version: 66.08
glider: 169
mission: 2
dive: 367
start: 10 25 110 14 10 31
data:
$ID,169
$MISSION,2
$DIVE,367
$N_DIVES,380
$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,-7164.2295
$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
$GPS1,251010,140336,2327.393,12603.943,30,1.0,30,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.6
$GPS2,251010,141002,2327.514,12603.915,13,1.4,13,-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,181.7,233240,-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,-204.4,0.0,0.0,0,115,0.00,0.00,-97.60,0.000,2,0.000,0.000,150,2072,3149,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.3,-7.7,12,152,9.77,1.92,-13.07,0.000,4,0.237,0.065,2496,866,3929,0,0,0,0,0,0
$GC,261,-0.68,-204.4,56.3,-27.5,34,270,0.00,1.85,0.00,0.000,6,0.000,0.050,2496,2041,3929,0,0,0,0,0,0
$GC,627,-0.67,-204.4,152.5,-22.3,95,634,0.00,1.77,0.00,0.000,4,0.000,0.048,2496,865,3931,0,0,0,0,0,0
$GC,669,-0.66,-204.4,161.6,-19.8,102,678,0.00,1.83,0.00,0.000,6,0.000,0.048,2496,2039,3932,0,0,0,0,0,0
$GC,1019,-0.66,-204.4,228.1,-19.7,163,1025,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2039,3932,0,0,0,0,0,0
$GC,1364,-0.66,-204.4,287.9,-16.2,224,1373,0.00,1.77,0.00,0.000,4,0.000,0.058,2496,3165,3932,0,0,0,0,0,0
$GC,1432,-0.66,-204.4,296.8,-12.2,235,1439,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,1989,3931,0,0,0,0,0,0
$GC,1765,-0.67,-204.4,346.2,-15.5,268,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1988,3931,0,0,0,0,0,0
$GC,2085,-0.67,-204.4,394.4,-14.8,298,2089,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3172,3930,0,0,0,0,0,0
$GC,2113,-0.68,-204.4,398.6,-13.5,300,2121,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,2002,3929,0,0,0,0,0,0
$GC,2440,-0.68,-204.4,439.8,-12.5,331,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2000,3927,0,0,0,0,0,0
$GC,2768,-0.69,-204.4,479.4,-11.9,362,2771,0.00,1.83,0.00,0.000,4,0.000,0.055,2496,3170,3924,0,0,0,0,0,0
$GC,2829,-0.71,-204.4,485.5,-9.9,367,2833,0.00,1.75,0.00,0.000,6,0.000,0.039,2496,1999,3924,0,0,0,0,0,0
$GC,3162,-0.71,-204.4,523.0,-11.4,398,3166,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3171,3921,0,0,0,0,0,0
$GC,3220,-0.73,-204.4,529.2,-9.2,403,3224,0.00,1.75,0.00,0.000,6,0.000,0.039,2496,2000,3921,0,0,0,0,0,0
$GC,3552,-0.74,-204.4,565.0,-10.5,434,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1999,3918,0,0,0,0,0,0
$GC,3871,-0.75,-204.4,598.7,-10.6,464,3875,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3168,3916,0,0,0,0,0,0
$GC,3939,-0.76,-204.4,605.4,-9.2,468,3943,0.00,1.75,0.00,0.000,6,0.000,0.038,2496,1998,3915,0,0,0,0,0,0
$GC,4273,-0.78,-204.4,639.4,-10.4,484,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1997,3912,0,0,0,0,0,0
$GC,4582,-0.79,-204.4,671.2,-10.1,499,4585,0.00,1.88,0.00,0.000,4,0.000,0.056,2496,3167,3910,0,0,0,0,0,0
$GC,4615,-0.80,-204.4,674.6,-9.6,500,4619,0.00,1.75,0.00,0.000,6,0.000,0.039,2496,2000,3909,0,0,0,0,0,0
$GC,4937,-0.81,-204.4,706.1,-9.5,516,4940,0.00,1.83,0.00,0.000,4,0.000,0.056,2496,3170,3907,0,0,0,0,0,0
$GC,4970,-0.83,-204.4,709.3,-9.3,517,4974,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,2001,3906,0,0,0,0,0,0
$GC,5292,-0.84,-204.4,739.7,-9.5,533,5297,0.12,1.85,0.00,0.000,4,0.112,0.057,2448,3173,3903,0,0,0,0,0,0
$GC,5317,-0.85,-204.4,742.4,-11.0,534,5320,0.00,1.77,0.00,0.000,6,0.000,0.044,2448,2003,3903,0,0,0,0,0,0
$GC,5651,-0.85,-204.4,789.2,-13.9,550,5654,0.00,1.83,0.00,0.000,4,0.000,0.060,2448,3167,3901,0,0,0,0,0,0
$GC,5689,-0.86,-204.4,794.7,-13.0,551,5696,0.00,1.77,0.00,0.000,6,0.000,0.044,2448,2000,3901,0,0,0,0,0,0
$GC,6006,-0.86,-204.4,837.4,-13.5,567,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1999,3898,0,0,0,0,0,0
$GC,6315,-0.87,-204.4,877.3,-12.7,582,6319,0.00,1.85,0.00,0.000,4,0.000,0.060,2448,3166,3896,0,0,0,0,0,0
$GC,6384,-0.88,-204.4,885.3,-10.7,585,6388,0.00,1.77,0.00,0.000,6,0.000,0.044,2448,2003,3895,0,0,0,0,0,0
$GC,6718,-0.88,-204.4,925.7,-12.3,601,6721,0.00,1.88,0.00,0.000,4,0.000,0.060,2448,3169,3894,0,0,0,0,0,0
$GC,6745,-0.89,-204.4,929.3,-12.2,602,6749,0.00,1.77,0.00,0.000,6,0.000,0.046,2448,2004,3894,0,0,0,0,0,0
$GC,7074,-0.89,-204.4,970.7,-12.8,618,7077,0.00,1.85,0.00,0.000,4,0.000,0.060,2448,3167,3892,0,0,0,0,0,0
$GC,7124,-0.90,-204.4,977.0,-12.0,620,7127,0.00,1.77,0.00,0.000,6,0.000,0.045,2447,2002,3892,0,0,0,0,0,0
$STATE,7304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7304,begin apogee
$GC,7309,-0.18,0.0,1000.3,12.9,629,7487,0.70,0.08,171.70,1.273,6,0.143,0.106,2665,2092,3091,0,0,0,0,0,0
$STATE,7488,end apogee,CONTROL_FINISHED_OK
$STATE,7488,begin climb
$GC,7490,0.69,204.4,1011.3,0.0,637,7691,0.80,2.03,193.35,1.252,4,0.061,0.045,2950,3268,2256,0,0,0,0,0,0
$GC,7876,0.67,204.4,977.2,15.1,655,7880,0.00,1.80,0.00,0.000,6,0.000,0.034,2959,2077,2243,0,0,0,0,0,0
$GC,8198,0.66,204.4,929.1,15.5,671,8201,0.00,1.85,0.00,0.000,4,0.000,0.046,2951,3271,2240,0,0,0,0,0,0
$GC,8259,0.64,204.4,919.0,15.6,673,8267,0.00,1.80,0.00,0.000,6,0.000,0.036,2959,2075,2239,0,0,0,0,0,0
$GC,8575,0.63,204.4,870.3,15.7,689,8578,0.00,1.85,0.00,0.000,4,0.000,0.046,2951,3275,2237,0,0,0,0,0,0
$GC,8602,0.61,204.4,865.5,16.6,690,8606,0.08,1.83,0.00,0.000,6,0.177,0.036,2936,2082,2236,0,0,0,0,0,0
$GC,8930,0.61,204.4,818.7,14.0,706,8934,0.00,1.65,0.00,0.000,4,0.000,0.046,2944,966,2235,0,0,0,0,0,0
$GC,8954,0.60,206.7,815.4,13.8,707,8958,0.00,1.80,0.00,0.000,6,0.000,0.038,2938,2153,2235,0,0,0,0,0,0
$GC,9287,0.59,206.7,768.0,14.3,723,9291,0.00,1.73,0.00,0.000,4,0.000,0.046,2938,3274,2234,0,0,0,0,0,0
$GC,9314,0.58,206.7,763.5,15.8,724,9318,0.00,1.80,0.00,0.000,6,0.000,0.034,2946,2088,2233,0,0,0,0,0,0
$GC,9641,0.57,206.7,713.0,15.6,740,9646,0.12,1.67,0.00,0.000,4,0.195,0.044,2923,959,2233,0,0,0,0,0,0
$GC,9756,0.59,225.3,697.8,13.0,745,9780,0.00,1.80,16.40,1.027,6,0.000,0.038,2922,2147,2172,0,0,0,0,0,0
$GC,10089,0.61,244.6,653.7,13.0,761,10112,0.00,1.80,18.88,1.013,4,0.000,0.046,2922,3269,2092,0,0,0,0,0,0
$GC,10209,0.63,263.5,637.3,13.0,766,10233,0.00,1.77,18.00,0.991,6,0.000,0.035,2931,2086,2015,0,0,0,0,0,0
$GC,10548,0.64,275.2,592.2,13.4,785,10564,0.00,1.75,10.73,0.907,4,0.000,0.046,2939,970,1968,0,0,0,0,0,0
$GC,10593,0.65,280.6,586.1,13.6,789,10607,0.00,1.77,6.68,0.804,6,0.000,0.037,2938,2157,1945,0,0,0,0,0,0
$GC,10924,0.66,295.0,542.7,13.2,820,10947,0.00,1.90,13.48,0.911,4,0.000,0.045,2947,963,1887,0,0,0,0,0,0
$GC,10975,0.69,320.3,535.6,12.7,824,11005,0.00,1.83,24.12,0.940,6,0.000,0.037,2947,2151,1784,0,0,0,0,0,0
$GC,11324,0.69,320.3,486.4,14.6,857,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2151,1776,0,0,0,0,0,0
$GC,11644,0.69,320.3,441.0,14.1,887,11648,0.00,1.83,0.00,0.000,4,0.000,0.046,2956,966,1774,0,0,0,0,0,0
$GC,11713,0.70,321.6,431.3,13.8,893,11717,0.00,1.75,0.00,0.000,6,0.000,0.038,2956,2148,1774,0,0,0,0,0,0
$GC,12044,0.69,321.6,383.1,15.0,924,12045,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2149,1773,0,0,0,0,0,0
$GC,12366,0.69,321.6,335.6,14.2,954,12369,0.00,1.77,0.00,0.000,4,0.000,0.044,2965,967,1773,0,0,0,0,0,0
$GC,12471,0.72,342.2,320.6,12.9,963,12494,0.00,1.80,18.42,0.780,6,0.000,0.037,2965,2154,1696,0,0,0,0,0,0
$GC,12830,0.75,371.2,272.6,12.6,1013,12860,0.00,1.88,25.35,0.756,4,0.000,0.043,2973,968,1576,0,0,0,0,0,0
$GC,12909,0.79,398.9,262.6,12.6,1025,12939,0.00,1.77,24.52,0.740,6,0.000,0.036,2973,2161,1464,0,0,0,0,0,0
$GC,13281,0.79,398.9,207.8,14.4,1089,13288,0.00,1.83,0.00,0.000,4,0.000,0.043,2982,958,1457,0,0,0,0,0,0
$GC,13422,0.84,430.7,189.0,12.4,1113,13458,0.00,1.75,27.10,0.687,6,0.000,0.037,2981,2153,1334,0,0,0,0,0,0
$GC,13805,0.85,438.3,135.5,13.5,1178,13822,0.00,1.75,7.22,0.548,4,0.000,0.043,2980,3274,1303,0,0,0,0,0,0
$GC,13843,0.86,438.3,129.9,14.4,1183,13852,0.00,1.80,0.00,0.000,6,0.000,0.031,2988,2087,1302,0,0,0,0,0,0
$GC,14211,1.00,537.8,90.1,9.3,1244,14301,0.17,1.90,80.88,0.617,4,0.066,0.037,3084,3276,898,0,0,0,0,0,0
$GC,14383,1.04,569.3,64.9,12.4,1268,14417,0.00,1.83,25.95,0.576,6,0.000,0.028,3094,2078,769,0,0,0,0,0,0
$STATE,14766,end climb,SURFACE_DEPTH_REACHED
$STATE,14767,begin surface coast
$FINISH,0.1,1.001496
$STATE,14786,end surface coast,CONTROL_FINISHED_OK
$STATE,14786,begin surface
$SM_CCo,14803,50.58,0.059,0,0,481,640.23
$SM_GC,0.86,0.00,0.00,50.58,0.000,0.000,0.059,144,1995,481,-8.08,-0.85,640.23
$IRIDIUM_FIX,2319.18,12602.85,251010,090901
$TT8_MAMPS,0.026964
$HUMID,46.29
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.5,53.866
$10V_AH,9.9,45.154
$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,20.125,105.150,682.775,50.575,0.000,29.079,23.265,199.359,0.000,0.000,15.724,3304.090,7281.866,718.569,3641.893,282.626,0.000,2058.877,0.000,3397.531,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,106.335,1272.960,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.416,0.000,1814.585,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,80260,1335
$CAP_FILE_SIZE,163514,0
$CFSIZE,260165632,233693184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201, 40.2,1
$GPS,251010,181906,2326.458,12604.764,33,1.0,33,-3.4