1,489.3,13.3,858,11141,0.00,0.00,11.95,0.864,6,0.000,0.000,2930,2153,1916,0,0,0,0,0,0
$GC,11458,0.69,320.5,444.8,12.4,889,11494,0.00,1.83,29.42,0.891,4,0.000,0.044,2937,967,1782,0,0,0,0,0,0
$GC,11519,0.73,344.6,436.6,12.8,894,11545,0.00,1.83,22.02,0.861,6,0.000,0.038,2937,2146,1686,0,0,0,0,0,0
$GC,11863,0.75,363.7,391.9,13.0,926,11890,0.10,1.88,16.65,0.819,4,0.096,0.046,3002,968,1606,0,0,0,0,0,0
$GC,12009,0.75,363.7,366.7,16.7,938,12018,0.00,1.83,0.00,0.000,6,0.000,0.039,3000,2153,1603,0,0,0,0,0,0
$GC,12337,0.75,363.7,308.1,17.9,969,12340,0.00,1.83,0.00,0.000,4,0.000,0.045,3008,963,1601,0,0,0,0,0,0
$GC,12420,0.74,363.7,293.1,16.9,979,12427,0.12,1.75,0.00,0.000,6,0.165,0.038,2970,2150,1600,0,0,0,0,0,0
$GC,12780,0.74,363.7,236.6,14.6,1040,12788,0.00,1.80,0.00,0.000,4,0.000,0.045,2979,973,1599,0,0,0,0,0,0
$GC,12815,0.74,363.7,231.4,14.8,1045,12822,0.00,1.75,0.00,0.000,6,0.000,0.037,2974,2152,1599,0,0,0,0,0,0
$GC,13173,0.77,389.0,184.1,12.7,1106,13202,0.00,1.83,21.58,0.675,4,0.000,0.044,2983,966,1503,0,0,0,0,0,0
$GC,13364,0.85,446.2,160.5,11.3,1137,13422,0.00,1.75,48.50,0.671,6,0.000,0.036,2983,2155,1270,0,0,0,0,0,0
$GC,13781,0.96,526.2,105.7,10.2,1205,13856,0.15,1.88,64.90,0.624,4,0.071,0.041,3079,970,943,0,0,0,0,0,0
$GC,13924,0.96,526.2,82.6,15.4,1225,13933,0.10,1.80,0.00,0.000,6,0.144,0.034,3045,2156,941,0,0,0,0,0,0
$GC,14293,0.97,526.2,31.3,14.4,1286,14303,0.00,1.80,0.00,0.000,4,0.000,0.041,3054,966,940,0,0,0,0,0,0
$GC,14404,1.00,535.4,17.0,13.5,1304,14421,0.00,1.77,8.12,0.466,6,0.000,0.035,3054,2152,907,0,0,0,0,0,0
$STATE,14528,end climb,SURFACE_DEPTH_REACHED
$STATE,14530,begin surface coast
$FINISH,0.3,1.021990
$STATE,14555,end surface coast,CONTROL_FINISHED_OK
$STATE,14555,begin surface
$SM_CCo,14572,67.03,0.057,0,0,481,640.23
$SM_GC,0.97,0.00,0.00,67.03,0.000,0.000,0.057,136,1998,481,-8.10,-0.76,640.23
$IRIDIUM_FIX,2307.44,12601.99,271010,040443
$TT8_MAMPS,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,22.5,56.034
$10V_AH,9.9,46.707
$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,20.825,119.700,652.675,67.025,0.000,27.355,36.830,207.380,0.250,0.000,15.572,3316.768,6979.264,741.977,3699.438,296.891,0.000,2085.595,0.000,3438.841,0.000,0.545,0.000
$DEVICE_MAMPS,247.095,106.335,1272.195,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.323,0.000,1856.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,80264,1328
$CAP_FILE_SIZE,167965,0
$CFSIZE,260165632,232869888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,337.2,1
$GPS,271010,125155,2315.336,12557.541,43,1.3,43,-3.4