version: 66.08
glider: 169
mission: 2
dive: 403
start: 10 31 110 23 58 13
data:
$ID,169
$MISSION,2
$DIVE,403
$N_DIVES,414
$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,-7231.7827
$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
$GPS1,311010,234907,2241.939,12549.061,28,1.4,28,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.4
$GPS2,311010,235746,2241.962,12548.963,15,3.6,34,-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,184.2,150320,-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,-204.4,0.0,0.0,0,116,0.00,0.00,-97.70,0.000,2,0.000,0.000,140,2058,3155,0,0,0,0,0,0
$GC,119,-0.69,-204.4,4.0,-6.4,12,153,10.18,1.80,-13.05,0.000,4,0.246,0.076,2498,3168,3927,0,0,0,0,0,0
$GC,301,-0.67,-204.4,69.6,-28.4,41,309,0.00,1.83,0.00,0.000,6,0.000,0.044,2498,2002,3928,0,0,0,0,0,0
$GC,664,-0.66,-204.4,154.2,-19.4,102,672,0.00,1.73,0.00,0.000,4,0.000,0.047,2498,868,3930,0,0,0,0,0,0
$GC,709,-0.66,-204.4,162.1,-17.1,109,716,0.00,1.83,0.00,0.000,6,0.000,0.047,2498,2045,3930,0,0,0,0,0,0
$GC,1056,-0.66,-204.4,224.3,-14.6,170,1065,0.00,1.75,0.00,0.000,4,0.000,0.058,2498,3165,3931,0,0,0,0,0,0
$GC,1125,-0.67,-204.4,233.9,-13.8,181,1131,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,2000,3931,0,0,0,0,0,0
$GC,1469,-0.67,-204.4,290.9,-15.1,242,1478,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3162,3931,0,0,0,0,0,0
$GC,1518,-0.68,-204.4,297.5,-12.2,250,1527,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,2003,3930,0,0,0,0,0,0
$GC,1855,-0.68,-204.4,342.6,-13.4,283,1859,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3929,0,0,0,0,0,0
$GC,1905,-0.69,-204.4,348.4,-11.0,287,1909,0.00,1.75,0.00,0.000,6,0.000,0.037,2498,1992,3929,0,0,0,0,0,0
$GC,2236,-0.70,-204.4,390.2,-12.7,318,2240,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3927,0,0,0,0,0,0
$GC,2296,-0.71,-204.4,396.9,-11.0,323,2300,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,1991,3926,0,0,0,0,0,0
$GC,2627,-0.72,-204.4,438.4,-12.2,354,2631,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3178,3925,0,0,0,0,0,0
$GC,2655,-0.73,-204.4,441.8,-11.4,356,2663,0.00,1.80,0.00,0.000,6,0.000,0.039,2498,2001,3924,0,0,0,0,0,0
$GC,2983,-0.74,-204.4,480.2,-11.6,387,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2001,3922,0,0,0,0,0,0
$GC,3311,-0.75,-204.4,517.9,-11.4,418,3314,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3172,3919,0,0,0,0,0,0
$GC,3368,-0.76,-204.4,524.2,-10.0,423,3372,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1986,3919,0,0,0,0,0,0
$GC,3702,-0.77,-204.4,562.8,-11.9,454,3705,0.00,1.85,0.00,0.000,4,0.000,0.056,2499,3168,3916,0,0,0,0,0,0
$GC,3738,-0.79,-204.4,566.9,-11.1,457,3742,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,2000,3916,0,0,0,0,0,0
$GC,4079,-0.80,-204.4,604.5,-10.2,487,4083,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3913,0,0,0,0,0,0
$GC,4106,-0.81,-204.4,607.4,-9.6,488,4110,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,1983,3912,0,0,0,0,0,0
$GC,4434,-0.82,-204.4,636.9,-8.8,504,4438,0.00,1.90,0.00,0.000,4,0.000,0.057,2498,3174,3909,0,0,0,0,0,0
$GC,4484,-0.84,-204.4,641.1,-7.3,506,4489,0.12,1.77,0.00,0.000,6,0.107,0.041,2449,2000,3910,0,0,0,0,0,0
$GC,4813,-0.84,-204.4,683.9,-13.5,522,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1999,3906,0,0,0,0,0,0
$GC,5121,-0.84,-204.4,727.1,-14.4,537,5125,0.00,1.85,0.00,0.000,4,0.000,0.059,2449,3167,3904,0,0,0,0,0,0
$GC,5154,-0.85,-204.4,732.1,-14.6,538,5158,0.00,1.80,0.00,0.000,6,0.000,0.044,2449,2006,3903,0,0,0,0,0,0
$GC,5476,-0.85,-204.4,776.9,-14.1,554,5479,0.00,1.73,0.00,0.000,4,0.000,0.055,2449,876,3901,0,0,0,0,0,0
$GC,5504,-0.86,-204.4,781.1,-15.2,555,5507,0.00,1.80,0.00,0.000,6,0.000,0.053,2449,2043,3901,0,0,0,0,0,0
$GC,5831,-0.86,-204.4,825.5,-13.4,571,5835,0.00,1.77,0.00,0.000,4,0.000,0.061,2449,3171,3898,0,0,0,0,0,0
$GC,5870,-0.87,-204.4,830.8,-12.5,572,5877,0.00,1.80,0.00,0.000,6,0.000,0.048,2449,2001,3898,0,0,0,0,0,0
$GC,6187,-0.88,-204.4,872.5,-13.4,588,6189,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2000,3896,0,0,0,0,0,0
$GC,6496,-0.88,-204.4,911.5,-12.0,603,6499,0.00,1.85,0.00,0.000,4,0.000,0.059,2449,3168,3894,0,0,0,0,0,0
$GC,6543,-0.89,-204.4,916.9,-10.8,605,6546,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,1994,3894,0,0,0,0,0,0
$GC,6876,-0.90,-204.4,955.3,-11.5,621,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1993,3891,0,0,0,0,0,0
$GC,7185,-0.90,-204.4,991.3,-12.2,636,7189,0.00,1.90,0.00,0.000,4,0.000,0.061,2449,3173,3889,0,0,0,0,0,0
$STATE,7256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7256,begin apogee
$GC,7262,-0.18,0.0,1000.1,11.3,639,7443,0.68,0.08,174.32,1.270,6,0.135,0.114,2663,2141,3091,0,0,0,0,0,0
$STATE,7443,end apogee,CONTROL_FINISHED_OK
$STATE,7443,begin climb
$GC,7446,0.69,204.4,1010.2,0.0,647,7649,0.80,1.95,195.43,1.240,4,0.060,0.044,2960,973,2257,0,0,0,0,0,0
$GC,7800,0.68,204.4,979.1,15.7,663,7804,0.00,1.83,0.00,0.000,6,0.000,0.040,2957,2143,2246,0,0,0,0,0,0
$GC,8123,0.66,204.4,928.2,15.5,679,8126,0.00,1.70,0.00,0.000,4,0.000,0.048,2957,3271,2241,0,0,0,0,0,0
$GC,8161,0.65,204.4,921.5,17.1,680,8168,0.00,1.80,0.00,0.000,6,0.000,0.036,2966,2094,2240,0,0,0,0,0,0
$GC,8478,0.63,204.4,871.1,15.7,696,8482,0.12,1.70,0.00,0.000,4,0.197,0.046,2943,966,2238,0,0,0,0,0,0
$GC,8501,0.62,204.4,867.6,15.2,697,8505,0.00,1.77,0.00,0.000,6,0.000,0.041,2942,2148,2238,0,0,0,0,0,0
$GC,8834,0.61,204.4,818.6,15.4,713,8838,0.00,1.80,0.00,0.000,4,0.000,0.047,2951,965,2236,0,0,0,0,0,0
$GC,8867,0.61,204.4,813.2,16.6,714,8871,0.00,1.77,0.00,0.000,6,0.000,0.041,2951,2154,2236,0,0,0,0,0,0
$GC,9189,0.59,204.4,761.4,16.5,730,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2153,2235,0,0,0,0,0,0
$GC,9498,0.58,204.4,713.0,15.4,745,9502,0.12,1.80,0.00,0.000,4,0.186,0.044,2927,967,2234,0,0,0,0,0,0
$GC,9604,0.62,235.3,699.1,12.5,749,9635,0.00,1.77,26.27,1.061,6,0.000,0.040,2925,2147,2130,0,0,0,0,0,0
$GC,9963,0.67,276.2,654.3,12.0,767,10003,0.00,0.00,37.30,1.041,6,0.000,0.000,2925,2147,1964,0,0,0,0,0,0
$GC,10313,0.68,289.4,609.2,13.3,784,10329,0.00,1.85,11.73,0.930,4,0.000,0.044,2934,959,1910,0,0,0,0,0,0
$GC,10368,0.70,301.1,601.4,13.4,785,10385,0.00,1.83,12.02,0.921,6,0.000,0.040,2934,2156,1863,0,0,0,0,0,0
$GC,10710,0.70,301.1,550.2,15.1,817,10713,0.00,1.83,0.00,0.000,4,0.000,0.045,2942,959,1855,0,0,0,0,0,0
$GC,10755,0.70,301.1,543.7,14.6,821,10759,0.00,1.77,0.00,0.000,6,0.000,0.040,2941,2146,1854,0,0,0,0,0,0
$GC,11086,0.70,301.1,495.6,14.5,852,11090,0.00,1.83,0.00,0.000,4,0.000,0.046,2950,961,1853,0,0,0,0,0,0
$GC,11122,0.70,301.1,490.3,14.5,855,11125,0.00,1.77,0.00,0.000,6,0.000,0.041,2950,2150,1853,0,0,0,0,0,0
$GC,11453,0.70,301.1,439.1,15.0,886,11457,0.00,1.83,0.00,0.000,4,0.000,0.045,2959,968,1851,0,0,0,0,0,0
$GC,11511,0.70,301.1,431.0,14.4,891,11515,0.00,1.75,0.00,0.000,6,0.000,0.040,2959,2147,1851,0,0,0,0,0,0
$GC,11842,0.69,301.1,381.8,15.9,922,11846,0.00,1.70,0.00,0.000,4,0.000,0.047,2959,3277,1851,0,0,0,0,0,0
$GC,11866,0.69,301.1,378.0,16.1,924,11870,0.00,1.77,0.00,0.000,6,0.000,0.034,2968,2077,1850,0,0,0,0,0,0
$GC,12199,0.69,303.5,328.0,13.8,955,12202,0.00,1.67,0.00,0.000,4,0.000,0.045,2976,957,1850,0,0,0,0,0,0
$GC,12279,0.73,340.2,317.6,12.2,962,12318,0.00,1.77,33.72,0.799,6,0.000,0.039,2976,2155,1704,0,0,0,0,0,0
$GC,12649,0.75,354.4,264.9,13.2,1016,12672,0.00,1.85,12.82,0.704,4,0.000,0.043,2985,968,1645,0,0,0,0,0,0
$GC,12708,0.75,354.4,256.3,14.7,1025,12715,0.00,1.80,0.00,0.000,6,0.000,0.037,2985,2146,1643,0,0,0,0,0,0
$GC,13057,0.74,354.4,201.9,15.5,1086,13066,0.00,1.80,0.00,0.000,4,0.000,0.044,2994,969,1641,0,0,0,0,0,0
$GC,13128,0.74,354.4,191.2,14.3,1098,13136,0.00,1.77,0.00,0.000,6,0.000,0.037,2993,2143,1641,0,0,0,0,0,0
$GC,13480,0.79,393.5,140.7,12.1,1159,13522,0.00,1.80,33.88,0.646,4,0.000,0.041,2999,969,1484,0,0,0,0,0,0
$GC,13625,0.89,470.3,124.3,10.4,1181,13698,0.00,1.80,63.90,0.633,6,0.000,0.034,2999,2156,1173,0,0,0,0,0,0
$GC,14051,1.05,584.4,80.5,8.7,1250,14150,0.17,1.75,91.35,0.591,4,0.066,0.037,3095,3279,706,0,0,0,0,0,0
$GC,14265,1.06,589.3,44.3,13.7,1281,14276,0.08,1.83,4.95,0.405,6,0.142,0.032,3077,2085,687,0,0,0,0,0,0
$STATE,14545,end climb,SURFACE_DEPTH_REACHED
$STATE,14545,begin surface coast
$FINISH,0.6,1.022101
$STATE,14564,end surface coast,CONTROL_FINISHED_OK
$STATE,14566,begin surface
$SM_CCo,14582,38.00,0.058,0,0,481,640.23
$SM_GC,0.80,0.00,0.00,38.00,0.000,0.000,0.058,152,1974,481,-8.06,-1.44,640.23
$IRIDIUM_FIX,2234.68,12551.00,311010,191935
$TT8_MAMPS,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.4,61.717
$10V_AH,9.9,50.694
$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,20.575,111.475,697.700,38.000,0.000,60.133,29.488,204.673,0.000,0.000,36.373,3296.010,7129.598,706.569,3692.708,302.203,0.000,2046.812,0.000,3386.084,0.000,0.544,0.000
$DEVICE_MAMPS,245.565,113.985,1269.900,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.828,0.000,1869.064,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,80260,1331
$CAP_FILE_SIZE,162770,0
$CFSIZE,260165632,230756352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.090,345.2,1
$GPS,011110,040301,2240.386,12548.297,39,1.0,39,-3.2