version: 66.08
glider: 169
mission: 2
dive: 401
start: 10 31 110 15 18 20
data:
$ID,169
$MISSION,2
$DIVE,401
$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,-7228.2437
$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
$GPS1,311010,151100,2244.442,12548.838,36,1.3,41,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.6
$GPS2,311010,151752,2244.520,12548.775,15,3.5,34,-3.2
$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,173.3,155056,-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,-204.4,0.0,0.0,0,107,0.00,0.00,-88.72,0.000,2,0.000,0.000,152,1982,2898,0,0,0,0,0,0
$GC,110,-0.69,-204.4,3.4,-5.4,11,144,10.05,1.80,-18.60,0.000,4,0.242,0.072,2499,869,3928,0,0,0,0,0,0
$GC,288,-0.68,-204.4,53.9,-22.8,39,296,0.00,1.85,0.00,0.000,6,0.000,0.052,2499,2040,3930,0,0,0,0,0,0
$GC,654,-0.67,-204.4,146.3,-22.6,100,664,0.00,1.77,0.00,0.000,4,0.000,0.061,2499,3165,3931,0,0,0,0,0,0
$GC,725,-0.67,-204.4,161.3,-19.2,111,732,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,1998,3932,0,0,0,0,0,0
$GC,1083,-0.67,-204.4,223.0,-16.5,172,1092,0.00,1.70,0.00,0.000,4,0.000,0.047,2499,883,3932,0,0,0,0,0,0
$GC,1146,-0.67,-204.4,232.8,-13.6,182,1155,0.00,1.77,0.00,0.000,6,0.000,0.045,2499,2038,3932,0,0,0,0,0,0
$GC,1509,-0.68,-204.4,287.3,-14.9,243,1515,0.00,1.75,0.00,0.000,4,0.000,0.057,2499,3168,3932,0,0,0,0,0,0
$GC,1606,-0.69,-204.4,301.1,-13.1,259,1610,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2000,3931,0,0,0,0,0,0
$GC,1938,-0.69,-204.4,347.2,-12.8,290,1942,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3930,0,0,0,0,0,0
$GC,2011,-0.70,-204.4,355.5,-10.3,296,2021,0.00,1.77,0.00,0.000,6,0.000,0.037,2499,2002,3930,0,0,0,0,0,0
$GC,2338,-0.71,-204.4,395.2,-12.9,327,2342,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3168,3928,0,0,0,0,0,0
$GC,2367,-0.72,-204.4,399.2,-12.4,329,2373,0.00,1.77,0.00,0.000,6,0.000,0.038,2499,1986,3928,0,0,0,0,0,0
$GC,2692,-0.73,-204.4,438.5,-11.6,360,2696,0.00,1.88,0.00,0.000,4,0.000,0.055,2499,3173,3927,0,0,0,0,0,0
$GC,2753,-0.74,-204.4,444.9,-10.7,365,2757,0.00,1.80,0.00,0.000,6,0.000,0.041,2499,2003,3926,0,0,0,0,0,0
$GC,3084,-0.75,-204.4,485.1,-12.3,396,3088,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3173,3924,0,0,0,0,0,0
$GC,3113,-0.76,-204.4,488.9,-12.7,398,3121,0.00,1.80,0.00,0.000,6,0.000,0.040,2499,2002,3923,0,0,0,0,0,0
$GC,3439,-0.77,-204.4,529.0,-12.2,429,3443,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3170,3921,0,0,0,0,0,0
$GC,3455,-0.78,-204.4,531.1,-11.4,430,3462,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,1999,3920,0,0,0,0,0,0
$GC,3781,-0.79,-204.4,568.0,-11.0,461,3785,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3918,0,0,0,0,0,0
$GC,3816,-0.81,-204.4,571.8,-10.7,464,3820,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,1999,3918,0,0,0,0,0,0
$GC,4147,-0.82,-204.4,607.1,-10.6,492,4151,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3171,3915,0,0,0,0,0,0
$GC,4202,-0.83,-204.4,613.0,-9.4,494,4207,0.08,1.80,0.00,0.000,6,0.077,0.041,2460,2001,3914,0,0,0,0,0,0
$GC,4526,-0.84,-204.4,654.8,-13.2,510,4530,0.00,1.88,0.00,0.000,4,0.000,0.057,2460,3169,3911,0,0,0,0,0,0
$GC,4558,-0.84,-204.4,659.2,-12.4,511,4562,0.00,1.77,0.00,0.000,6,0.000,0.042,2460,2003,3911,0,0,0,0,0,0
$GC,4880,-0.85,-204.4,701.1,-13.2,527,4884,0.00,1.83,0.00,0.000,4,0.000,0.058,2460,3168,3909,0,0,0,0,0,0
$GC,4908,-0.85,-204.4,704.8,-13.0,528,4912,0.00,1.77,0.00,0.000,6,0.000,0.042,2460,1992,3908,0,0,0,0,0,0
$GC,5236,-0.86,-204.4,746.6,-12.4,544,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1991,3906,0,0,0,0,0,0
$GC,5546,-0.86,-204.4,784.1,-11.9,559,5547,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1991,3903,0,0,0,0,0,0
$GC,5854,-0.87,-204.4,818.3,-10.6,574,5858,0.00,1.90,0.00,0.000,4,0.000,0.060,2460,3169,3901,0,0,0,0,0,0
$GC,5927,-0.88,-204.4,825.5,-9.3,577,5931,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2003,3900,0,0,0,0,0,0
$GC,6256,-0.89,-204.4,859.5,-10.3,593,6259,0.00,1.88,0.00,0.000,4,0.000,0.060,2460,3171,3898,0,0,0,0,0,0
$GC,6281,-0.90,-204.4,862.1,-10.8,594,6284,0.00,1.80,0.00,0.000,6,0.000,0.046,2460,1994,3897,0,0,0,0,0,0
$GC,6614,-0.90,-204.4,896.0,-10.3,610,6618,0.00,1.88,0.00,0.000,4,0.000,0.060,2459,3169,3895,0,0,0,0,0,0
$GC,6653,-0.91,-204.4,900.0,-9.8,611,6660,0.00,1.77,0.00,0.000,6,0.000,0.045,2459,2004,3895,0,0,0,0,0,0
$GC,6970,-0.92,-204.4,932.9,-10.5,627,6974,0.00,1.88,0.00,0.000,4,0.000,0.060,2460,3166,3893,0,0,0,0,0,0
$GC,7003,-0.93,-204.4,936.4,-10.3,628,7007,0.00,1.77,0.00,0.000,6,0.000,0.045,2459,1998,3893,0,0,0,0,0,0
$GC,7325,-0.94,-204.4,971.2,-11.1,644,7329,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3168,3891,0,0,0,0,0,0
$GC,7376,-0.95,-204.4,976.7,-10.4,646,7380,0.10,1.77,0.00,0.000,6,0.119,0.046,2420,2003,3890,0,0,0,0,0,0
$STATE,7556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7556,begin apogee
$GC,7561,-0.18,0.0,1001.7,14.4,655,7744,0.80,0.08,177.15,1.272,6,0.150,0.105,2663,2093,3091,0,0,0,0,0,0
$STATE,7745,end apogee,CONTROL_FINISHED_OK
$STATE,7745,begin climb
$GC,7747,0.69,204.4,1010.7,0.0,663,7959,0.80,2.05,199.75,1.245,4,0.049,0.045,2961,3264,2255,0,0,0,0,0,0
$GC,7969,0.67,204.4,995.6,17.6,673,7973,0.00,1.92,0.00,0.000,6,0.000,0.034,2969,2102,2251,0,0,0,0,0,0
$GC,8292,0.65,204.4,936.1,18.3,689,8293,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2101,2241,0,0,0,0,0,0
$GC,8601,0.64,204.4,880.7,17.7,704,8603,0.12,0.00,0.00,0.000,6,0.204,0.000,2938,2100,2240,0,0,0,0,0,0
$GC,8910,0.63,204.4,835.2,14.4,719,8913,0.00,1.70,0.00,0.000,4,0.000,0.048,2947,969,2238,0,0,0,0,0,0
$GC,8949,0.62,204.4,829.3,14.4,720,8956,0.00,1.75,0.00,0.000,6,0.000,0.041,2946,2149,2237,0,0,0,0,0,0
$GC,9264,0.61,204.4,782.0,14.7,736,9268,0.00,1.67,0.00,0.000,4,0.000,0.047,2947,3270,2236,0,0,0,0,0,0
$GC,9288,0.60,204.4,778.2,16.1,737,9293,0.08,1.80,0.00,0.000,6,0.174,0.036,2931,2095,2235,0,0,0,0,0,0
$GC,9623,0.62,220.5,733.7,13.2,753,9645,0.00,1.77,12.43,1.017,4,0.000,0.048,2939,969,2191,0,0,0,0,0,0
$GC,9695,0.65,246.8,724.0,12.7,756,9726,0.00,1.80,26.33,1.063,6,0.000,0.040,2938,2143,2084,0,0,0,0,0,0
$GC,10045,0.64,248.4,676.2,13.8,773,10046,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2144,2074,0,0,0,0,0,0
$GC,10352,0.64,248.4,633.1,14.3,788,10353,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2143,2071,0,0,0,0,0,0
$GC,10664,0.63,248.4,587.8,14.9,806,10667,0.00,1.73,0.00,0.000,4,0.000,0.049,2938,3273,2069,0,0,0,0,0,0
$GC,10702,0.63,248.4,581.4,16.3,809,10709,0.00,1.80,0.00,0.000,6,0.000,0.036,2946,2091,2068,0,0,0,0,0,0
$GC,11029,0.63,252.6,534.4,13.7,840,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2090,2067,0,0,0,0,0,0
$GC,11348,0.64,265.3,490.8,13.3,870,11367,0.00,0.00,15.68,0.893,6,0.000,0.000,2947,2090,2008,0,0,0,0,0,0
$GC,11687,0.64,266.5,444.2,13.8,902,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2090,2003,0,0,0,0,0,0
$GC,12006,0.66,284.9,401.7,13.0,932,12032,0.00,1.85,18.45,0.838,4,0.000,0.046,2947,3269,1928,0,0,0,0,0,0
$GC,12070,0.66,284.9,392.6,14.4,937,12074,0.00,1.77,0.00,0.000,6,0.000,0.034,2955,2083,1924,0,0,0,0,0,0
$GC,12402,0.66,290.1,345.4,13.7,968,12417,0.00,1.73,5.05,0.605,4,0.000,0.046,2964,972,1908,0,0,0,0,0,0
$GC,12488,0.70,321.9,334.5,12.4,975,12525,0.00,1.75,29.95,0.804,6,0.000,0.037,2962,2152,1777,0,0,0,0,0,0
$GC,12852,0.70,322.4,284.4,13.9,1018,12860,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2152,1769,0,0,0,0,0,0
$GC,13212,0.71,333.7,235.7,13.4,1079,13229,0.00,1.88,10.30,0.662,4,0.000,0.044,2970,960,1730,0,0,0,0,0,0
$GC,13267,0.75,357.2,228.2,12.8,1087,13297,0.00,1.80,21.55,0.702,6,0.000,0.037,2967,2147,1634,0,0,0,0,0,0
$GC,13648,0.78,383.6,176.1,12.7,1151,13678,0.00,1.75,22.67,0.660,4,0.000,0.041,2967,3281,1526,0,0,0,0,0,0
$GC,13716,0.86,442.4,168.0,11.2,1161,13773,0.00,1.80,50.33,0.667,6,0.000,0.032,2975,2084,1286,0,0,0,0,0,0
$GC,14131,0.92,486.5,121.9,11.9,1229,14174,0.15,1.77,36.50,0.619,4,0.070,0.041,3064,956,1106,0,0,0,0,0,0
$GC,14299,0.92,486.5,89.5,18.2,1255,14308,0.08,1.80,0.00,0.000,6,0.147,0.034,3033,2150,1103,0,0,0,0,0,0
$GC,14668,0.99,533.4,40.2,11.7,1316,14718,0.00,1.88,38.50,0.558,4,0.000,0.041,3040,960,914,0,0,0,0,0,0
$GC,14771,1.08,594.9,28.1,11.1,1330,14830,0.08,1.80,49.62,0.547,6,0.057,0.031,3098,2163,664,0,0,0,0,0,0
$STATE,14930,end climb,SURFACE_DEPTH_REACHED
$STATE,14930,begin surface coast
$FINISH,0.1,1.022083
$STATE,14951,end surface coast,CONTROL_FINISHED_OK
$STATE,14951,begin surface
$SM_CCo,14968,34.90,0.060,0,0,480,640.23
$SM_GC,1.04,0.00,0.00,34.90,0.000,0.000,0.060,151,1985,480,-8.06,-1.13,640.23
$IRIDIUM_FIX,2239.35,12550.47,311010,101013
$TT8_MAMPS,0.026215
$HUMID,46.18
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.4,61.283
$10V_AH,9.9,50.383
$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,20.675,105.125,714.250,34.900,0.000,29.375,16.146,207.196,0.000,0.000,36.951,3335.509,7381.459,746.906,3626.726,314.048,0.000,2068.931,0.000,3373.468,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,104.805,1272.195,59.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.596,0.000,1878.605,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80316,1357
$CAP_FILE_SIZE,164142,0
$CFSIZE,260165632,230916096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.160,359.8,1
$GPS,311010,192931,2243.421,12548.889,39,1.3,39,-3.2