version: 66.08
glider: 169
mission: 2
dive: 388
start: 10 29 110 7 48 38
data:
$ID,169
$MISSION,2
$DIVE,388
$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,-7202.416
$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
$GPS1,291010,074107,2300.564,12554.141,84,1.0,84,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-63.4
$GPS2,291010,074810,2300.607,12554.023,14,2.3,33,-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,177.0,183779,-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,-204.4,0.0,0.0,0,109,0.00,0.00,-91.68,0.000,2,0.000,0.000,139,1995,2934,0,0,0,0,0,0
$GC,112,-0.69,-204.4,3.2,-4.2,11,147,9.90,1.80,-18.65,0.000,4,0.236,0.067,2500,869,3928,0,0,0,0,0,0
$GC,245,-0.68,-204.4,42.7,-25.1,31,253,0.00,1.85,0.00,0.000,6,0.000,0.052,2500,2039,3929,0,0,0,0,0,0
$GC,611,-0.67,-204.4,145.7,-18.8,92,620,0.00,1.80,0.00,0.000,4,0.000,0.050,2501,884,3931,0,0,0,0,0,0
$GC,630,-0.67,-204.4,148.7,-17.2,94,638,0.00,1.80,0.00,0.000,6,0.000,0.048,2501,2045,3931,0,0,0,0,0,0
$GC,979,-0.67,-204.4,209.0,-16.8,155,986,0.00,1.75,0.00,0.000,4,0.000,0.057,2501,3173,3932,0,0,0,0,0,0
$GC,1041,-0.67,-204.4,218.1,-13.4,165,1048,0.00,1.80,0.00,0.000,6,0.000,0.044,2501,1998,3933,0,0,0,0,0,0
$GC,1387,-0.67,-204.4,277.9,-17.9,226,1396,0.00,1.85,0.00,0.000,4,0.000,0.056,2501,3161,3932,0,0,0,0,0,0
$GC,1433,-0.68,-204.4,285.1,-15.6,233,1440,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,1986,3932,0,0,0,0,0,0
$GC,1773,-0.68,-204.4,335.0,-14.8,273,1776,0.00,1.88,0.00,0.000,4,0.000,0.057,2501,3173,3931,0,0,0,0,0,0
$GC,1832,-0.69,-204.4,342.9,-11.7,278,1836,0.00,1.77,0.00,0.000,6,0.000,0.041,2501,1986,3931,0,0,0,0,0,0
$GC,2165,-0.70,-204.4,381.5,-10.8,309,2169,0.00,1.85,0.00,0.000,4,0.000,0.057,2501,3170,3930,0,0,0,0,0,0
$GC,2200,-0.71,-204.4,385.6,-10.1,312,2204,0.00,1.75,0.00,0.000,6,0.000,0.039,2501,2000,3930,0,0,0,0,0,0
$GC,2533,-0.72,-204.4,421.6,-11.4,343,2537,0.00,1.83,0.00,0.000,4,0.000,0.053,2500,3172,3927,0,0,0,0,0,0
$GC,2569,-0.73,-204.4,425.9,-11.3,346,2573,0.00,1.75,0.00,0.000,6,0.000,0.039,2500,2001,3927,0,0,0,0,0,0
$GC,2903,-0.74,-204.4,464.0,-11.6,377,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,2000,3925,0,0,0,0,0,0
$GC,3230,-0.75,-204.4,501.2,-10.9,408,3233,0.00,1.85,0.00,0.000,4,0.000,0.054,2501,3172,3922,0,0,0,0,0,0
$GC,3314,-0.76,-204.4,509.4,-8.7,415,3320,0.00,1.77,0.00,0.000,6,0.000,0.040,2501,1986,3921,0,0,0,0,0,0
$GC,3640,-0.77,-204.4,542.1,-10.2,446,3643,0.00,1.88,0.00,0.000,4,0.000,0.056,2501,3170,3919,0,0,0,0,0,0
$GC,3697,-0.79,-204.4,547.5,-8.7,451,3701,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,2000,3918,0,0,0,0,0,0
$GC,4029,-0.80,-204.4,579.7,-9.9,482,4032,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3916,0,0,0,0,0,0
$GC,4068,-0.82,-204.4,583.5,-9.2,485,4076,0.10,1.75,0.00,0.000,6,0.122,0.038,2461,2000,3915,0,0,0,0,0,0
$GC,4388,-0.82,-204.4,626.2,-13.9,507,4392,0.00,1.83,0.00,0.000,4,0.000,0.056,2461,3167,3913,0,0,0,0,0,0
$GC,4428,-0.83,-204.4,631.6,-13.3,508,4434,0.00,1.77,0.00,0.000,6,0.000,0.041,2461,1988,3912,0,0,0,0,0,0
$GC,4744,-0.84,-204.4,673.2,-13.1,524,4747,0.00,1.85,0.00,0.000,4,0.000,0.058,2461,3168,3910,0,0,0,0,0,0
$GC,4783,-0.84,-204.4,678.2,-11.5,525,4791,0.00,1.80,0.00,0.000,6,0.000,0.042,2461,1991,3909,0,0,0,0,0,0
$GC,5099,-0.85,-204.4,716.3,-12.4,541,5103,0.00,1.90,0.00,0.000,4,0.000,0.058,2461,3170,3907,0,0,0,0,0,0
$GC,5155,-0.86,-204.4,723.0,-10.8,543,5159,0.00,1.77,0.00,0.000,6,0.000,0.043,2461,2001,3906,0,0,0,0,0,0
$GC,5478,-0.87,-204.4,761.4,-12.3,559,5481,0.00,1.83,0.00,0.000,4,0.000,0.057,2461,3168,3903,0,0,0,0,0,0
$GC,5505,-0.88,-204.4,765.2,-12.8,560,5509,0.00,1.80,0.00,0.000,6,0.000,0.044,2461,2006,3903,0,0,0,0,0,0
$GC,5832,-0.88,-204.4,806.6,-12.8,576,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2004,3901,0,0,0,0,0,0
$GC,6142,-0.89,-204.4,848.5,-13.4,591,6145,0.00,1.85,0.00,0.000,4,0.000,0.060,2461,3173,3898,0,0,0,0,0,0
$GC,6181,-0.90,-204.4,853.6,-11.8,592,6187,0.00,1.80,0.00,0.000,6,0.000,0.046,2461,2003,3898,0,0,0,0,0,0
$GC,6497,-0.91,-204.4,892.8,-12.2,608,6501,0.00,1.83,0.00,0.000,4,0.000,0.059,2461,3167,3896,0,0,0,0,0,0
$GC,6525,-0.92,-204.4,896.2,-11.3,609,6528,0.00,1.77,0.00,0.000,6,0.000,0.044,2461,1993,3896,0,0,0,0,0,0
$GC,6852,-0.93,-204.4,933.5,-11.6,625,6856,0.00,1.85,0.00,0.000,4,0.000,0.060,2461,3169,3894,0,0,0,0,0,0
$GC,6913,-0.94,-204.4,940.3,-10.2,627,6920,0.00,1.80,0.00,0.000,6,0.000,0.045,2461,2003,3893,0,0,0,0,0,0
$GC,7229,-0.95,-204.4,977.5,-11.9,643,7234,0.10,1.88,0.00,0.000,4,0.137,0.060,2426,3174,3891,0,0,0,0,0,0
$GC,7268,-0.95,-204.4,982.8,-14.2,644,7275,0.00,1.83,0.00,0.000,6,0.000,0.047,2426,2002,3891,0,0,0,0,0,0
$STATE,7396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7396,begin apogee
$GC,7401,-0.18,0.0,1000.7,14.1,651,7581,0.77,0.08,173.70,1.274,6,0.148,0.106,2664,2092,3091,0,0,0,0,0,0
$STATE,7582,end apogee,CONTROL_FINISHED_OK
$STATE,7582,begin climb
$GC,7584,0.69,204.4,1010.9,0.0,659,7787,0.80,2.03,195.35,1.249,4,0.062,0.042,2950,3273,2255,0,0,0,0,0,0
$GC,7893,0.67,204.4,983.3,17.8,674,7897,0.00,1.85,0.00,0.000,6,0.000,0.034,2959,2087,2245,0,0,0,0,0,0
$GC,8220,0.66,204.4,927.7,17.2,690,8224,0.00,1.83,0.00,0.000,4,0.000,0.044,2951,3272,2240,0,0,0,0,0,0
$GC,8255,0.64,204.4,921.5,17.3,691,8258,0.00,1.77,0.00,0.000,6,0.000,0.035,2959,2081,2239,0,0,0,0,0,0
$GC,8576,0.63,204.4,867.4,16.1,707,8580,0.00,1.70,0.00,0.000,4,0.000,0.046,2968,964,2237,0,0,0,0,0,0
$GC,8627,0.62,204.4,859.0,16.5,709,8631,0.12,1.77,0.00,0.000,6,0.181,0.038,2932,2161,2236,0,0,0,0,0,0
$GC,8955,0.62,213.6,815.5,13.5,725,8965,0.00,1.80,5.97,0.880,4,0.000,0.044,2940,967,2219,0,0,0,0,0,0
$GC,8999,0.63,226.8,809.3,13.3,727,9019,0.00,1.77,14.45,1.066,6,0.000,0.039,2940,2149,2165,0,0,0,0,0,0
$GC,9349,0.64,238.3,763.0,13.4,744,9365,0.00,1.80,11.20,1.015,4,0.000,0.044,2949,968,2120,0,0,0,0,0,0
$GC,9427,0.65,252.9,752.1,13.2,746,9447,0.00,1.77,15.18,1.043,6,0.000,0.040,2948,2153,2059,0,0,0,0,0,0
$GC,9765,0.64,252.9,702.6,14.7,763,9769,0.00,1.70,0.00,0.000,4,0.000,0.048,2948,3278,2050,0,0,0,0,0,0
$GC,9798,0.64,252.9,697.2,15.9,764,9802,0.00,1.77,0.00,0.000,6,0.000,0.034,2957,2085,2050,0,0,0,0,0,0
$GC,10120,0.63,252.9,649.2,15.0,780,10123,0.00,1.65,0.00,0.000,4,0.000,0.046,2966,968,2048,0,0,0,0,0,0
$GC,10203,0.62,252.9,636.4,14.1,783,10210,0.08,1.80,0.00,0.000,6,0.155,0.040,2937,2150,2047,0,0,0,0,0,0
$GC,10522,0.64,273.8,594.2,12.9,801,10547,0.00,1.88,18.80,0.983,4,0.000,0.046,2946,969,1973,0,0,0,0,0,0
$GC,10582,0.65,280.7,586.3,13.6,806,10595,0.00,1.77,7.75,0.845,6,0.000,0.040,2946,2149,1945,0,0,0,0,0,0
$GC,10913,0.65,285.3,540.8,13.7,837,10924,0.00,0.00,4.68,0.682,6,0.000,0.000,2946,2149,1927,0,0,0,0,0,0
$GC,11241,0.65,286.0,495.1,13.9,868,11242,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2149,1924,0,0,0,0,0,0
$GC,11563,0.65,286.0,448.9,14.7,898,11566,0.00,1.80,0.00,0.000,4,0.000,0.047,2954,967,1923,0,0,0,0,0,0
$GC,11623,0.69,317.6,439.7,12.4,903,11658,0.00,1.77,30.00,0.898,6,0.000,0.039,2954,2150,1795,0,0,0,0,0,0
$GC,11986,0.71,338.0,388.4,13.0,937,12012,0.00,1.83,18.60,0.835,4,0.000,0.044,2963,968,1711,0,0,0,0,0,0
$GC,12029,0.74,360.3,382.4,12.9,940,12053,0.00,1.83,20.33,0.825,6,0.000,0.038,2963,2153,1622,0,0,0,0,0,0
$GC,12373,0.74,360.3,333.3,14.5,972,12377,0.00,1.83,0.00,0.000,4,0.000,0.044,2971,970,1614,0,0,0,0,0,0
$GC,12432,0.75,362.5,325.6,13.8,977,12436,0.00,1.75,0.00,0.000,6,0.000,0.037,2971,2148,1614,0,0,0,0,0,0
$GC,12766,0.75,362.5,274.5,15.5,1022,12775,0.00,1.80,0.00,0.000,4,0.000,0.044,2980,970,1613,0,0,0,0,0,0
$GC,12816,0.75,362.5,267.3,14.4,1030,12825,0.00,1.80,0.00,0.000,6,0.000,0.037,2980,2158,1612,0,0,0,0,0,0
$GC,13167,0.75,365.8,215.3,13.7,1091,13183,0.00,1.85,4.85,0.522,4,0.000,0.043,2988,963,1598,0,0,0,0,0,0
$GC,13223,0.78,386.0,207.5,13.0,1100,13247,0.00,1.80,18.90,0.691,6,0.000,0.036,2987,2156,1516,0,0,0,0,0,0
$GC,13591,0.78,386.0,147.9,14.1,1163,13600,0.00,1.83,0.00,0.000,4,0.000,0.041,2996,960,1512,0,0,0,0,0,0
$GC,13760,0.88,459.2,127.3,10.5,1191,13826,0.00,1.80,61.35,0.648,6,0.000,0.034,2996,2157,1218,0,0,0,0,0,0
$GC,14179,1.01,558.8,79.7,9.3,1259,14270,0.15,1.88,80.00,0.603,4,0.075,0.039,3082,971,810,0,0,0,0,0,0
$GC,14369,1.02,558.8,50.4,15.6,1286,14377,0.00,1.80,0.00,0.000,6,0.000,0.033,3082,2159,807,0,0,0,0,0,0
$STATE,14612,end climb,SURFACE_DEPTH_REACHED
$STATE,14612,begin surface coast
$FINISH,0.2,1.022161
$STATE,14632,end surface coast,CONTROL_FINISHED_OK
$STATE,14632,begin surface
$SM_CCo,14649,58.80,0.058,0,0,481,640.23
$SM_GC,0.87,0.00,0.00,58.80,0.000,0.000,0.058,147,1969,481,-8.07,-1.58,640.23
$IRIDIUM_FIX,2253.38,12551.31,291010,030341
$TT8_MAMPS,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,22.4,58.445
$10V_AH,9.9,48.403
$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,20.425,119.800,681.100,58.800,0.000,28.062,37.637,200.287,0.000,0.000,35.908,3301.258,7128.752,748.879,3647.818,294.105,0.000,2090.256,0.000,3367.988,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,106.335,1273.725,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.146,0.000,1817.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,80235,1330
$CAP_FILE_SIZE,167327,0
$CFSIZE,260165632,231981056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.156,321.9,1
$GPS,291010,115454,2259.076,12553.074,39,1.1,39,-3.3