version: 66.08
glider: 169
mission: 2
dive: 362
start: 10 24 110 17 0 2
data:
$ID,169
$MISSION,2
$DIVE,362
$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,-7153.9863
$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
$GPS1,241010,165306,2333.049,12607.126,28,1.0,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.4
$GPS2,241010,165934,2333.221,12607.142,10,2.1,29,-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,197.9,243978,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.38,0.000,2,0.000,0.000,151,2000,3121,0,0,0,0,0,0
$GC,117,-0.69,-204.4,4.4,-8.1,12,151,9.80,1.77,-13.55,0.000,4,0.237,0.061,2498,863,3929,0,0,0,0,0,0
$GC,253,-0.67,-204.4,54.1,-27.4,33,262,0.00,1.85,0.00,0.000,6,0.000,0.050,2498,2041,3930,0,0,0,0,0,0
$GC,620,-0.66,-204.4,149.3,-20.2,94,628,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2040,3932,0,0,0,0,0,0
$GC,970,-0.66,-204.4,217.4,-18.2,155,977,0.00,1.75,0.00,0.000,4,0.000,0.057,2498,3179,3933,0,0,0,0,0,0
$GC,1042,-0.67,-204.4,229.3,-15.3,167,1049,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,2001,3933,0,0,0,0,0,0
$GC,1388,-0.67,-204.4,288.5,-15.8,228,1396,0.00,1.73,0.00,0.000,4,0.000,0.047,2498,867,3933,0,0,0,0,0,0
$GC,1434,-0.67,-204.4,295.3,-15.2,235,1440,0.00,1.80,0.00,0.000,6,0.000,0.046,2498,2054,3933,0,0,0,0,0,0
$GC,1769,-0.68,-204.4,344.6,-14.5,269,1772,0.00,1.70,0.00,0.000,4,0.000,0.055,2497,3168,3931,0,0,0,0,0,0
$GC,1830,-0.69,-204.4,352.9,-12.7,274,1839,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,1995,3931,0,0,0,0,0,0
$GC,2157,-0.69,-204.4,397.7,-13.9,305,2161,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3162,3930,0,0,0,0,0,0
$GC,2206,-0.70,-204.4,403.6,-11.5,309,2210,0.00,1.77,0.00,0.000,6,0.000,0.038,2498,2002,3930,0,0,0,0,0,0
$GC,2537,-0.71,-204.4,444.2,-13.2,340,2538,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2000,3928,0,0,0,0,0,0
$GC,2857,-0.72,-204.4,484.8,-12.7,370,2861,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3926,0,0,0,0,0,0
$GC,2926,-0.73,-204.4,492.7,-10.7,376,2929,0.00,1.75,0.00,0.000,6,0.000,0.038,2498,1992,3926,0,0,0,0,0,0
$GC,3257,-0.74,-204.4,533.9,-12.3,407,3258,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1990,3923,0,0,0,0,0,0
$GC,3577,-0.75,-204.4,574.0,-12.2,437,3580,0.00,1.88,0.00,0.000,4,0.000,0.055,2498,3175,3920,0,0,0,0,0,0
$GC,3627,-0.77,-204.4,580.0,-10.5,441,3634,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,1994,3920,0,0,0,0,0,0
$GC,3960,-0.78,-204.4,616.2,-10.7,466,3964,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3177,3917,0,0,0,0,0,0
$GC,4016,-0.79,-204.4,621.6,-8.9,468,4020,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1999,3916,0,0,0,0,0,0
$GC,4338,-0.81,-204.4,653.5,-10.0,484,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1998,3915,0,0,0,0,0,0
$GC,4647,-0.82,-204.4,684.9,-10.1,499,4651,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3168,3912,0,0,0,0,0,0
$GC,4697,-0.84,-204.4,689.6,-8.1,501,4702,0.12,1.75,0.00,0.000,6,0.104,0.040,2446,2000,3911,0,0,0,0,0,0
$GC,5026,-0.84,-204.4,731.7,-12.9,517,5030,0.00,1.88,0.00,0.000,4,0.000,0.058,2446,3171,3909,0,0,0,0,0,0
$GC,5052,-0.84,-204.4,734.9,-12.0,518,5055,0.00,1.80,0.00,0.000,6,0.000,0.044,2447,2002,3908,0,0,0,0,0,0
$GC,5385,-0.84,-204.4,777.1,-12.4,534,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2000,3905,0,0,0,0,0,0
$GC,5695,-0.85,-204.4,817.9,-13.1,549,5698,0.00,1.88,0.00,0.000,4,0.000,0.060,2446,3170,3903,0,0,0,0,0,0
$GC,5757,-0.86,-204.4,825.6,-11.9,551,5764,0.00,1.80,0.00,0.000,6,0.000,0.046,2447,2004,3903,0,0,0,0,0,0
$GC,6075,-0.86,-204.4,864.6,-12.3,567,6079,0.00,1.73,0.00,0.000,4,0.000,0.054,2447,867,3900,0,0,0,0,0,0
$GC,6108,-0.87,-204.4,869.1,-11.9,568,6112,0.00,1.85,0.00,0.000,6,0.000,0.051,2446,2042,3900,0,0,0,0,0,0
$GC,6430,-0.87,-204.4,907.6,-12.0,584,6434,0.00,1.77,0.00,0.000,4,0.000,0.061,2446,3171,3898,0,0,0,0,0,0
$GC,6503,-0.88,-204.4,915.5,-10.3,587,6507,0.00,1.80,0.00,0.000,6,0.000,0.049,2447,2002,3898,0,0,0,0,0,0
$GC,6830,-0.89,-204.4,953.4,-11.7,603,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2001,3896,0,0,0,0,0,0
$GC,7141,-0.89,-204.4,989.8,-11.5,618,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2001,3894,0,0,0,0,0,0
$STATE,7240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7240,begin apogee
$GC,7245,-0.18,0.0,1001.6,11.5,623,7424,0.70,0.05,172.38,1.270,6,0.138,0.066,2667,2096,3090,0,0,0,0,0,0
$STATE,7425,end apogee,CONTROL_FINISHED_OK
$STATE,7425,begin climb
$GC,7427,0.69,204.4,1009.3,0.0,631,7631,0.80,1.88,193.07,1.248,4,0.063,0.044,2960,972,2255,0,0,0,0,0,0
$GC,7857,0.67,204.4,961.6,15.6,651,7861,0.00,1.77,0.00,0.000,6,0.000,0.041,2957,2152,2244,0,0,0,0,0,0
$GC,8190,0.66,204.4,907.1,16.6,667,8194,0.00,1.77,0.00,0.000,4,0.000,0.045,2965,966,2239,0,0,0,0,0,0
$GC,8236,0.65,204.4,899.3,17.4,669,8240,0.00,1.77,0.00,0.000,6,0.000,0.040,2964,2159,2238,0,0,0,0,0,0
$GC,8569,0.63,204.4,842.1,16.9,685,8573,0.00,1.67,0.00,0.000,4,0.000,0.048,2963,3278,2236,0,0,0,0,0,0
$GC,8602,0.62,204.4,836.0,17.3,686,8606,0.12,1.83,0.00,0.000,6,0.170,0.036,2934,2079,2236,0,0,0,0,0,0
$GC,8924,0.61,204.4,791.3,14.0,702,8925,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2078,2235,0,0,0,0,0,0
$GC,9232,0.60,204.4,747.1,14.9,717,9236,0.00,1.70,0.00,0.000,4,0.000,0.047,2942,961,2234,0,0,0,0,0,0
$GC,9256,0.59,204.4,743.5,15.3,718,9260,0.00,1.80,0.00,0.000,6,0.000,0.041,2938,2157,2234,0,0,0,0,0,0
$GC,9590,0.58,204.4,690.6,15.2,734,9593,0.00,1.70,0.00,0.000,4,0.000,0.047,2937,3278,2233,0,0,0,0,0,0
$GC,9628,0.57,204.4,684.0,15.8,735,9635,0.08,1.80,0.00,0.000,6,0.171,0.036,2922,2094,2231,0,0,0,0,0,0
$GC,9944,0.62,248.2,642.4,11.9,751,9988,0.00,1.75,36.90,1.034,4,0.000,0.043,2931,964,2078,0,0,0,0,0,0
$GC,10034,0.70,309.2,632.1,11.1,755,10098,0.00,1.80,54.85,1.021,6,0.000,0.039,2929,2154,1828,0,0,0,0,0,0
$GC,10410,0.71,320.4,584.4,13.4,778,10425,0.00,1.88,9.57,0.871,4,0.000,0.046,2935,964,1783,0,0,0,0,0,0
$GC,10479,0.74,337.5,575.2,13.1,784,10503,0.00,1.77,16.42,0.931,6,0.000,0.039,2934,2150,1714,0,0,0,0,0,0
$GC,10819,0.74,337.5,524.5,15.1,816,10823,0.00,1.80,0.00,0.000,4,0.000,0.044,2943,966,1706,0,0,0,0,0,0
$GC,10857,0.74,337.5,518.8,14.4,819,10864,0.00,1.80,0.00,0.000,6,0.000,0.040,2943,2142,1706,0,0,0,0,0,0
$GC,11182,0.74,337.5,468.1,15.9,850,11186,0.00,1.77,0.00,0.000,4,0.000,0.045,2952,967,1704,0,0,0,0,0,0
$GC,11220,0.74,337.5,461.8,15.4,853,11229,0.00,1.80,0.00,0.000,6,0.000,0.038,2952,2153,1704,0,0,0,0,0,0
$GC,11546,0.76,352.4,413.6,13.2,884,11564,0.00,1.83,12.93,0.822,4,0.000,0.043,2960,959,1653,0,0,0,0,0,0
$GC,11625,0.80,384.5,403.4,12.4,890,11660,0.00,1.83,28.73,0.853,6,0.000,0.039,2960,2151,1523,0,0,0,0,0,0
$GC,11987,0.80,384.5,350.0,15.7,924,11991,0.00,1.80,0.00,0.000,4,0.000,0.043,2969,963,1515,0,0,0,0,0,0
$GC,12014,0.80,384.5,345.1,16.4,926,12023,0.00,1.80,0.00,0.000,6,0.000,0.037,2969,2151,1515,0,0,0,0,0,0
$GC,12341,0.80,384.5,293.9,15.2,960,12350,0.00,1.80,0.00,0.000,4,0.000,0.044,2977,973,1514,0,0,0,0,0,0
$GC,12397,0.81,386.6,286.2,13.8,969,12405,0.00,1.75,0.00,0.000,6,0.000,0.038,2977,2160,1513,0,0,0,0,0,0
$GC,12745,0.81,386.6,234.5,15.0,1030,12754,0.00,1.83,0.00,0.000,4,0.000,0.042,2986,960,1513,0,0,0,0,0,0
$GC,12806,0.83,403.5,226.0,13.1,1040,12829,0.00,1.80,16.48,0.692,6,0.000,0.037,2986,2154,1444,0,0,0,0,0,0
$GC,13170,0.83,403.5,171.1,14.6,1103,13176,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2155,1440,0,0,0,0,0,0
$GC,13525,0.88,443.4,124.3,12.1,1164,13567,0.00,1.70,33.97,0.638,4,0.000,0.039,2986,3277,1283,0,0,0,0,0,0
$GC,13577,0.98,514.9,118.6,10.6,1170,13643,0.10,1.83,59.28,0.634,6,0.044,0.030,3067,2075,990,0,0,0,0,0,0
$GC,13994,0.98,514.9,47.7,14.5,1238,14002,0.00,1.85,0.00,0.000,4,0.000,0.039,3067,3274,985,0,0,0,0,0,0
$GC,14095,1.01,537.5,33.9,12.9,1254,14119,0.00,1.80,18.73,0.541,6,0.000,0.031,3077,2075,898,0,0,0,0,0,0
$STATE,14300,end climb,SURFACE_DEPTH_REACHED
$STATE,14300,begin surface coast
$FINISH,0.1,1.021778
$STATE,14321,end surface coast,CONTROL_FINISHED_OK
$STATE,14321,begin surface
$SM_CCo,14338,70.90,0.057,0,0,480,640.23
$SM_GC,0.92,0.00,0.00,70.90,0.000,0.000,0.057,148,1993,480,-8.07,-0.90,640.23
$IRIDIUM_FIX,2326.22,12607.52,241010,121205
$TT8_MAMPS,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.5,52.799
$10V_AH,10.0,44.384
$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,20.050,100.825,653.300,70.900,0.000,28.816,18.291,192.978,0.000,0.000,32.706,3200.920,7068.477,731.133,3522.586,264.816,0.000,2028.840,0.000,3272.371,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,94.095,1269.900,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.160,0.000,1757.026,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333664
$DATA_FILE_SIZE,76950,1291
$CAP_FILE_SIZE,157587,0
$CFSIZE,260165632,234115072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 15.9,1
$GPS,241010,210107,2331.895,12606.438,28,1.4,28,-3.5