version: 66.08
glider: 169
mission: 2
dive: 383
start: 10 28 110 10 34 42
data:
$ID,169
$MISSION,2
$DIVE,383
$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,-7192.1416
$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
$GPS1,281010,102655,2307.745,12555.328,39,1.4,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.3
$GPS2,281010,103414,2307.794,12555.207,42,1.3,42,-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,164.8,196943,-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,-204.4,0.0,0.0,0,98,0.00,0.00,-80.60,0.000,2,0.000,0.000,136,1955,2652,0,0,0,0,0,0
$GC,101,-0.69,-204.4,3.2,-4.5,10,143,9.65,1.67,-25.35,0.000,4,0.230,0.068,2495,880,3927,0,0,0,0,0,0
$GC,245,-0.68,-204.4,43.7,-24.8,32,254,0.00,1.83,0.00,0.000,6,0.000,0.054,2496,2035,3928,0,0,0,0,0,0
$GC,611,-0.67,-204.4,140.3,-23.0,93,620,0.00,1.77,0.00,0.000,4,0.000,0.058,2496,3167,3929,0,0,0,0,0,0
$GC,664,-0.66,-204.4,152.0,-21.8,101,670,0.00,1.77,0.00,0.000,6,0.000,0.042,2495,2003,3930,0,0,0,0,0,0
$GC,1008,-0.66,-204.4,217.3,-17.6,162,1017,0.00,1.85,0.00,0.000,4,0.000,0.057,2495,3167,3930,0,0,0,0,0,0
$GC,1059,-0.66,-204.4,226.1,-16.5,170,1067,0.00,1.80,0.00,0.000,6,0.000,0.041,2495,2000,3931,0,0,0,0,0,0
$GC,1411,-0.66,-204.4,282.3,-16.7,231,1419,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3164,3930,0,0,0,0,0,0
$GC,1461,-0.67,-204.4,290.2,-14.7,239,1469,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,1994,3930,0,0,0,0,0,0
$GC,1793,-0.67,-204.4,342.0,-14.4,275,1796,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3168,3929,0,0,0,0,0,0
$GC,1871,-0.68,-204.4,352.2,-12.1,282,1875,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2000,3928,0,0,0,0,0,0
$GC,2204,-0.68,-204.4,395.5,-13.0,313,2208,0.00,1.70,0.00,0.000,4,0.000,0.047,2495,867,3927,0,0,0,0,0,0
$GC,2230,-0.69,-204.4,398.8,-13.1,315,2234,0.00,1.77,0.00,0.000,6,0.000,0.046,2495,2051,3927,0,0,0,0,0,0
$GC,2561,-0.70,-204.4,441.4,-12.7,346,2565,0.00,1.73,0.00,0.000,4,0.000,0.056,2495,3168,3925,0,0,0,0,0,0
$GC,2643,-0.71,-204.4,451.1,-12.0,353,2647,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,2002,3925,0,0,0,0,0,0
$GC,2976,-0.72,-204.4,492.0,-11.7,384,2980,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3173,3922,0,0,0,0,0,0
$GC,3015,-0.73,-204.4,496.7,-9.9,387,3023,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,2001,3922,0,0,0,0,0,0
$GC,3340,-0.74,-204.4,530.7,-10.2,418,3344,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3170,3919,0,0,0,0,0,0
$GC,3410,-0.76,-204.4,537.3,-8.7,424,3413,0.00,1.80,0.00,0.000,6,0.000,0.043,2495,1994,3919,0,0,0,0,0,0
$GC,3741,-0.77,-204.4,573.3,-11.4,455,3745,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3168,3916,0,0,0,0,0,0
$GC,3809,-0.78,-204.4,580.6,-10.3,461,3813,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,2001,3916,0,0,0,0,0,0
$GC,4148,-0.79,-204.4,618.5,-10.6,485,4151,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3171,3912,0,0,0,0,0,0
$GC,4217,-0.81,-204.4,625.4,-9.2,488,4220,0.00,1.77,0.00,0.000,6,0.000,0.044,2496,1999,3912,0,0,0,0,0,0
$GC,4551,-0.82,-204.4,658.5,-9.9,504,4554,0.00,1.83,0.00,0.000,4,0.000,0.057,2495,3168,3909,0,0,0,0,0,0
$GC,4600,-0.84,-204.4,663.5,-9.2,506,4605,0.10,1.75,0.00,0.000,6,0.111,0.042,2453,2003,3908,0,0,0,0,0,0
$GC,4929,-0.84,-204.4,707.7,-13.9,522,4933,0.00,1.73,0.00,0.000,4,0.000,0.054,2453,878,3906,0,0,0,0,0,0
$GC,4957,-0.85,-204.4,712.0,-13.8,523,4961,0.00,1.77,0.00,0.000,6,0.000,0.051,2453,2039,3905,0,0,0,0,0,0
$GC,5284,-0.85,-204.4,756.8,-13.7,539,5288,0.00,1.75,0.00,0.000,4,0.000,0.062,2453,3166,3903,0,0,0,0,0,0
$GC,5346,-0.86,-204.4,764.6,-12.1,541,5353,0.00,1.77,0.00,0.000,6,0.000,0.044,2453,2003,3903,0,0,0,0,0,0
$GC,5662,-0.86,-204.4,804.5,-12.3,557,5666,0.00,1.73,0.00,0.000,4,0.000,0.054,2453,880,3900,0,0,0,0,0,0
$GC,5686,-0.87,-204.4,807.3,-12.1,558,5689,0.00,1.77,0.00,0.000,6,0.000,0.051,2453,2039,3900,0,0,0,0,0,0
$GC,6019,-0.87,-204.4,848.2,-12.0,574,6023,0.00,1.75,0.00,0.000,4,0.000,0.062,2453,3167,3897,0,0,0,0,0,0
$GC,6125,-0.89,-204.4,860.1,-10.5,578,6132,0.00,1.77,0.00,0.000,6,0.000,0.045,2453,2003,3896,0,0,0,0,0,0
$GC,6442,-0.89,-204.4,897.4,-12.1,594,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2001,3894,0,0,0,0,0,0
$GC,6751,-0.90,-204.4,934.5,-12.0,609,6754,0.00,1.85,0.00,0.000,4,0.000,0.061,2453,3167,3893,0,0,0,0,0,0
$GC,6797,-0.91,-204.4,939.7,-10.7,611,6801,0.00,1.77,0.00,0.000,6,0.000,0.047,2453,2004,3892,0,0,0,0,0,0
$GC,7130,-0.92,-204.4,979.0,-12.0,627,7134,0.00,1.85,0.00,0.000,4,0.000,0.062,2453,3167,3889,0,0,0,0,0,0
$GC,7168,-0.93,-204.4,983.5,-11.0,628,7175,0.00,1.80,0.00,0.000,6,0.000,0.047,2453,2004,3889,0,0,0,0,0,0
$STATE,7318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7318,begin apogee
$GC,7323,-0.18,0.0,1001.7,12.5,636,7502,0.65,0.05,172.18,1.276,6,0.130,0.070,2663,2101,3090,0,0,0,0,0,0
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7503,begin climb
$GC,7505,0.69,204.4,1011.7,0.0,644,7711,0.80,1.92,194.75,1.243,4,0.057,0.049,2966,969,2255,0,0,0,0,0,0
$GC,7824,0.67,204.4,983.0,17.0,659,7827,0.00,1.83,0.00,0.000,6,0.000,0.041,2966,2158,2246,0,0,0,0,0,0
$GC,8157,0.66,204.4,925.1,17.2,675,8158,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2157,2240,0,0,0,0,0,0
$GC,8466,0.64,204.4,872.5,16.6,690,8470,0.00,1.85,0.00,0.000,4,0.000,0.049,2974,967,2238,0,0,0,0,0,0
$GC,8489,0.63,204.4,868.5,16.6,691,8493,0.15,1.80,0.00,0.000,6,0.177,0.041,2935,2156,2238,0,0,0,0,0,0
$GC,8822,0.62,204.4,821.4,14.2,707,8825,0.00,1.70,0.00,0.000,4,0.000,0.048,2935,3271,2236,0,0,0,0,0,0
$GC,8876,0.61,204.4,812.7,15.7,709,8880,0.00,1.83,0.00,0.000,6,0.000,0.037,2944,2083,2236,0,0,0,0,0,0
$GC,9199,0.60,204.4,765.3,14.5,725,9202,0.00,1.67,0.00,0.000,4,0.000,0.050,2953,964,2235,0,0,0,0,0,0
$GC,9261,0.59,204.4,756.2,15.0,727,9269,0.10,1.80,0.00,0.000,6,0.183,0.041,2927,2154,2235,0,0,0,0,0,0
$GC,9578,0.63,236.4,716.4,12.4,743,9609,0.00,1.85,26.95,1.074,4,0.000,0.047,2936,966,2127,0,0,0,0,0,0
$GC,9654,0.66,264.8,706.4,12.6,746,9685,0.00,1.83,26.90,1.052,6,0.000,0.041,2936,2139,2011,0,0,0,0,0,0
$GC,10013,0.66,264.8,657.1,14.4,764,10017,0.00,1.83,0.00,0.000,4,0.000,0.048,2945,974,2000,0,0,0,0,0,0
$GC,10045,0.66,264.8,652.1,15.0,765,10049,0.00,1.80,0.00,0.000,6,0.000,0.041,2944,2145,1999,0,0,0,0,0,0
$GC,10368,0.65,264.8,603.3,15.2,781,10371,0.00,1.73,0.00,0.000,4,0.000,0.048,2945,3268,1997,0,0,0,0,0,0
$GC,10395,0.65,264.8,598.6,16.0,782,10403,0.00,1.80,0.00,0.000,6,0.000,0.037,2953,2095,1997,0,0,0,0,0,0
$GC,10721,0.64,264.8,550.1,14.3,813,10725,0.00,1.83,0.00,0.000,4,0.000,0.046,2953,3271,1995,0,0,0,0,0,0
$GC,10756,0.64,264.8,545.2,14.4,816,10759,0.00,1.77,0.00,0.000,6,0.000,0.037,2962,2081,1995,0,0,0,0,0,0
$GC,11086,0.63,264.8,498.7,14.4,847,11087,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2079,1995,0,0,0,0,0,0
$GC,11409,0.62,264.8,451.3,15.7,877,11414,0.12,1.67,0.00,0.000,4,0.184,0.047,2937,960,1994,0,0,0,0,0,0
$GC,11481,0.68,307.9,441.4,11.9,883,11529,0.00,1.77,37.03,0.899,6,0.000,0.039,2938,2158,1833,0,0,0,0,0,0
$GC,11847,0.74,350.4,395.1,11.9,917,11896,0.00,1.90,36.92,0.857,4,0.000,0.047,2946,973,1660,0,0,0,0,0,0
$GC,11958,0.80,401.5,382.1,11.6,926,12008,0.12,1.77,44.00,0.841,6,0.080,0.037,3015,2150,1454,0,0,0,0,0,0
$GC,12325,0.80,401.5,308.3,20.3,960,12329,0.00,1.83,0.00,0.000,4,0.000,0.045,3024,974,1445,0,0,0,0,0,0
$GC,12380,0.79,401.5,298.2,19.4,965,12387,0.12,1.77,0.00,0.000,6,0.167,0.039,2990,2153,1444,0,0,0,0,0,0
$GC,12737,0.79,401.5,237.1,16.2,1026,12746,0.00,1.73,0.00,0.000,4,0.000,0.044,2990,3274,1444,0,0,0,0,0,0
$GC,12811,0.79,401.5,225.7,14.9,1038,12819,0.00,1.80,0.00,0.000,6,0.000,0.036,2998,2097,1443,0,0,0,0,0,0
$GC,13169,0.79,401.5,170.2,15.0,1099,13177,0.00,1.70,0.00,0.000,4,0.000,0.046,3007,963,1443,0,0,0,0,0,0
$GC,13268,0.80,403.2,156.5,13.8,1115,13274,0.00,1.77,0.00,0.000,6,0.000,0.037,3007,2153,1442,0,0,0,0,0,0
$GC,13629,0.83,429.0,109.3,12.7,1176,13662,0.00,1.85,23.15,0.614,4,0.000,0.044,3015,964,1340,0,0,0,0,0,0
$GC,13684,0.87,459.7,102.1,12.5,1183,13718,0.00,1.80,26.45,0.608,6,0.000,0.034,3015,2157,1215,0,0,0,0,0,0
$GC,14070,0.96,520.6,55.8,11.1,1247,14128,0.00,1.88,49.58,0.581,4,0.000,0.044,3016,971,968,0,0,0,0,0,0
$GC,14214,1.04,569.3,37.8,11.7,1268,14266,0.10,1.80,39.62,0.559,6,0.060,0.039,3072,2146,769,0,0,0,0,0,0
$STATE,14527,end climb,SURFACE_DEPTH_REACHED
$STATE,14527,begin surface coast
$FINISH,0.7,1.022071
$STATE,14548,end surface coast,CONTROL_FINISHED_OK
$STATE,14548,begin surface
$SM_CCo,14565,49.30,0.057,0,0,481,640.23
$SM_GC,0.80,0.00,0.00,49.30,0.000,0.000,0.057,135,1983,481,-8.10,-1.19,640.23
$IRIDIUM_FIX,2302.75,12559.23,281010,060652
$TT8_MAMPS,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.70
$XPDR_PINGS,1
$24V_AH,22.5,57.350
$10V_AH,9.9,47.638
$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,20.100,118.600,677.525,49.300,0.000,30.539,37.579,205.090,0.250,0.000,44.512,3291.496,7018.737,725.895,3714.197,292.945,0.000,2080.943,0.000,3415.684,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,77.265,1276.020,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.325,0.000,1862.618,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333696
$DATA_FILE_SIZE,76948,1322
$CAP_FILE_SIZE,166675,1
$CFSIZE,260165632,232386560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,337.3,1
$GPS,281010,144007,2306.442,12555.242,80,0.9,80,-3.3