version: 66.08
glider: 169
mission: 2
dive: 391
start: 10 29 110 20 29 46
data:
$ID,169
$MISSION,2
$DIVE,391
$N_DIVES,395
$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,-7207.2085
$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
$GPS1,291010,202225,2257.089,12553.261,62,1.0,62,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.3
$GPS2,291010,202917,2257.151,12553.255,17,2.1,36,-3.3
$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,187.7,177489,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-97.15,0.000,2,0.000,0.000,140,1978,3165,0,0,0,0,0,0
$GC,117,-0.69,-204.4,4.1,-6.7,12,151,10.23,1.75,-12.88,0.000,4,0.247,0.068,2498,872,3928,0,0,0,0,0,0
$GC,306,-0.68,-204.4,66.7,-25.2,42,314,0.00,1.83,0.00,0.000,6,0.000,0.053,2498,2033,3928,0,0,0,0,0,0
$GC,671,-0.67,-204.4,158.3,-21.4,103,678,0.00,1.75,0.00,0.000,4,0.000,0.060,2498,3168,3930,0,0,0,0,0,0
$GC,704,-0.66,-204.4,165.5,-21.0,108,712,0.00,1.80,0.00,0.000,6,0.000,0.042,2498,2003,3930,0,0,0,0,0,0
$GC,1055,-0.66,-204.4,231.4,-19.6,169,1062,0.00,1.80,0.00,0.000,4,0.000,0.057,2498,3168,3931,0,0,0,0,0,0
$GC,1127,-0.66,-204.4,243.1,-14.2,181,1133,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2002,3931,0,0,0,0,0,0
$GC,1471,-0.66,-204.4,299.8,-15.2,242,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2000,3930,0,0,0,0,0,0
$GC,1800,-0.67,-204.4,347.7,-14.1,273,1804,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3167,3930,0,0,0,0,0,0
$GC,1871,-0.68,-204.4,357.1,-12.4,279,1874,0.00,1.75,0.00,0.000,6,0.000,0.038,2498,1989,3930,0,0,0,0,0,0
$GC,2203,-0.69,-204.4,401.2,-12.6,310,2207,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3172,3928,0,0,0,0,0,0
$GC,2243,-0.70,-204.4,406.5,-12.5,313,2249,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3927,0,0,0,0,0,0
$GC,2568,-0.70,-204.4,444.6,-11.6,344,2572,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3173,3925,0,0,0,0,0,0
$GC,2616,-0.72,-204.4,449.6,-10.2,348,2620,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1990,3925,0,0,0,0,0,0
$GC,2949,-0.72,-204.4,486.4,-11.3,379,2953,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3162,3922,0,0,0,0,0,0
$GC,2988,-0.74,-204.4,491.0,-9.9,382,2997,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,1999,3922,0,0,0,0,0,0
$GC,3314,-0.75,-204.4,528.0,-11.5,413,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1998,3920,0,0,0,0,0,0
$GC,3634,-0.76,-204.4,563.0,-10.4,443,3638,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3168,3917,0,0,0,0,0,0
$GC,3680,-0.78,-204.4,567.7,-9.2,447,3684,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,2001,3916,0,0,0,0,0,0
$GC,4021,-0.79,-204.4,602.4,-10.1,478,4025,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3168,3914,0,0,0,0,0,0
$GC,4055,-0.80,-204.4,605.9,-9.6,479,4058,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2001,3913,0,0,0,0,0,0
$GC,4377,-0.81,-204.4,640.1,-10.7,495,4381,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3170,3911,0,0,0,0,0,0
$GC,4404,-0.83,-204.4,643.2,-10.4,496,4408,0.08,1.80,0.00,0.000,6,0.075,0.041,2458,2002,3910,0,0,0,0,0,0
$GC,4733,-0.83,-204.4,686.7,-13.4,512,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2000,3907,0,0,0,0,0,0
$GC,5040,-0.84,-204.4,727.3,-12.9,527,5044,0.00,1.85,0.00,0.000,4,0.000,0.058,2458,3168,3904,0,0,0,0,0,0
$GC,5095,-0.85,-204.4,734.2,-11.7,529,5099,0.00,1.80,0.00,0.000,6,0.000,0.044,2459,1990,3904,0,0,0,0,0,0
$GC,5418,-0.85,-204.4,776.1,-13.1,545,5421,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3167,3902,0,0,0,0,0,0
$GC,5468,-0.87,-204.4,782.4,-11.9,547,5471,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2003,3901,0,0,0,0,0,0
$GC,5795,-0.87,-204.4,821.4,-11.7,563,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2001,3898,0,0,0,0,0,0
$GC,6105,-0.88,-204.4,856.9,-11.2,578,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2001,3896,0,0,0,0,0,0
$GC,6414,-0.89,-204.4,891.8,-11.0,593,6417,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3170,3894,0,0,0,0,0,0
$GC,6460,-0.90,-204.4,896.5,-9.8,595,6464,0.00,1.77,0.00,0.000,6,0.000,0.046,2459,2003,3893,0,0,0,0,0,0
$GC,6794,-0.91,-204.4,932.7,-11.0,611,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2002,3892,0,0,0,0,0,0
$GC,7105,-0.91,-204.4,966.2,-10.9,626,7108,0.00,1.88,0.00,0.000,4,0.000,0.061,2459,3168,3889,0,0,0,0,0,0
$GC,7138,-0.93,-204.4,969.9,-10.1,627,7142,0.00,1.83,0.00,0.000,6,0.000,0.045,2458,2003,3889,0,0,0,0,0,0
$STATE,7416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7416,begin apogee
$GC,7422,-0.18,0.0,1000.5,11.0,641,7600,0.65,0.05,172.93,1.280,6,0.138,0.068,2664,2099,3090,0,0,0,0,0,0
$STATE,7601,end apogee,CONTROL_FINISHED_OK
$STATE,7601,begin climb
$GC,7603,0.69,204.4,1009.5,0.0,649,7806,0.80,2.08,194.27,1.249,4,0.057,0.047,2949,3271,2256,0,0,0,0,0,0
$GC,7875,0.67,204.4,988.5,16.9,662,7879,0.00,1.85,0.00,0.000,6,0.000,0.035,2957,2086,2246,0,0,0,0,0,0
$GC,8208,0.66,204.4,933.8,16.6,678,8212,0.00,1.67,0.00,0.000,4,0.000,0.046,2966,963,2240,0,0,0,0,0,0
$GC,8258,0.65,204.4,925.4,16.3,680,8262,0.00,1.80,0.00,0.000,6,0.000,0.041,2961,2140,2240,0,0,0,0,0,0
$GC,8586,0.63,204.4,872.3,16.5,696,8590,0.00,1.70,0.00,0.000,4,0.000,0.048,2961,3273,2238,0,0,0,0,0,0
$GC,8624,0.62,204.4,865.3,18.1,697,8632,0.10,1.80,0.00,0.000,6,0.175,0.036,2938,2093,2237,0,0,0,0,0,0
$GC,8941,0.61,204.4,820.4,13.9,713,8945,0.00,1.70,0.00,0.000,4,0.000,0.047,2946,967,2235,0,0,0,0,0,0
$GC,8997,0.62,218.6,812.4,13.2,715,9012,0.00,1.77,11.07,1.036,6,0.000,0.040,2945,2150,2199,0,0,0,0,0,0
$GC,9344,0.62,223.8,764.1,13.6,732,9354,0.00,1.80,5.93,0.863,4,0.000,0.044,2954,960,2178,0,0,0,0,0,0
$GC,9393,0.62,231.5,756.7,13.5,734,9408,0.00,1.80,9.12,0.971,6,0.000,0.040,2950,2169,2146,0,0,0,0,0,0
$GC,9738,0.61,231.5,708.5,14.4,751,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2169,2141,0,0,0,0,0,0
$GC,10045,0.60,231.5,663.7,14.9,766,10049,0.00,1.80,0.00,0.000,4,0.000,0.046,2959,966,2139,0,0,0,0,0,0
$GC,10136,0.60,231.5,650.0,14.8,770,10140,0.12,1.77,0.00,0.000,6,0.180,0.041,2926,2158,2138,0,0,0,0,0,0
$GC,10470,0.64,266.0,607.1,12.3,786,10506,0.00,1.73,31.60,1.015,4,0.000,0.046,2925,3271,2005,0,0,0,0,0,0
$GC,10531,0.68,305.2,599.4,12.1,788,10576,0.00,1.83,36.08,0.999,6,0.000,0.035,2934,2080,1843,0,0,0,0,0,0
$GC,10893,0.70,319.6,551.7,13.2,822,10910,0.00,1.77,12.62,0.907,4,0.000,0.049,2935,963,1786,0,0,0,0,0,0
$GC,10984,0.74,345.7,540.1,12.7,829,11014,0.00,1.80,24.23,0.944,6,0.000,0.038,2935,2148,1680,0,0,0,0,0,0
$GC,11330,0.74,345.7,490.6,14.4,862,11334,0.10,1.77,0.00,0.000,4,0.099,0.045,2996,970,1671,0,0,0,0,0,0
$GC,11433,0.73,345.7,473.4,17.4,871,11437,0.00,1.77,0.00,0.000,6,0.000,0.040,2993,2160,1671,0,0,0,0,0,0
$GC,11764,0.73,345.7,413.8,17.9,902,11768,0.00,1.83,0.00,0.000,4,0.000,0.045,3001,970,1670,0,0,0,0,0,0
$GC,11801,0.72,345.7,407.6,17.8,905,11805,0.12,1.75,0.00,0.000,6,0.174,0.039,2967,2152,1669,0,0,0,0,0,0
$GC,12132,0.72,345.7,354.9,16.1,936,12136,0.00,1.83,0.00,0.000,4,0.000,0.044,2976,962,1668,0,0,0,0,0,0
$GC,12190,0.72,345.7,345.8,16.3,941,12194,0.00,1.75,0.00,0.000,6,0.000,0.038,2975,2149,1667,0,0,0,0,0,0
$GC,12520,0.71,345.7,293.8,15.4,975,12528,0.00,1.77,0.00,0.000,4,0.000,0.044,2983,967,1667,0,0,0,0,0,0
$GC,12574,0.71,345.7,285.4,14.0,984,12582,0.00,1.80,0.00,0.000,6,0.000,0.038,2983,2154,1667,0,0,0,0,0,0
$GC,12923,0.71,345.7,231.5,14.5,1045,12930,0.00,1.80,0.00,0.000,4,0.000,0.042,2992,957,1667,0,0,0,0,0,0
$GC,12961,0.71,345.7,225.6,15.1,1051,12969,0.08,1.80,0.00,0.000,6,0.145,0.037,2965,2152,1667,0,0,0,0,0,0
$GC,13311,0.78,400.6,179.3,11.4,1112,13361,0.00,0.00,44.90,0.692,6,0.000,0.000,2965,2151,1457,0,0,0,0,0,0
$GC,13706,0.87,468.3,134.8,10.8,1179,13772,0.12,1.88,56.90,0.652,4,0.083,0.041,3039,968,1179,0,0,0,0,0,0
$GC,13977,0.88,470.3,92.4,13.8,1221,13985,0.00,1.80,0.00,0.000,6,0.000,0.034,3036,2159,1174,0,0,0,0,0,0
$GC,14341,0.91,486.6,44.9,13.1,1282,14367,0.00,1.85,15.12,0.544,4,0.000,0.040,3042,962,1105,0,0,0,0,0,0
$GC,14465,1.15,676.2,33.8,5.2,1301,14605,0.12,1.80,129.93,0.560,6,0.042,0.032,3124,2164,433,0,0,0,0,0,0
$STATE,14611,end climb,SURFACE_DEPTH_REACHED
$STATE,14612,begin surface coast
$FINISH,0.1,1.022101
$STATE,14625,end surface coast,CONTROL_FINISHED_OK
$STATE,14625,begin surface
$SM_CCo,14703,0.00,0.000,0,0,430,652.74
$SM_GC,1.03,8.57,0.00,0.00,0.083,0.000,0.000,153,1996,430,-8.03,-0.82,652.74
$IRIDIUM_FIX,2253.38,12549.42,291010,161617
$TT8_MAMPS,0.026215
$HUMID,45.19
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.4,59.089
$10V_AH,9.9,48.863
$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,21.100,105.050,744.700,0.000,0.000,25.014,15.771,210.215,0.000,0.000,39.345,3247.971,7268.536,700.754,3592.015,293.713,0.000,2039.934,0.000,3327.292,0.000,0.543,0.000
$DEVICE_MAMPS,247.095,75.735,1279.845,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,894.142,0.000,1789.009,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333652
$DATA_FILE_SIZE,77015,1321
$CAP_FILE_SIZE,161884,0
$CFSIZE,260165632,231743488
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,353.0,1
$GPS,301010,003555,2255.433,12552.406,40,1.2,40,-3.3