version: 66.08
glider: 169
mission: 2
dive: 399
start: 10 31 110 6 45 19
data:
$ID,169
$MISSION,2
$DIVE,399
$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,-7224.668
$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
$GPS1,311010,063837,2246.569,12549.176,42,0.9,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.3
$GPS2,311010,064450,2246.609,12549.126,13,1.2,13,-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,164.8,158808,-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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.93,0.000,2,0.000,0.000,140,1979,3083,0,0,0,0,0,0
$GC,115,-0.69,-204.4,4.1,-7.1,12,150,9.93,1.92,-14.60,0.000,4,0.236,0.070,2494,3168,3927,0,0,0,0,0,0
$GC,224,-0.67,-204.4,47.6,-33.9,28,233,0.00,1.83,0.00,0.000,6,0.000,0.044,2494,2004,3928,0,0,0,0,0,0
$GC,586,-0.66,-204.4,144.6,-22.5,89,595,0.00,1.88,0.00,0.000,4,0.000,0.058,2493,3168,3929,0,0,0,0,0,0
$GC,674,-0.66,-204.4,161.6,-18.1,103,680,0.00,1.77,0.00,0.000,6,0.000,0.039,2493,2000,3930,0,0,0,0,0,0
$GC,1029,-0.66,-204.4,228.6,-17.2,164,1038,0.00,1.73,0.00,0.000,4,0.000,0.047,2493,866,3931,0,0,0,0,0,0
$GC,1111,-0.66,-204.4,240.0,-13.0,177,1117,0.00,1.77,0.00,0.000,6,0.000,0.045,2493,2051,3931,0,0,0,0,0,0
$GC,1466,-0.66,-204.4,297.4,-15.9,238,1475,0.00,1.75,0.00,0.000,4,0.000,0.055,2493,3171,3931,0,0,0,0,0,0
$GC,1530,-0.67,-204.4,306.2,-13.2,245,1534,0.00,1.77,0.00,0.000,6,0.000,0.040,2494,2000,3930,0,0,0,0,0,0
$GC,1862,-0.68,-204.4,353.6,-13.6,276,1866,0.00,1.83,0.00,0.000,4,0.000,0.054,2493,3174,3930,0,0,0,0,0,0
$GC,1900,-0.68,-204.4,358.5,-13.2,279,1904,0.00,1.80,0.00,0.000,6,0.000,0.040,2493,2002,3930,0,0,0,0,0,0
$GC,2231,-0.69,-204.4,401.0,-13.1,310,2235,0.00,1.83,0.00,0.000,4,0.000,0.053,2493,3176,3928,0,0,0,0,0,0
$GC,2269,-0.70,-204.4,405.3,-11.5,313,2273,0.00,1.80,0.00,0.000,6,0.000,0.040,2493,2004,3927,0,0,0,0,0,0
$GC,2600,-0.71,-204.4,444.5,-11.2,344,2603,0.00,1.83,0.00,0.000,4,0.000,0.054,2493,3174,3925,0,0,0,0,0,0
$GC,2624,-0.72,-204.4,447.2,-11.3,346,2627,0.00,1.77,0.00,0.000,6,0.000,0.040,2493,2002,3925,0,0,0,0,0,0
$GC,2957,-0.72,-204.4,484.7,-11.1,377,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2001,3923,0,0,0,0,0,0
$GC,3284,-0.73,-204.4,520.7,-10.4,408,3288,0.00,1.83,0.00,0.000,4,0.000,0.054,2493,3169,3920,0,0,0,0,0,0
$GC,3310,-0.74,-204.4,523.3,-10.7,410,3313,0.00,1.77,0.00,0.000,6,0.000,0.039,2493,2000,3920,0,0,0,0,0,0
$GC,3642,-0.75,-204.4,555.6,-9.1,441,3646,0.00,1.88,0.00,0.000,4,0.000,0.054,2493,3168,3917,0,0,0,0,0,0
$GC,3677,-0.77,-204.4,558.9,-8.9,444,3681,0.00,1.77,0.00,0.000,6,0.000,0.039,2493,2001,3916,0,0,0,0,0,0
$GC,4009,-0.78,-204.4,592.1,-10.8,475,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2000,3914,0,0,0,0,0,0
$GC,4331,-0.79,-204.4,627.6,-11.0,494,4334,0.00,1.83,0.00,0.000,4,0.000,0.054,2493,3168,3911,0,0,0,0,0,0
$GC,4358,-0.80,-204.4,630.8,-10.6,495,4362,0.00,1.77,0.00,0.000,6,0.000,0.040,2493,2002,3911,0,0,0,0,0,0
$GC,4686,-0.81,-204.4,664.6,-10.3,511,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2000,3908,0,0,0,0,0,0
$GC,4995,-0.83,-204.4,695.2,-9.7,526,4999,0.00,1.83,0.00,0.000,4,0.000,0.055,2493,3168,3905,0,0,0,0,0,0
$GC,5023,-0.84,-204.4,697.9,-9.2,527,5027,0.08,1.80,0.00,0.000,6,0.085,0.041,2457,2004,3905,0,0,0,0,0,0
$GC,5352,-0.85,-204.4,736.9,-11.9,543,5356,0.00,1.88,0.00,0.000,4,0.000,0.059,2457,3167,3902,0,0,0,0,0,0
$GC,5397,-0.86,-204.4,742.3,-11.0,545,5401,0.00,1.80,0.00,0.000,6,0.000,0.044,2456,2007,3902,0,0,0,0,0,0
$GC,5732,-0.86,-204.4,782.1,-12.0,561,5736,0.00,1.73,0.00,0.000,4,0.000,0.057,2456,880,3900,0,0,0,0,0,0
$GC,5756,-0.87,-204.4,785.2,-12.0,562,5760,0.00,1.80,0.00,0.000,6,0.000,0.051,2456,2038,3899,0,0,0,0,0,0
$GC,6089,-0.87,-204.4,824.2,-11.9,578,6093,0.00,1.75,0.00,0.000,4,0.000,0.062,2456,3167,3897,0,0,0,0,0,0
$GC,6145,-0.88,-204.4,830.5,-10.5,580,6149,0.00,1.83,0.00,0.000,6,0.000,0.045,2456,2004,3896,0,0,0,0,0,0
$GC,6467,-0.89,-204.4,866.6,-11.5,596,6471,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3171,3894,0,0,0,0,0,0
$GC,6506,-0.90,-204.4,871.0,-10.5,597,6513,0.00,1.80,0.00,0.000,6,0.000,0.046,2456,1994,3894,0,0,0,0,0,0
$GC,6823,-0.91,-204.4,905.7,-10.9,613,6826,0.00,1.85,0.00,0.000,4,0.000,0.060,2456,3167,3892,0,0,0,0,0,0
$GC,6846,-0.92,-204.4,908.2,-10.3,614,6850,0.00,1.77,0.00,0.000,6,0.000,0.046,2457,2004,3892,0,0,0,0,0,0
$GC,7180,-0.92,-204.4,944.1,-10.9,630,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2003,3890,0,0,0,0,0,0
$GC,7489,-0.93,-204.4,977.7,-11.0,645,7493,0.00,1.90,0.00,0.000,4,0.000,0.061,2456,3168,3888,0,0,0,0,0,0
$GC,7522,-0.94,-204.4,981.6,-10.7,646,7526,0.00,1.77,0.00,0.000,6,0.000,0.046,2456,2004,3888,0,0,0,0,0,0
$STATE,7697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7697,begin apogee
$GC,7703,-0.18,0.0,1001.9,11.7,655,7884,0.65,0.05,174.80,1.279,6,0.136,0.067,2663,2102,3090,0,0,0,0,0,0
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7885,begin climb
$GC,7887,0.69,204.4,1012.7,0.0,663,8094,0.80,2.08,196.88,1.251,4,0.063,0.047,2948,3268,2255,0,0,0,0,0,0
$GC,8194,0.67,204.4,988.0,17.3,677,8198,0.00,1.88,0.00,0.000,6,0.000,0.036,2957,2091,2245,0,0,0,0,0,0
$GC,8517,0.66,204.4,936.4,16.4,693,8521,0.00,1.67,0.00,0.000,4,0.000,0.047,2965,969,2240,0,0,0,0,0,0
$GC,8585,0.65,204.4,925.0,16.6,696,8589,0.00,1.77,0.00,0.000,6,0.000,0.042,2963,2152,2239,0,0,0,0,0,0
$GC,8918,0.63,204.4,870.4,16.1,712,8922,0.00,1.77,0.00,0.000,4,0.000,0.047,2971,969,2237,0,0,0,0,0,0
$GC,8942,0.62,204.4,866.6,15.9,713,8947,0.10,1.80,0.00,0.000,6,0.166,0.041,2932,2144,2237,0,0,0,0,0,0
$GC,9278,0.61,204.4,819.4,14.0,729,9281,0.00,1.73,0.00,0.000,4,0.000,0.048,2932,3274,2236,0,0,0,0,0,0
$GC,9327,0.60,204.4,811.4,15.3,731,9331,0.00,1.80,0.00,0.000,6,0.000,0.036,2940,2095,2235,0,0,0,0,0,0
$GC,9655,0.59,204.4,764.1,14.6,747,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2094,2234,0,0,0,0,0,0
$GC,9964,0.58,204.4,718.3,14.6,762,9968,0.00,1.85,0.00,0.000,4,0.000,0.047,2936,3270,2234,0,0,0,0,0,0
$GC,10002,0.57,204.4,712.5,14.2,763,10009,0.00,1.77,0.00,0.000,6,0.000,0.036,2944,2075,2233,0,0,0,0,0,0
$GC,10319,0.57,211.3,668.8,13.6,779,10322,0.00,1.65,0.00,0.000,4,0.000,0.047,2953,965,2233,0,0,0,0,0,0
$GC,10342,0.56,211.3,665.5,14.2,780,10346,0.12,1.77,0.00,0.000,6,0.171,0.041,2916,2155,2232,0,0,0,0,0,0
$GC,10676,0.63,267.4,627.7,11.3,796,10740,0.00,1.95,54.33,1.046,4,0.000,0.047,2925,966,1998,0,0,0,0,0,0
$GC,10796,0.69,316.3,613.4,11.7,801,10850,0.00,1.80,44.20,1.012,6,0.000,0.040,2922,2145,1799,0,0,0,0,0,0
$GC,11166,0.70,318.4,564.1,13.8,831,11170,0.00,1.80,0.00,0.000,4,0.000,0.047,2931,967,1789,0,0,0,0,0,0
$GC,11223,0.70,319.4,556.2,13.8,836,11227,0.00,1.77,0.00,0.000,6,0.000,0.041,2929,2151,1788,0,0,0,0,0,0
$GC,11554,0.72,337.8,511.0,13.0,867,11579,0.10,1.88,18.20,0.920,4,0.101,0.046,2990,969,1712,0,0,0,0,0,0
$GC,11626,0.72,337.8,499.3,16.3,873,11630,0.00,1.83,0.00,0.000,6,0.000,0.041,2987,2149,1709,0,0,0,0,0,0
$GC,11957,0.71,337.8,437.6,18.4,904,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2149,1706,0,0,0,0,0,0
$GC,12277,0.70,337.8,379.1,17.9,934,12281,0.00,1.70,0.00,0.000,4,0.000,0.048,2987,3277,1704,0,0,0,0,0,0
$GC,12324,0.70,337.8,370.4,16.8,938,12328,0.15,1.77,0.00,0.000,6,0.174,0.034,2956,2083,1703,0,0,0,0,0,0
$GC,12657,0.71,346.3,323.2,13.5,969,12669,0.00,1.75,7.38,0.693,4,0.000,0.046,2964,966,1679,0,0,0,0,0,0
$GC,12707,0.72,355.7,315.8,13.5,973,12722,0.00,1.77,10.10,0.731,6,0.000,0.038,2962,2148,1639,0,0,0,0,0,0
$GC,13065,0.73,361.8,265.3,13.6,1025,13080,0.00,1.83,5.95,0.607,4,0.000,0.043,2970,973,1616,0,0,0,0,0,0
$GC,13154,0.77,392.7,253.8,12.5,1039,13189,0.00,1.75,28.25,0.745,6,0.000,0.037,2967,2155,1488,0,0,0,0,0,0
$GC,13538,0.81,417.8,203.4,12.7,1104,13567,0.00,1.80,21.98,0.689,4,0.000,0.044,2973,969,1386,0,0,0,0,0,0
$GC,13648,0.88,468.5,190.5,11.6,1121,13697,0.10,1.77,43.78,0.689,6,0.096,0.035,3028,2155,1181,0,0,0,0,0,0
$GC,14052,0.88,468.5,113.6,15.6,1188,14062,0.00,1.83,0.00,0.000,4,0.000,0.042,3035,963,1174,0,0,0,0,0,0
$GC,14183,0.88,468.5,93.7,14.0,1209,14192,0.00,1.77,0.00,0.000,6,0.000,0.034,3033,2147,1173,0,0,0,0,0,0
$GC,14548,1.04,588.7,47.4,8.4,1270,14654,0.00,1.88,95.78,0.577,4,0.000,0.041,3039,974,690,0,0,0,0,0,0
$GC,14757,1.21,710.0,30.0,8.3,1300,14816,0.17,1.77,50.47,0.549,6,0.043,0.033,3136,2150,433,0,0,0,0,0,0
$STATE,14889,end climb,SURFACE_DEPTH_REACHED
$STATE,14889,begin surface coast
$FINISH,0.2,1.022068
$STATE,14903,end surface coast,CONTROL_FINISHED_OK
$STATE,14903,begin surface
$SM_CCo,14981,0.00,0.000,0,0,430,652.74
$SM_GC,1.14,8.57,0.00,0.00,0.086,0.000,0.000,154,2005,430,-8.03,-0.57,652.74
$IRIDIUM_FIX,2239.35,12549.10,311010,020239
$TT8_MAMPS,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.3,60.857
$10V_AH,9.9,50.076
$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,20.775,115.950,752.075,0.000,0.000,23.705,15.681,196.819,0.000,0.000,15.438,3266.565,7526.727,710.450,3540.361,297.994,0.000,2058.644,0.000,3311.815,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,76.500,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.254,0.000,1756.976,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,76813,1321
$CAP_FILE_SIZE,166306,0
$CFSIZE,260165632,231084032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,322.3,1
$GPS,311010,105607,2245.442,12548.654,41,0.9,41,-3.2