version: 66.08
glider: 169
mission: 2
dive: 359
start: 10 24 110 4 9 34
data:
$ID,169
$MISSION,2
$DIVE,359
$N_DIVES,367
$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,-7147.3647
$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
$GPS1,241010,040207,2336.928,12608.436,36,1.0,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.1
$GPS2,241010,040906,2336.994,12608.401,14,0.8,30,-3.5
$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,187.9,251057,-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,-204.4,0.0,0.0,0,111,0.00,0.00,-93.50,0.000,2,0.000,0.000,149,1995,2992,0,0,0,0,0,0
$GC,114,-0.69,-204.4,3.3,-4.5,12,149,9.75,1.88,-17.10,0.000,4,0.235,0.068,2487,3172,3928,0,0,0,0,0,0
$GC,165,-0.64,-204.4,24.3,-43.4,18,175,0.10,1.85,0.00,0.000,6,0.182,0.048,2516,2004,3929,0,0,0,0,0,0
$GC,529,-0.63,-204.4,131.5,-20.3,79,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2003,3930,0,0,0,0,0,0
$GC,887,-0.63,-204.4,201.0,-16.0,140,895,0.00,1.85,0.00,0.000,4,0.000,0.057,2516,3165,3932,0,0,0,0,0,0
$GC,945,-0.63,-204.4,209.0,-12.8,149,952,0.00,1.80,0.00,0.000,6,0.000,0.041,2517,1999,3932,0,0,0,0,0,0
$GC,1303,-0.64,-204.4,262.2,-14.7,210,1312,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1998,3931,0,0,0,0,0,0
$GC,1657,-0.64,-204.4,312.4,-14.0,263,1660,0.00,1.83,0.00,0.000,4,0.000,0.054,2516,3178,3930,0,0,0,0,0,0
$GC,1728,-0.66,-204.4,321.3,-11.0,269,1732,0.00,1.77,0.00,0.000,6,0.000,0.040,2517,1990,3930,0,0,0,0,0,0
$GC,2060,-0.67,-204.4,363.4,-12.9,300,2063,0.00,1.83,0.00,0.000,4,0.000,0.055,2517,3168,3929,0,0,0,0,0,0
$GC,2099,-0.68,-204.4,368.3,-11.3,303,2106,0.00,1.75,0.00,0.000,6,0.000,0.040,2517,1999,3928,0,0,0,0,0,0
$GC,2425,-0.69,-204.4,405.5,-11.7,334,2428,0.00,1.83,0.00,0.000,4,0.000,0.054,2517,3168,3926,0,0,0,0,0,0
$GC,2472,-0.70,-204.4,410.5,-9.6,338,2475,0.00,1.77,0.00,0.000,6,0.000,0.039,2517,1998,3927,0,0,0,0,0,0
$GC,2805,-0.72,-204.4,448.2,-11.3,369,2809,0.00,1.85,0.00,0.000,4,0.000,0.054,2517,3162,3923,0,0,0,0,0,0
$GC,2831,-0.73,-204.4,451.0,-11.0,371,2835,0.00,1.80,0.00,0.000,6,0.000,0.040,2517,1997,3924,0,0,0,0,0,0
$GC,3162,-0.74,-204.4,485.0,-9.5,402,3165,0.00,1.83,0.00,0.000,4,0.000,0.054,2517,3171,3921,0,0,0,0,0,0
$GC,3209,-0.76,-204.4,489.1,-8.0,406,3212,0.00,1.77,0.00,0.000,6,0.000,0.041,2517,2002,3921,0,0,0,0,0,0
$GC,3540,-0.77,-204.4,520.9,-10.1,437,3542,0.10,0.00,0.00,0.000,6,0.129,0.000,2478,2000,3919,0,0,0,0,0,0
$GC,3859,-0.78,-204.4,561.2,-12.5,467,3862,0.00,1.85,0.00,0.000,4,0.000,0.056,2477,3169,3916,0,0,0,0,0,0
$GC,3931,-0.79,-204.4,569.8,-10.6,473,3938,0.00,1.75,0.00,0.000,6,0.000,0.043,2477,2003,3915,0,0,0,0,0,0
$GC,4257,-0.80,-204.4,608.0,-11.8,501,4260,0.00,1.88,0.00,0.000,4,0.000,0.057,2477,3169,3913,0,0,0,0,0,0
$GC,4280,-0.80,-204.4,610.9,-11.2,502,4284,0.00,1.77,0.00,0.000,6,0.000,0.043,2477,1994,3913,0,0,0,0,0,0
$GC,4613,-0.81,-204.4,651.1,-12.3,518,4617,0.00,1.88,0.00,0.000,4,0.000,0.058,2477,3173,3910,0,0,0,0,0,0
$GC,4691,-0.82,-204.4,660.2,-10.8,521,4695,0.00,1.77,0.00,0.000,6,0.000,0.044,2477,2003,3909,0,0,0,0,0,0
$GC,5013,-0.83,-204.4,700.8,-12.7,537,5016,0.00,1.83,0.00,0.000,4,0.000,0.057,2477,3169,3906,0,0,0,0,0,0
$GC,5041,-0.84,-204.4,704.4,-11.7,538,5045,0.00,1.77,0.00,0.000,6,0.000,0.044,2477,2000,3906,0,0,0,0,0,0
$GC,5368,-0.85,-204.4,742.7,-11.2,554,5372,0.00,1.83,0.00,0.000,4,0.000,0.057,2477,3168,3903,0,0,0,0,0,0
$GC,5396,-0.86,-204.4,746.0,-11.3,555,5400,0.00,1.80,0.00,0.000,6,0.000,0.042,2477,2002,3903,0,0,0,0,0,0
$GC,5724,-0.87,-204.4,781.2,-10.8,571,5728,0.00,1.88,0.00,0.000,4,0.000,0.058,2477,3169,3900,0,0,0,0,0,0
$GC,5771,-0.88,-204.4,786.0,-9.7,573,5774,0.00,1.83,0.00,0.000,6,0.000,0.044,2477,2000,3900,0,0,0,0,0,0
$GC,6104,-0.89,-204.4,822.1,-11.1,589,6109,0.10,1.90,0.00,0.000,4,0.132,0.060,2441,3168,3898,0,0,0,0,0,0
$GC,6150,-0.90,-204.4,827.9,-13.5,591,6154,0.00,1.83,0.00,0.000,6,0.000,0.046,2441,2003,3897,0,0,0,0,0,0
$GC,6484,-0.90,-204.4,874.0,-14.0,607,6488,0.00,1.88,0.00,0.000,4,0.000,0.060,2441,3165,3895,0,0,0,0,0,0
$GC,6530,-0.91,-204.4,880.4,-13.1,609,6534,0.00,1.83,0.00,0.000,6,0.000,0.046,2441,2003,3895,0,0,0,0,0,0
$GC,6863,-0.91,-204.4,927.2,-13.7,625,6867,0.00,1.88,0.00,0.000,4,0.000,0.060,2441,3163,3893,0,0,0,0,0,0
$GC,6890,-0.92,-204.4,930.9,-13.5,626,6894,0.00,1.77,0.00,0.000,6,0.000,0.045,2441,2003,3893,0,0,0,0,0,0
$GC,7218,-0.92,-204.4,972.9,-12.5,642,7221,0.00,1.88,0.00,0.000,4,0.000,0.061,2441,3169,3890,0,0,0,0,0,0
$GC,7245,-0.93,-204.4,976.7,-13.1,643,7249,0.00,1.80,0.00,0.000,6,0.000,0.047,2441,2005,3890,0,0,0,0,0,0
$STATE,7446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7447,begin apogee
$GC,7451,-0.18,0.0,1001.8,12.4,653,7633,0.73,0.08,173.55,1.276,6,0.146,0.106,2665,2092,3090,0,0,0,0,0,0
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7634,begin climb
$GC,7635,0.69,204.4,1010.4,0.0,661,7842,0.80,1.95,196.52,1.249,4,0.063,0.045,2959,964,2256,0,0,0,0,0,0
$GC,7992,0.67,204.4,973.1,17.0,678,7996,0.00,1.85,0.00,0.000,6,0.000,0.039,2951,2152,2246,0,0,0,0,0,0
$GC,8320,0.66,204.4,916.6,17.8,694,8324,0.00,1.83,0.00,0.000,4,0.000,0.046,2960,967,2240,0,0,0,0,0,0
$GC,8346,0.65,204.4,911.5,17.6,695,8350,0.00,1.80,0.00,0.000,6,0.000,0.039,2958,2148,2240,0,0,0,0,0,0
$GC,8675,0.64,204.4,854.5,17.1,711,8678,0.00,1.77,0.00,0.000,4,0.000,0.044,2967,960,2238,0,0,0,0,0,0
$GC,8702,0.62,204.4,849.3,17.4,712,8706,0.08,1.80,0.00,0.000,6,0.167,0.039,2939,2148,2238,0,0,0,0,0,0
$GC,9029,0.62,204.4,798.8,15.3,728,9033,0.00,1.67,0.00,0.000,4,0.000,0.048,2939,3270,2236,0,0,0,0,0,0
$GC,9068,0.60,204.4,792.3,17.1,729,9076,0.00,1.75,0.00,0.000,6,0.000,0.035,2947,2086,2235,0,0,0,0,0,0
$GC,9384,0.59,204.4,743.5,15.0,745,9388,0.00,1.65,0.00,0.000,4,0.000,0.045,2956,964,2234,0,0,0,0,0,0
$GC,9417,0.58,204.4,738.3,15.5,746,9421,0.12,1.75,0.00,0.000,6,0.175,0.039,2918,2151,2234,0,0,0,0,0,0
$GC,9739,0.63,246.5,697.7,12.0,762,9783,0.00,1.90,36.05,1.073,4,0.000,0.046,2926,964,2084,0,0,0,0,0,0
$GC,9845,0.63,246.6,683.8,13.9,766,9853,0.00,1.83,0.00,0.000,6,0.000,0.039,2927,2159,2079,0,0,0,0,0,0
$GC,10162,0.65,265.7,642.3,13.0,782,10182,0.00,0.00,17.48,0.991,6,0.000,0.000,2927,2160,2007,0,0,0,0,0,0
$GC,10491,0.65,265.7,596.3,14.2,799,10495,0.00,1.83,0.00,0.000,4,0.000,0.045,2935,970,1998,0,0,0,0,0,0
$GC,10560,0.65,265.7,586.6,14.2,805,10563,0.00,1.75,0.00,0.000,6,0.000,0.040,2935,2147,1998,0,0,0,0,0,0
$GC,10890,0.65,265.7,539.5,14.3,836,10891,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2147,1996,0,0,0,0,0,0
$GC,11212,0.67,290.1,496.2,12.8,866,11239,0.00,1.88,21.38,0.916,4,0.000,0.046,2944,967,1908,0,0,0,0,0,0
$GC,11303,0.68,292.5,483.4,13.8,873,11309,0.00,1.77,0.00,0.000,6,0.000,0.039,2943,2153,1904,0,0,0,0,0,0
$GC,11628,0.68,294.5,439.0,13.8,904,11642,0.00,1.85,4.38,0.603,4,0.000,0.044,2952,966,1890,0,0,0,0,0,0
$GC,11670,0.69,305.0,433.1,13.4,907,11690,0.00,1.80,11.27,0.812,6,0.000,0.038,2952,2147,1847,0,0,0,0,0,0
$GC,12007,0.69,305.0,385.0,14.1,939,12011,0.00,1.80,0.00,0.000,4,0.000,0.044,2961,958,1843,0,0,0,0,0,0
$GC,12057,0.71,315.0,377.7,13.4,943,12078,0.00,1.80,10.05,0.761,6,0.000,0.038,2961,2147,1805,0,0,0,0,0,0
$GC,12396,0.73,340.4,332.6,12.7,975,12424,0.00,1.77,23.17,0.791,4,0.000,0.042,2969,968,1703,0,0,0,0,0,0
$GC,12467,0.76,359.3,323.0,13.0,981,12493,0.00,1.80,17.20,0.759,6,0.000,0.038,2969,2159,1626,0,0,0,0,0,0
$GC,12825,0.76,359.3,268.3,15.0,1030,12834,0.00,1.83,0.00,0.000,4,0.000,0.045,2978,971,1620,0,0,0,0,0,0
$GC,12872,0.76,359.3,261.6,14.9,1037,12879,0.00,1.77,0.00,0.000,6,0.000,0.037,2978,2145,1619,0,0,0,0,0,0
$GC,13230,0.76,359.3,205.0,14.6,1098,13240,0.00,1.80,0.00,0.000,4,0.000,0.043,2986,964,1619,0,0,0,0,0,0
$GC,13313,0.77,365.6,193.9,13.6,1111,13328,0.00,1.77,5.97,0.550,6,0.000,0.037,2987,2147,1599,0,0,0,0,0,0
$GC,13679,0.79,381.0,141.4,13.2,1173,13698,0.00,1.85,14.55,0.620,4,0.000,0.042,2995,960,1537,0,0,0,0,0,0
$GC,13754,0.85,426.4,131.9,11.8,1184,13803,0.00,1.80,39.25,0.642,6,0.000,0.035,2995,2154,1350,0,0,0,0,0,0
$GC,14155,0.99,531.8,87.5,9.1,1250,14246,0.15,1.77,84.55,0.607,4,0.073,0.039,3077,3274,922,0,0,0,0,0,0
$GC,14287,0.99,531.8,66.8,18.1,1267,14297,0.10,1.83,0.00,0.000,6,0.127,0.032,3050,2092,920,0,0,0,0,0,0
$GC,14656,1.04,565.4,24.1,12.4,1328,14689,0.00,1.67,27.02,0.537,4,0.000,0.039,3056,967,785,0,0,0,0,0,0
$GC,14698,1.10,604.1,18.8,12.1,1333,14740,0.00,1.77,31.80,0.533,6,0.000,0.031,3056,2154,626,0,0,0,0,0,0
$STATE,14840,end climb,SURFACE_DEPTH_REACHED
$STATE,14840,begin surface coast
$FINISH,0.2,0.996564
$STATE,14872,end surface coast,CONTROL_FINISHED_OK
$STATE,14872,begin surface
$SM_CCo,14888,27.27,0.058,0,0,481,640.23
$SM_GC,1.12,0.00,0.00,27.27,0.000,0.000,0.058,149,1977,481,-8.07,-1.36,640.23
$IRIDIUM_FIX,2328.57,12607.52,231010,232330
$TT8_MAMPS,0.026215
$HUMID,44.84
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,26.20
$XPDR_PINGS,0
$24V_AH,22.6,52.158
$10V_AH,10.0,43.933
$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,20.375,119.975,714.200,27.275,0.000,25.706,47.087,196.416,0.000,0.000,32.719,3369.097,7158.146,723.789,3775.397,297.357,0.000,2123.899,0.000,3499.116,0.000,0.545,0.000
$DEVICE_MAMPS,234.855,106.335,1276.020,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.057,0.000,1926.685,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80323,1360
$CAP_FILE_SIZE,170370,0
$CFSIZE,260165632,234340352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.079, 10.9,1
$GPS,241010,081907,2335.288,12607.991,27,1.0,27,-3.5