version: 66.08
glider: 169
mission: 2
dive: 395
start: 10 30 110 13 40 29
data:
$ID,169
$MISSION,2
$DIVE,395
$N_DIVES,410
$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,-7215.4106
$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
$GPS1,301010,132507,2251.661,12550.796,41,1.2,41,-3.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.6
$GPS2,301010,134001,2251.745,12550.654,12,2.0,12,-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,164.1,167937,-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,16,-0.69,-204.4,0.0,0.0,0,114,0.00,0.00,-95.70,0.000,2,0.000,0.000,126,1993,3040,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.5,-4.9,12,151,9.98,1.75,-16.08,0.000,4,0.238,0.063,2497,881,3928,0,0,0,0,0,0
$GC,272,-0.68,-204.4,52.0,-25.2,36,280,0.00,1.83,0.00,0.000,6,0.000,0.051,2496,2044,3928,0,0,0,0,0,0
$GC,638,-0.67,-204.4,150.6,-22.5,97,644,0.00,1.70,0.00,0.000,4,0.000,0.057,2496,3168,3929,0,0,0,0,0,0
$GC,678,-0.66,-204.4,158.8,-19.5,103,684,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,2004,3930,0,0,0,0,0,0
$GC,1034,-0.66,-204.4,223.9,-17.5,164,1042,0.00,1.73,0.00,0.000,4,0.000,0.047,2496,868,3930,0,0,0,0,0,0
$GC,1062,-0.66,-204.4,228.8,-17.5,168,1071,0.00,1.80,0.00,0.000,6,0.000,0.047,2495,2035,3930,0,0,0,0,0,0
$GC,1423,-0.66,-204.4,288.3,-15.4,229,1429,0.00,1.73,0.00,0.000,4,0.000,0.054,2495,3168,3929,0,0,0,0,0,0
$GC,1511,-0.67,-204.4,301.2,-13.5,243,1517,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,1999,3929,0,0,0,0,0,0
$GC,1836,-0.67,-204.4,347.5,-13.2,274,1840,0.00,1.70,0.00,0.000,4,0.000,0.046,2496,864,3927,0,0,0,0,0,0
$GC,1865,-0.68,-204.4,351.6,-12.8,276,1873,0.00,1.80,0.00,0.000,6,0.000,0.045,2495,2037,3927,0,0,0,0,0,0
$GC,2193,-0.68,-204.4,394.4,-12.9,307,2197,0.00,1.77,0.00,0.000,4,0.000,0.053,2495,3173,3925,0,0,0,0,0,0
$GC,2300,-0.69,-204.4,407.5,-11.7,316,2308,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,2002,3925,0,0,0,0,0,0
$GC,2628,-0.70,-204.4,449.0,-12.6,347,2631,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3178,3922,0,0,0,0,0,0
$GC,2678,-0.71,-204.4,455.6,-10.6,351,2685,0.00,1.77,0.00,0.000,6,0.000,0.039,2496,1990,3922,0,0,0,0,0,0
$GC,3004,-0.72,-204.4,496.3,-12.5,382,3008,0.00,1.88,0.00,0.000,4,0.000,0.055,2496,3175,3919,0,0,0,0,0,0
$GC,3062,-0.74,-204.4,502.7,-10.6,387,3066,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,2001,3918,0,0,0,0,0,0
$GC,3394,-0.74,-204.4,540.0,-11.1,418,3397,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3174,3915,0,0,0,0,0,0
$GC,3428,-0.76,-204.4,543.7,-10.3,421,3432,0.00,1.77,0.00,0.000,6,0.000,0.039,2496,1983,3915,0,0,0,0,0,0
$GC,3760,-0.77,-204.4,579.7,-11.0,452,3763,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3169,3913,0,0,0,0,0,0
$GC,3828,-0.78,-204.4,586.4,-9.2,458,3832,0.00,1.80,0.00,0.000,6,0.000,0.038,2495,1995,3912,0,0,0,0,0,0
$GC,4165,-0.79,-204.4,621.5,-10.4,480,4168,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3168,3909,0,0,0,0,0,0
$GC,4192,-0.81,-204.4,624.7,-10.8,481,4196,0.00,1.75,0.00,0.000,6,0.000,0.038,2496,1997,3908,0,0,0,0,0,0
$GC,4520,-0.82,-204.4,656.6,-10.0,497,4524,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3168,3905,0,0,0,0,0,0
$GC,4559,-0.83,-204.4,660.4,-8.7,498,4568,0.10,1.77,0.00,0.000,6,0.108,0.039,2451,1994,3905,0,0,0,0,0,0
$GC,4875,-0.84,-204.4,703.0,-13.8,514,4877,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1993,3902,0,0,0,0,0,0
$GC,5185,-0.84,-204.4,746.0,-13.8,529,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1993,3900,0,0,0,0,0,0
$GC,5494,-0.85,-204.4,789.4,-14.1,544,5497,0.00,1.88,0.00,0.000,4,0.000,0.059,2450,3167,3896,0,0,0,0,0,0
$GC,5550,-0.85,-204.4,796.8,-12.4,546,5553,0.00,1.80,0.00,0.000,6,0.000,0.044,2450,1999,3896,0,0,0,0,0,0
$GC,5872,-0.86,-204.4,839.4,-13.2,562,5875,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3173,3894,0,0,0,0,0,0
$GC,5910,-0.87,-204.4,844.7,-12.8,563,5917,0.00,1.77,0.00,0.000,6,0.000,0.044,2449,2003,3893,0,0,0,0,0,0
$GC,6228,-0.87,-204.4,886.0,-13.1,579,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2001,3892,0,0,0,0,0,0
$GC,6536,-0.88,-204.4,927.4,-13.2,594,6539,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3171,3889,0,0,0,0,0,0
$GC,6605,-0.89,-204.4,936.0,-11.9,597,6609,0.00,1.80,0.00,0.000,6,0.000,0.047,2450,1998,3888,0,0,0,0,0,0
$GC,6938,-0.89,-204.4,977.4,-12.0,613,6939,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1996,3886,0,0,0,0,0,0
$STATE,7142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7142,begin apogee
$GC,7148,-0.18,0.0,1002.2,12.1,623,7326,0.68,0.05,171.98,1.274,6,0.133,0.064,2664,2095,3091,0,0,0,0,0,0
$STATE,7327,end apogee,CONTROL_FINISHED_OK
$STATE,7327,begin climb
$GC,7329,0.69,204.4,1011.6,0.0,631,7534,0.80,2.00,194.02,1.246,4,0.057,0.046,2958,3267,2254,0,0,0,0,0,0
$GC,7718,0.67,204.4,969.2,18.0,649,7722,0.00,1.83,0.00,0.000,6,0.000,0.037,2967,2079,2242,0,0,0,0,0,0
$GC,8046,0.66,204.4,915.2,16.4,665,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2077,2239,0,0,0,0,0,0
$GC,8356,0.64,204.4,865.5,16.1,680,8357,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2078,2237,0,0,0,0,0,0
$GC,8664,0.63,204.4,817.0,15.6,695,8668,0.12,1.88,0.00,0.000,4,0.194,0.046,2934,3278,2236,0,0,0,0,0,0
$GC,8788,0.63,210.6,799.2,13.6,700,8792,0.00,1.77,0.00,0.000,6,0.000,0.035,2943,2089,2235,0,0,0,0,0,0
$GC,9111,0.62,215.0,755.5,13.7,716,9122,0.00,1.75,6.93,0.914,4,0.000,0.046,2952,966,2214,0,0,0,0,0,0
$GC,9144,0.62,217.4,750.6,13.8,717,9154,0.00,1.77,4.40,0.728,6,0.000,0.038,2952,2150,2204,0,0,0,0,0,0
$GC,9484,0.61,217.4,703.6,14.0,734,9487,0.00,1.83,0.00,0.000,4,0.000,0.046,2961,967,2199,0,0,0,0,0,0
$GC,9522,0.60,217.4,697.7,14.4,735,9530,0.10,1.80,0.00,0.000,6,0.155,0.038,2928,2150,2199,0,0,0,0,0,0
$GC,9839,0.61,233.5,656.9,13.2,751,9859,0.00,0.00,16.17,1.008,6,0.000,0.000,2929,2150,2138,0,0,0,0,0,0
$GC,10168,0.63,247.5,612.8,13.3,767,10191,0.00,1.88,13.60,0.964,4,0.000,0.047,2936,964,2081,0,0,0,0,0,0
$GC,10208,0.65,268.0,607.4,12.9,768,10236,0.00,1.80,20.05,0.980,6,0.000,0.038,2936,2151,1996,0,0,0,0,0,0
$GC,10553,0.67,284.5,559.5,13.1,798,10575,0.00,1.80,14.93,0.932,4,0.000,0.047,2936,3278,1929,0,0,0,0,0,0
$GC,10603,0.66,284.5,552.2,14.4,802,10610,0.00,1.80,0.00,0.000,6,0.000,0.034,2944,2079,1928,0,0,0,0,0,0
$GC,10928,0.66,284.5,506.5,14.5,833,10932,0.00,1.67,0.00,0.000,4,0.000,0.046,2953,958,1923,0,0,0,0,0,0
$GC,10967,0.66,284.5,500.6,14.3,836,10973,0.00,1.80,0.00,0.000,6,0.000,0.038,2953,2140,1922,0,0,0,0,0,0
$GC,11294,0.66,284.5,453.7,14.1,867,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2140,1922,0,0,0,0,0,0
$GC,11614,0.69,311.1,411.1,12.7,897,11646,0.00,1.73,23.75,0.861,4,0.000,0.044,2953,3270,1821,0,0,0,0,0,0
$GC,11683,0.69,312.8,401.6,13.8,903,11687,0.00,1.77,0.00,0.000,6,0.000,0.033,2962,2085,1818,0,0,0,0,0,0
$GC,12014,0.68,312.8,352.6,15.2,934,12017,0.00,1.65,0.00,0.000,4,0.000,0.043,2970,966,1814,0,0,0,0,0,0
$GC,12063,0.68,312.8,344.7,14.7,938,12073,0.00,1.80,0.00,0.000,6,0.000,0.037,2970,2150,1814,0,0,0,0,0,0
$GC,12393,0.68,312.8,295.8,14.3,971,12400,0.00,1.77,0.00,0.000,4,0.000,0.043,2979,957,1813,0,0,0,0,0,0
$GC,12435,0.68,313.7,289.4,13.8,978,12444,0.08,1.80,0.00,0.000,6,0.145,0.037,2954,2149,1813,0,0,0,0,0,0
$GC,12788,0.80,413.0,250.2,9.4,1039,12880,0.10,0.00,84.95,0.748,6,0.099,0.000,3010,2149,1405,0,0,0,0,0,0
$GC,13223,0.80,413.0,171.9,17.4,1112,13231,0.00,1.83,0.00,0.000,4,0.000,0.043,3019,960,1398,0,0,0,0,0,0
$GC,13444,0.80,413.0,136.0,16.1,1149,13453,0.08,1.80,0.00,0.000,6,0.137,0.035,2992,2159,1398,0,0,0,0,0,0
$GC,13812,0.88,470.2,89.4,11.3,1210,13863,0.00,1.90,46.38,0.613,4,0.000,0.041,2999,961,1173,0,0,0,0,0,0
$GC,13943,1.04,590.6,76.9,8.4,1229,14050,0.15,1.80,96.22,0.598,6,0.040,0.034,3094,2150,683,0,0,0,0,0,0
$STATE,14342,end climb,SURFACE_DEPTH_REACHED
$STATE,14342,begin surface coast
$FINISH,0.1,1.022281
$STATE,14362,end surface coast,CONTROL_FINISHED_OK
$STATE,14362,begin surface
$SM_CCo,14378,37.05,0.058,0,0,481,640.23
$SM_GC,0.81,0.00,0.00,37.05,0.000,0.000,0.058,152,1973,481,-8.06,-1.47,640.23
$IRIDIUM_FIX,2246.36,12827.17,301010,131325
$TT8_MAMPS,0.026215
$HUMID,47.40
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,24.50
$XPDR_PINGS,0
$24V_AH,22.5,59.979
$10V_AH,9.9,49.468
$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,20.400,97.550,693.375,37.050,0.000,115.610,104.672,317.067,0.000,0.000,14.975,3163.509,7286.200,730.459,3813.117,306.622,0.000,2023.281,0.000,3261.352,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,78.030,1274.490,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.731,0.000,1757.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333636
$DATA_FILE_SIZE,76986,1294
$CAP_FILE_SIZE,160786,0
$CFSIZE,260165632,231419904
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.175, 12.7,1
$GPS,301010,174155,2250.867,12551.250,41,1.0,41,-3.3