version: 66.08
glider: 169
mission: 2
dive: 366
start: 10 25 110 9 53 36
data:
$ID,169
$MISSION,2
$DIVE,366
$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,-7162.0073
$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
$GPS1,251010,094607,2328.300,12604.073,28,1.1,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-69.5
$GPS2,251010,095307,2328.398,12603.945,33,1.5,33,-3.4
$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,173.6,234877,-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,-204.4,0.0,0.0,0,113,0.00,0.00,-96.10,0.000,2,0.000,0.000,147,1999,3091,0,0,0,0,0,0
$GC,116,-0.69,-204.4,4.0,-7.1,12,150,9.80,1.75,-14.35,0.000,4,0.237,0.063,2495,882,3928,0,0,0,0,0,0
$GC,263,-0.67,-204.4,55.1,-26.3,35,272,0.00,1.83,0.00,0.000,6,0.000,0.052,2495,2039,3929,0,0,0,0,0,0
$GC,629,-0.66,-204.4,151.1,-21.3,96,638,0.00,1.77,0.00,0.000,4,0.000,0.058,2495,3167,3930,0,0,0,0,0,0
$GC,646,-0.65,-204.4,155.2,-22.9,98,654,0.00,1.80,0.00,0.000,6,0.000,0.043,2495,2004,3930,0,0,0,0,0,0
$GC,995,-0.65,-204.4,221.8,-17.1,159,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,2003,3931,0,0,0,0,0,0
$GC,1337,-0.65,-204.4,279.6,-15.1,220,1345,0.00,1.85,0.00,0.000,4,0.000,0.056,2495,3167,3931,0,0,0,0,0,0
$GC,1383,-0.65,-204.4,286.1,-14.3,227,1389,0.00,1.77,0.00,0.000,6,0.000,0.041,2495,1999,3931,0,0,0,0,0,0
$GC,1719,-0.66,-204.4,338.8,-13.7,266,1723,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3176,3930,0,0,0,0,0,0
$GC,1747,-0.66,-204.4,342.8,-13.3,268,1755,0.00,1.80,0.00,0.000,6,0.000,0.041,2495,2004,3930,0,0,0,0,0,0
$GC,2074,-0.67,-204.4,383.3,-11.1,299,2078,0.00,1.67,0.00,0.000,4,0.000,0.048,2495,871,3928,0,0,0,0,0,0
$GC,2113,-0.68,-204.4,387.8,-10.2,302,2122,0.00,1.80,0.00,0.000,6,0.000,0.045,2495,2040,3928,0,0,0,0,0,0
$GC,2441,-0.68,-204.4,423.6,-11.1,333,2444,0.00,1.75,0.00,0.000,4,0.000,0.055,2496,3175,3926,0,0,0,0,0,0
$GC,2513,-0.70,-204.4,430.9,-9.8,339,2517,0.00,1.77,0.00,0.000,6,0.000,0.041,2495,1988,3925,0,0,0,0,0,0
$GC,2845,-0.70,-204.4,472.4,-12.3,370,2849,0.00,1.85,0.00,0.000,4,0.000,0.057,2495,3169,3923,0,0,0,0,0,0
$GC,2896,-0.72,-204.4,478.2,-10.8,374,2904,0.00,1.80,0.00,0.000,6,0.000,0.039,2495,1999,3922,0,0,0,0,0,0
$GC,3221,-0.72,-204.4,513.1,-10.4,405,3225,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3171,3919,0,0,0,0,0,0
$GC,3256,-0.74,-204.4,516.6,-10.2,408,3260,0.00,1.75,0.00,0.000,6,0.000,0.039,2495,2000,3919,0,0,0,0,0,0
$GC,3587,-0.74,-204.4,549.8,-10.4,439,3591,0.00,1.85,0.00,0.000,4,0.000,0.054,2495,3176,3917,0,0,0,0,0,0
$GC,3615,-0.76,-204.4,552.8,-10.3,441,3623,0.00,1.77,0.00,0.000,6,0.000,0.039,2495,1985,3916,0,0,0,0,0,0
$GC,3940,-0.77,-204.4,589.3,-11.0,472,3944,0.00,1.88,0.00,0.000,4,0.000,0.057,2495,3168,3914,0,0,0,0,0,0
$GC,3991,-0.78,-204.4,594.8,-10.3,476,3997,0.00,1.75,0.00,0.000,6,0.000,0.039,2495,2000,3914,0,0,0,0,0,0
$GC,4319,-0.79,-204.4,630.1,-10.5,495,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1999,3910,0,0,0,0,0,0
$GC,4629,-0.80,-204.4,661.2,-9.7,510,4632,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3168,3908,0,0,0,0,0,0
$GC,4668,-0.82,-204.4,664.9,-8.8,511,4674,0.00,1.77,0.00,0.000,6,0.000,0.039,2495,1999,3907,0,0,0,0,0,0
$GC,4984,-0.83,-204.4,693.6,-9.2,527,4987,0.00,1.83,0.00,0.000,4,0.000,0.055,2495,3173,3904,0,0,0,0,0,0
$GC,5034,-0.85,-204.4,698.0,-7.9,529,5038,0.12,1.77,0.00,0.000,6,0.109,0.041,2447,1995,3904,0,0,0,0,0,0
$GC,5362,-0.85,-204.4,742.0,-13.6,545,5365,0.00,1.73,0.00,0.000,4,0.000,0.052,2447,865,3901,0,0,0,0,0,0
$GC,5395,-0.86,-204.4,746.9,-13.3,546,5398,0.00,1.80,0.00,0.000,6,0.000,0.050,2447,2045,3901,0,0,0,0,0,0
$GC,5718,-0.86,-204.4,788.8,-13.2,562,5721,0.00,1.75,0.00,0.000,4,0.000,0.060,2447,3167,3899,0,0,0,0,0,0
$GC,5790,-0.87,-204.4,797.8,-11.5,565,5794,0.00,1.80,0.00,0.000,6,0.000,0.044,2447,2006,3898,0,0,0,0,0,0
$GC,6117,-0.87,-204.4,841.5,-14.3,581,6121,0.00,1.88,0.00,0.000,4,0.000,0.061,2447,3165,3896,0,0,0,0,0,0
$GC,6149,-0.88,-204.4,846.2,-14.1,582,6153,0.00,1.80,0.00,0.000,6,0.000,0.044,2447,2005,3895,0,0,0,0,0,0
$GC,6472,-0.88,-204.4,889.8,-13.5,598,6476,0.00,1.85,0.00,0.000,4,0.000,0.060,2447,3167,3893,0,0,0,0,0,0
$GC,6511,-0.89,-204.4,895.1,-12.5,599,6518,0.00,1.77,0.00,0.000,6,0.000,0.044,2447,2000,3893,0,0,0,0,0,0
$GC,6827,-0.89,-204.4,937.6,-13.3,615,6831,0.00,1.83,0.00,0.000,4,0.000,0.060,2447,3167,3891,0,0,0,0,0,0
$GC,6883,-0.90,-204.4,944.7,-11.4,617,6887,0.00,1.77,0.00,0.000,6,0.000,0.044,2447,2003,3891,0,0,0,0,0,0
$GC,7205,-0.91,-204.4,986.9,-13.6,633,7208,0.00,1.85,0.00,0.000,4,0.000,0.060,2447,3167,3889,0,0,0,0,0,0
$GC,7255,-0.92,-204.4,993.7,-12.5,635,7259,0.00,1.77,0.00,0.000,6,0.000,0.045,2447,2004,3888,0,0,0,0,0,0
$STATE,7312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7313,begin apogee
$GC,7317,-0.18,0.0,1001.2,13.2,638,7496,0.70,0.05,171.82,1.276,6,0.146,0.067,2663,2098,3090,0,0,0,0,0,0
$STATE,7497,end apogee,CONTROL_FINISHED_OK
$STATE,7497,begin climb
$GC,7499,0.69,204.4,1013.3,0.0,646,7705,0.80,2.03,193.32,1.252,4,0.062,0.045,2949,3260,2254,0,0,0,0,0,0
$GC,7751,0.67,204.4,997.2,17.3,658,7755,0.00,1.90,0.00,0.000,6,0.000,0.034,2957,2089,2247,0,0,0,0,0,0
$GC,8085,0.66,204.4,944.2,15.9,674,8088,0.00,1.67,0.00,0.000,4,0.000,0.045,2966,960,2240,0,0,0,0,0,0
$GC,8112,0.64,204.4,939.2,16.8,675,8116,0.00,1.77,0.00,0.000,6,0.000,0.037,2963,2154,2241,0,0,0,0,0,0
$GC,8440,0.63,204.4,885.6,15.9,691,8444,0.12,1.70,0.00,0.000,4,0.195,0.045,2931,3272,2238,0,0,0,0,0,0
$GC,8511,0.62,204.4,874.7,14.6,694,8515,0.00,1.77,0.00,0.000,6,0.000,0.035,2940,2072,2237,0,0,0,0,0,0
$GC,8839,0.61,204.4,828.3,14.2,710,8842,0.00,1.65,0.00,0.000,4,0.000,0.046,2949,966,2236,0,0,0,0,0,0
$GC,8907,0.60,204.4,818.0,15.4,713,8910,0.00,1.75,0.00,0.000,6,0.000,0.038,2948,2150,2235,0,0,0,0,0,0
$GC,9240,0.59,204.4,766.3,15.5,729,9244,0.00,1.67,0.00,0.000,4,0.000,0.047,2948,3271,2234,0,0,0,0,0,0
$GC,9263,0.57,204.4,762.5,16.2,730,9268,0.15,1.75,0.00,0.000,6,0.186,0.034,2919,2083,2234,0,0,0,0,0,0
$GC,9598,0.59,223.6,717.8,13.0,746,9621,0.00,1.67,15.23,1.040,4,0.000,0.044,2927,968,2177,0,0,0,0,0,0
$GC,9700,0.59,224.0,703.2,13.9,750,9704,0.00,1.77,0.00,0.000,6,0.000,0.037,2925,2157,2175,0,0,0,0,0,0
$GC,10022,0.59,224.0,657.1,14.5,766,10026,0.00,1.80,0.00,0.000,4,0.000,0.045,2934,960,2172,0,0,0,0,0,0
$GC,10050,0.59,229.0,653.1,13.7,767,10059,0.00,1.77,5.55,0.796,6,0.000,0.039,2933,2152,2157,0,0,0,0,0,0
$GC,10372,0.60,244.6,609.4,13.2,782,10395,0.00,1.73,16.23,0.978,4,0.000,0.046,2933,3277,2091,0,0,0,0,0,0
$GC,10429,0.62,261.6,601.3,13.1,784,10452,0.00,1.83,16.38,0.962,6,0.000,0.035,2942,2060,2023,0,0,0,0,0,0
$GC,10770,0.62,265.6,556.3,13.7,816,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2060,2014,0,0,0,0,0,0
$GC,11091,0.63,285.4,513.2,13.0,846,11118,0.00,1.70,21.08,0.930,4,0.000,0.047,2947,974,1926,0,0,0,0,0,0
$GC,11170,0.66,304.2,502.6,13.0,853,11194,0.00,1.77,17.98,0.902,6,0.000,0.038,2947,2157,1849,0,0,0,0,0,0
$GC,11513,0.65,304.2,454.7,14.6,885,11517,0.00,1.83,0.00,0.000,4,0.000,0.045,2954,973,1842,0,0,0,0,0,0
$GC,11547,0.65,304.2,449.3,14.0,888,11551,0.00,1.77,0.00,0.000,6,0.000,0.039,2950,2150,1842,0,0,0,0,0,0
$GC,11880,0.65,304.2,399.5,14.8,919,11884,0.00,1.83,0.00,0.000,4,0.000,0.045,2959,968,1841,0,0,0,0,0,0
$GC,11975,0.65,304.2,384.7,13.9,927,11982,0.00,1.80,0.00,0.000,6,0.000,0.039,2959,2148,1840,0,0,0,0,0,0
$GC,12302,0.65,304.2,337.7,14.0,958,12306,0.00,1.77,0.00,0.000,4,0.000,0.044,2966,957,1840,0,0,0,0,0,0
$GC,12387,0.68,331.9,326.3,12.6,965,12419,0.00,1.80,24.02,0.798,6,0.000,0.038,2964,2149,1735,0,0,0,0,0,0
$GC,12752,0.68,331.9,275.2,14.1,1012,12760,0.00,1.83,0.00,0.000,4,0.000,0.044,2972,969,1729,0,0,0,0,0,0
$GC,12845,0.68,331.9,262.5,14.5,1027,12851,0.00,1.75,0.00,0.000,6,0.000,0.038,2972,2152,1729,0,0,0,0,0,0
$GC,13202,0.71,359.3,212.1,12.6,1088,13231,0.00,1.80,23.35,0.706,4,0.000,0.042,2980,962,1625,0,0,0,0,0,0
$GC,13312,0.76,391.1,198.8,12.4,1105,13347,0.00,1.75,27.62,0.694,6,0.000,0.035,2977,2152,1494,0,0,0,0,0,0
$GC,13697,0.79,419.7,150.0,12.6,1170,13731,0.00,1.75,24.33,0.651,4,0.000,0.040,2977,3277,1379,0,0,0,0,0,0
$GC,13774,0.86,464.8,140.7,11.8,1181,13824,0.00,1.83,38.38,0.650,6,0.000,0.031,2986,2080,1195,0,0,0,0,0,0
$GC,14182,0.93,514.2,92.5,11.6,1247,14232,0.12,1.73,40.62,0.610,4,0.080,0.040,3066,965,992,0,0,0,0,0,0
$GC,14369,0.93,514.2,63.9,14.3,1276,14378,0.10,1.80,0.00,0.000,6,0.133,0.033,3031,2162,989,0,0,0,0,0,0
$GC,14738,1.07,618.0,26.1,9.1,1337,14829,0.12,1.88,81.43,0.556,4,0.086,0.036,3108,960,569,0,0,0,0,0,0
$STATE,14884,end climb,SURFACE_DEPTH_REACHED
$STATE,14884,begin surface coast
$FINISH,0.1,1.021768
$STATE,14904,end surface coast,CONTROL_FINISHED_OK
$STATE,14904,begin surface
$SM_CCo,14921,17.65,0.059,0,0,481,640.23
$SM_GC,0.90,0.00,0.00,17.65,0.000,0.000,0.059,151,2072,481,-8.06,1.33,640.23
$IRIDIUM_FIX,2321.52,12602.85,251010,050524
$TT8_MAMPS,0.026964
$HUMID,45.31
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.5,53.653
$10V_AH,10.0,45.002
$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,20.575,125.275,717.325,17.650,0.000,24.718,38.089,203.528,0.000,0.000,35.456,3364.553,7196.510,729.888,3776.249,282.869,0.000,2128.129,0.000,3488.510,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,75.735,1276.020,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.236,0.000,1894.623,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333624
$DATA_FILE_SIZE,80400,1360
$CAP_FILE_SIZE,172195,0
$CFSIZE,260165632,233762816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,355.5,1
$GPS,251010,140336,2327.393,12603.943,30,1.0,30,-3.4