version: 66.08
glider: 169
mission: 2
dive: 363
start: 10 24 110 21 7 48
data:
$ID,169
$MISSION,2
$DIVE,363
$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,-7156.2271
$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
$GPS1,241010,210107,2331.895,12606.438,28,1.4,28,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-72.8
$GPS2,241010,210720,2331.940,12606.474,15,1.8,15,-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,190.1,241561,-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,-96.32,0.000,2,0.000,0.000,147,1993,3087,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.9,-6.7,12,151,10.12,1.75,-14.35,0.000,4,0.246,0.064,2498,881,3928,0,0,0,0,0,0
$GC,322,-0.67,-204.4,72.6,-25.5,45,331,0.00,1.83,0.00,0.000,6,0.000,0.050,2498,2046,3929,0,0,0,0,0,0
$GC,685,-0.67,-204.4,162.2,-23.3,106,695,0.00,1.83,0.00,0.000,4,0.000,0.048,2498,866,3930,0,0,0,0,0,0
$GC,826,-0.67,-204.4,185.6,-16.3,129,832,0.00,1.77,0.00,0.000,6,0.000,0.047,2498,2043,3931,0,0,0,0,0,0
$GC,1181,-0.67,-204.4,246.3,-16.4,190,1191,0.00,1.75,0.00,0.000,4,0.000,0.058,2498,3162,3931,0,0,0,0,0,0
$GC,1287,-0.67,-204.4,260.2,-11.4,207,1294,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,1998,3931,0,0,0,0,0,0
$GC,1640,-0.67,-204.4,311.5,-14.1,262,1643,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3177,3931,0,0,0,0,0,0
$GC,1677,-0.68,-204.4,316.4,-14.3,265,1681,0.00,1.80,0.00,0.000,6,0.000,0.042,2498,2004,3931,0,0,0,0,0,0
$GC,2008,-0.68,-204.4,361.1,-12.8,296,2011,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3167,3930,0,0,0,0,0,0
$GC,2055,-0.69,-204.4,366.8,-11.5,300,2058,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,1997,3930,0,0,0,0,0,0
$GC,2388,-0.70,-204.4,411.1,-12.9,331,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1996,3928,0,0,0,0,0,0
$GC,2715,-0.71,-204.4,452.8,-13.0,362,2719,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3170,3926,0,0,0,0,0,0
$GC,2743,-0.72,-204.4,456.8,-12.4,364,2752,0.00,1.80,0.00,0.000,6,0.000,0.039,2498,1999,3926,0,0,0,0,0,0
$GC,3072,-0.73,-204.4,498.2,-12.2,395,3078,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1998,3923,0,0,0,0,0,0
$GC,3400,-0.74,-204.4,536.0,-10.3,426,3404,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3174,3921,0,0,0,0,0,0
$GC,3450,-0.75,-204.4,541.4,-9.3,430,3458,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,2000,3921,0,0,0,0,0,0
$GC,3776,-0.76,-204.4,573.4,-9.5,461,3779,0.00,1.67,0.00,0.000,4,0.000,0.048,2499,873,3918,0,0,0,0,0,0
$GC,3803,-0.77,-204.4,576.2,-9.2,463,3810,0.00,1.77,0.00,0.000,6,0.000,0.045,2498,2053,3918,0,0,0,0,0,0
$GC,4139,-0.79,-204.4,606.0,-9.1,492,4143,0.00,1.73,0.00,0.000,4,0.000,0.056,2498,3171,3916,0,0,0,0,0,0
$GC,4189,-0.80,-204.4,610.5,-8.2,494,4193,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2000,3915,0,0,0,0,0,0
$GC,4517,-0.82,-204.4,641.8,-9.5,510,4521,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3168,3912,0,0,0,0,0,0
$GC,4544,-0.83,-204.4,644.6,-9.6,511,4548,0.10,1.77,0.00,0.000,6,0.121,0.040,2459,1998,3912,0,0,0,0,0,0
$GC,4873,-0.84,-204.4,686.6,-13.5,527,4876,0.00,1.85,0.00,0.000,4,0.000,0.058,2459,3175,3909,0,0,0,0,0,0
$GC,4896,-0.84,-204.4,689.9,-13.1,528,4900,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2003,3909,0,0,0,0,0,0
$GC,5230,-0.85,-204.4,733.4,-13.0,544,5234,0.00,1.83,0.00,0.000,4,0.000,0.058,2459,3168,3906,0,0,0,0,0,0
$GC,5299,-0.86,-204.4,741.8,-11.0,547,5303,0.00,1.80,0.00,0.000,6,0.000,0.044,2459,1997,3905,0,0,0,0,0,0
$GC,5633,-0.86,-204.4,785.0,-13.1,563,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1995,3903,0,0,0,0,0,0
$GC,5942,-0.87,-204.4,825.0,-13.1,578,5946,0.00,1.88,0.00,0.000,4,0.000,0.060,2459,3168,3900,0,0,0,0,0,0
$GC,5988,-0.88,-204.4,830.3,-10.8,580,5991,0.00,1.77,0.00,0.000,6,0.000,0.045,2459,2002,3900,0,0,0,0,0,0
$GC,6321,-0.89,-204.4,870.5,-12.0,596,6325,0.00,1.83,0.00,0.000,4,0.000,0.060,2459,3167,3898,0,0,0,0,0,0
$GC,6391,-0.90,-204.4,877.8,-9.7,599,6394,0.00,1.77,0.00,0.000,6,0.000,0.046,2459,2002,3897,0,0,0,0,0,0
$GC,6725,-0.91,-204.4,913.1,-10.1,615,6728,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3175,3895,0,0,0,0,0,0
$GC,6780,-0.92,-204.4,918.6,-9.2,617,6784,0.00,1.80,0.00,0.000,6,0.000,0.047,2459,2001,3895,0,0,0,0,0,0
$GC,7102,-0.93,-204.4,952.7,-10.9,633,7106,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3171,3893,0,0,0,0,0,0
$GC,7141,-0.94,-204.4,956.9,-10.0,634,7149,0.00,1.80,0.00,0.000,6,0.000,0.047,2459,2001,3893,0,0,0,0,0,0
$GC,7457,-0.95,-204.4,990.0,-10.4,650,7462,0.10,1.88,0.00,0.000,4,0.129,0.060,2423,3171,3891,0,0,0,0,0,0
$GC,7496,-0.95,-204.4,994.9,-12.6,651,7503,0.00,1.83,0.00,0.000,6,0.000,0.048,2423,2003,3891,0,0,0,0,0,0
$STATE,7543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7544,begin apogee
$GC,7548,-0.18,0.0,1001.0,13.1,654,7728,0.80,0.08,172.20,1.278,6,0.151,0.106,2666,2093,3090,0,0,0,0,0,0
$STATE,7729,end apogee,CONTROL_FINISHED_OK
$STATE,7729,begin climb
$GC,7731,0.69,204.4,1009.5,0.0,662,7936,0.77,1.88,194.02,1.250,4,0.047,0.043,2969,967,2256,0,0,0,0,0,0
$GC,8185,0.67,204.4,959.9,15.7,683,8189,0.00,1.77,0.00,0.000,6,0.000,0.041,2963,2147,2243,0,0,0,0,0,0
$GC,8519,0.66,204.4,903.9,17.3,699,8522,0.00,1.80,0.00,0.000,4,0.000,0.045,2972,963,2239,0,0,0,0,0,0
$GC,8551,0.64,204.4,897.9,17.2,700,8555,0.10,1.80,0.00,0.000,6,0.168,0.040,2941,2146,2239,0,0,0,0,0,0
$GC,8873,0.63,204.4,849.3,15.1,716,8877,0.00,1.70,0.00,0.000,4,0.000,0.048,2941,3278,2237,0,0,0,0,0,0
$GC,8906,0.62,204.4,843.7,17.0,717,8910,0.00,1.83,0.00,0.000,6,0.000,0.035,2950,2076,2236,0,0,0,0,0,0
$GC,9228,0.61,204.4,796.4,14.4,733,9231,0.00,1.67,0.00,0.000,4,0.000,0.046,2958,956,2235,0,0,0,0,0,0
$GC,9257,0.60,204.4,792.3,14.6,734,9261,0.12,1.77,0.00,0.000,6,0.177,0.040,2926,2152,2235,0,0,0,0,0,0
$GC,9585,0.63,235.4,751.6,12.5,750,9617,0.00,1.90,26.17,1.086,4,0.000,0.047,2935,967,2130,0,0,0,0,0,0
$GC,9640,0.62,235.4,744.0,14.2,752,9646,0.00,1.83,0.00,0.000,6,0.000,0.040,2935,2157,2127,0,0,0,0,0,0
$GC,9956,0.62,235.4,700.0,14.4,768,9959,0.00,1.67,0.00,0.000,4,0.000,0.048,2934,3268,2121,0,0,0,0,0,0
$GC,10005,0.61,235.4,692.0,15.8,770,10009,0.00,1.80,0.00,0.000,6,0.000,0.035,2943,2093,2121,0,0,0,0,0,0
$GC,10333,0.60,235.4,641.3,15.5,786,10337,0.00,1.70,0.00,0.000,4,0.000,0.046,2952,968,2120,0,0,0,0,0,0
$GC,10411,0.60,235.4,629.2,14.7,789,10415,0.00,1.80,0.00,0.000,6,0.000,0.039,2950,2146,2119,0,0,0,0,0,0
$GC,10739,0.59,235.4,579.7,15.2,811,10743,0.00,1.73,0.00,0.000,4,0.000,0.047,2950,3267,2118,0,0,0,0,0,0
$GC,10766,0.58,235.4,575.0,15.2,813,10773,0.12,1.80,0.00,0.000,6,0.161,0.034,2920,2081,2118,0,0,0,0,0,0
$GC,11092,0.64,286.9,537.6,11.5,844,11141,0.00,1.80,45.00,0.970,4,0.000,0.045,2929,962,1920,0,0,0,0,0,0
$GC,11232,0.70,333.8,521.0,11.7,856,11280,0.00,1.80,41.60,0.942,6,0.000,0.039,2925,2154,1729,0,0,0,0,0,0
$GC,11609,0.71,333.8,468.6,14.5,891,11612,0.00,1.83,0.00,0.000,4,0.000,0.045,2934,960,1719,0,0,0,0,0,0
$GC,11694,0.73,345.0,455.7,13.4,898,11708,0.00,1.83,9.65,0.802,6,0.000,0.038,2934,2153,1684,0,0,0,0,0,0
$GC,12029,0.73,345.0,404.6,14.0,929,12033,0.00,1.83,0.00,0.000,4,0.000,0.046,2935,973,1679,0,0,0,0,0,0
$GC,12115,0.79,386.9,393.5,12.0,936,12160,0.10,1.80,36.42,0.858,6,0.047,0.038,3005,2155,1512,0,0,0,0,0,0
$GC,12478,0.78,386.9,323.1,19.6,970,12482,0.00,1.73,0.00,0.000,4,0.000,0.045,3006,3272,1504,0,0,0,0,0,0
$GC,12505,0.77,386.9,317.1,18.6,972,12515,0.10,1.80,0.00,0.000,6,0.160,0.032,2982,2089,1503,0,0,0,0,0,0
$GC,12854,0.76,386.9,257.1,19.1,1023,12860,0.00,1.67,0.00,0.000,4,0.000,0.042,2990,965,1502,0,0,0,0,0,0
$GC,12973,0.76,386.9,236.0,16.9,1043,12980,0.00,1.75,0.00,0.000,6,0.000,0.037,2990,2156,1502,0,0,0,0,0,0
$GC,13333,0.78,404.7,179.3,13.1,1104,13356,0.00,1.83,14.98,0.661,4,0.000,0.041,2999,969,1439,0,0,0,0,0,0
$GC,13371,0.78,405.8,174.1,13.8,1109,13378,0.00,1.77,0.00,0.000,6,0.000,0.036,2999,2160,1439,0,0,0,0,0,0
$GC,13734,0.78,405.8,120.8,15.8,1170,13743,0.00,1.83,0.00,0.000,4,0.000,0.041,3008,958,1437,0,0,0,0,0,0
$GC,13835,0.79,405.8,105.5,15.1,1186,13844,0.00,1.80,0.00,0.000,6,0.000,0.035,3008,2156,1437,0,0,0,0,0,0
$GC,14203,0.88,471.2,58.7,10.9,1247,14269,0.00,1.88,55.08,0.594,4,0.000,0.044,3012,970,1168,0,0,0,0,0,0
$GC,14310,1.03,578.9,48.1,9.0,1261,14401,0.10,1.80,86.12,0.575,6,0.054,0.034,3075,2151,730,0,0,0,0,0,0
$STATE,14623,end climb,SURFACE_DEPTH_REACHED
$STATE,14623,begin surface coast
$FINISH,0.0,1.008196
$STATE,14649,end surface coast,CONTROL_FINISHED_OK
$STATE,14650,begin surface
$SM_CCo,14666,44.88,0.058,0,0,481,640.23
$SM_GC,0.88,0.00,0.00,44.88,0.000,0.000,0.058,146,1973,481,-8.08,-1.47,640.23
$IRIDIUM_FIX,2323.87,12609.42,241010,161606
$TT8_MAMPS,0.026215
$HUMID,46.41
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,22.5,53.012
$10V_AH,9.9,44.535
$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,20.875,118.875,681.250,44.875,0.000,30.079,15.166,195.514,0.250,0.000,17.235,3266.118,7171.422,734.713,3618.747,284.151,0.000,2086.028,0.000,3382.542,0.000,0.544,0.000
$DEVICE_MAMPS,246.330,106.335,1277.550,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,889.543,0.000,1782.608,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333636
$DATA_FILE_SIZE,76993,1314
$CAP_FILE_SIZE,166809,0
$CFSIZE,260165632,234020864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,338.1,1
$GPS,251010,011406,2330.851,12605.307,38,1.1,38,-3.5