version: 66.08
glider: 169
mission: 2
dive: 369
start: 10 25 110 22 40 29
data:
$ID,169
$MISSION,2
$DIVE,369
$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,-7168.6494
$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
$GPS1,251010,223300,2325.454,12603.278,62,1.2,62,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.9
$GPS2,251010,224000,2325.439,12603.274,39,1.9,43,-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,182.1,229378,-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,-204.4,0.0,0.0,0,97,0.00,0.00,-80.53,0.000,2,0.000,0.000,135,1993,2660,0,0,0,0,0,0
$GC,100,-0.69,-204.4,3.1,-4.9,10,143,9.82,1.85,-24.67,0.000,4,0.236,0.060,2490,3174,3927,0,0,0,0,0,0
$GC,263,-0.67,-204.4,55.1,-29.0,35,271,0.00,1.85,0.00,0.000,6,0.000,0.047,2489,2002,3928,0,0,0,0,0,0
$GC,629,-0.66,-204.4,151.3,-23.1,96,638,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3167,3929,0,0,0,0,0,0
$GC,645,-0.65,-204.4,155.0,-21.3,98,654,0.00,1.80,0.00,0.000,6,0.000,0.042,2489,2003,3929,0,0,0,0,0,0
$GC,1007,-0.65,-204.4,225.1,-16.2,159,1014,0.10,1.83,0.00,0.000,4,0.181,0.057,2514,3167,3930,0,0,0,0,0,0
$GC,1035,-0.65,-204.4,229.2,-14.5,163,1042,0.00,1.77,0.00,0.000,6,0.000,0.041,2515,1998,3930,0,0,0,0,0,0
$GC,1391,-0.65,-204.4,279.0,-15.1,224,1400,0.00,1.85,0.00,0.000,4,0.000,0.056,2515,3162,3929,0,0,0,0,0,0
$GC,1427,-0.66,-204.4,283.7,-14.1,229,1433,0.00,1.75,0.00,0.000,6,0.000,0.041,2515,1998,3929,0,0,0,0,0,0
$GC,1763,-0.67,-204.4,327.9,-11.9,270,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,1997,3928,0,0,0,0,0,0
$GC,2083,-0.67,-204.4,363.1,-10.9,300,2086,0.00,1.85,0.00,0.000,4,0.000,0.054,2514,3173,3927,0,0,0,0,0,0
$GC,2157,-0.69,-204.4,371.0,-9.6,306,2165,0.00,1.80,0.00,0.000,6,0.000,0.041,2515,2002,3926,0,0,0,0,0,0
$GC,2485,-0.70,-204.4,407.5,-11.1,337,2489,0.00,1.85,0.00,0.000,4,0.000,0.054,2515,3167,3924,0,0,0,0,0,0
$GC,2543,-0.72,-204.4,413.8,-10.0,342,2547,0.00,1.77,0.00,0.000,6,0.000,0.039,2515,1994,3924,0,0,0,0,0,0
$GC,2877,-0.73,-204.4,450.3,-11.5,373,2881,0.00,1.88,0.00,0.000,4,0.000,0.055,2515,3168,3922,0,0,0,0,0,0
$GC,2939,-0.74,-204.4,457.4,-10.0,378,2947,0.00,1.80,0.00,0.000,6,0.000,0.039,2515,1997,3921,0,0,0,0,0,0
$GC,3267,-0.76,-204.4,492.6,-10.4,409,3271,0.00,1.88,0.00,0.000,4,0.000,0.054,2515,3171,3919,0,0,0,0,0,0
$GC,3302,-0.77,-204.4,496.3,-9.4,412,3306,0.00,1.75,0.00,0.000,6,0.000,0.041,2515,2001,3919,0,0,0,0,0,0
$GC,3633,-0.78,-204.4,528.2,-9.9,443,3637,0.12,1.73,0.00,0.000,4,0.109,0.049,2466,870,3916,0,0,0,0,0,0
$GC,3660,-0.79,-204.4,531.5,-12.7,445,3667,0.00,1.77,0.00,0.000,6,0.000,0.047,2466,2043,3916,0,0,0,0,0,0
$GC,3985,-0.80,-204.4,576.3,-14.0,476,3989,0.00,1.75,0.00,0.000,4,0.000,0.059,2466,3172,3913,0,0,0,0,0,0
$GC,4024,-0.80,-204.4,581.6,-12.8,479,4031,0.00,1.80,0.00,0.000,6,0.000,0.044,2466,2000,3913,0,0,0,0,0,0
$GC,4356,-0.81,-204.4,623.9,-12.4,502,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1998,3910,0,0,0,0,0,0
$GC,4665,-0.81,-204.4,662.6,-12.8,517,4668,0.00,1.85,0.00,0.000,4,0.000,0.057,2466,3175,3908,0,0,0,0,0,0
$GC,4698,-0.82,-204.4,667.0,-11.8,518,4701,0.00,1.80,0.00,0.000,6,0.000,0.044,2466,2003,3907,0,0,0,0,0,0
$GC,5020,-0.83,-204.4,706.9,-12.4,534,5023,0.00,1.85,0.00,0.000,4,0.000,0.058,2465,3168,3904,0,0,0,0,0,0
$GC,5070,-0.84,-204.4,713.0,-10.7,536,5074,0.00,1.77,0.00,0.000,6,0.000,0.044,2466,1999,3904,0,0,0,0,0,0
$GC,5397,-0.84,-204.4,752.1,-11.8,552,5399,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1997,3901,0,0,0,0,0,0
$GC,5707,-0.85,-204.4,787.9,-11.7,567,5711,0.00,1.85,0.00,0.000,4,0.000,0.060,2466,3166,3898,0,0,0,0,0,0
$GC,5791,-0.86,-204.4,797.3,-10.5,570,5798,0.00,1.77,0.00,0.000,6,0.000,0.044,2466,2001,3898,0,0,0,0,0,0
$GC,6108,-0.87,-204.4,834.5,-12.0,586,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1998,3895,0,0,0,0,0,0
$GC,6417,-0.88,-204.4,871.6,-12.1,601,6418,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1998,3893,0,0,0,0,0,0
$GC,6726,-0.89,-204.4,909.5,-12.0,616,6730,0.00,1.88,0.00,0.000,4,0.000,0.060,2465,3167,3891,0,0,0,0,0,0
$GC,6788,-0.90,-204.4,916.4,-10.2,618,6795,0.00,1.77,0.00,0.000,6,0.000,0.045,2466,2003,3890,0,0,0,0,0,0
$GC,7104,-0.91,-204.4,952.7,-11.5,634,7108,0.00,1.85,0.00,0.000,4,0.000,0.060,2466,3166,3888,0,0,0,0,0,0
$GC,7150,-0.92,-204.4,957.6,-10.2,636,7154,0.00,1.77,0.00,0.000,6,0.000,0.045,2466,2003,3888,0,0,0,0,0,0
$GC,7484,-0.93,-204.4,993.7,-10.5,652,7488,0.10,1.88,0.00,0.000,4,0.123,0.061,2429,3167,3886,0,0,0,0,0,0
$GC,7516,-0.94,-204.4,997.7,-12.4,653,7519,0.00,1.77,0.00,0.000,6,0.000,0.047,2429,2004,3885,0,0,0,0,0,0
$STATE,7546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7546,begin apogee
$GC,7552,-0.18,0.0,1001.5,12.4,655,7728,0.75,0.05,170.65,1.279,6,0.139,0.067,2665,2100,3091,0,0,0,0,0,0
$STATE,7729,end apogee,CONTROL_FINISHED_OK
$STATE,7729,begin climb
$GC,7732,0.69,204.4,1009.5,0.0,663,7937,0.80,2.05,193.20,1.247,4,0.059,0.047,2950,3266,2254,0,0,0,0,0,0
$GC,8045,0.67,204.4,977.4,19.3,677,8051,0.00,1.83,0.00,0.000,6,0.000,0.035,2959,2083,2244,0,0,0,0,0,0
$GC,8361,0.66,204.4,922.0,17.2,693,8365,0.00,1.88,0.00,0.000,4,0.000,0.045,2951,3274,2240,0,0,0,0,0,0
$GC,8406,0.64,204.4,913.8,17.5,695,8410,0.00,1.83,0.00,0.000,6,0.000,0.034,2959,2082,2239,0,0,0,0,0,0
$GC,8739,0.63,204.4,859.3,15.7,711,8740,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2081,2237,0,0,0,0,0,0
$GC,9048,0.62,204.4,813.7,15.0,726,9052,0.00,1.65,0.00,0.000,4,0.000,0.046,2968,969,2236,0,0,0,0,0,0
$GC,9075,0.60,204.4,809.3,14.9,727,9080,0.10,1.80,0.00,0.000,6,0.163,0.039,2931,2152,2235,0,0,0,0,0,0
$GC,9404,0.65,247.4,770.2,11.9,743,9448,0.00,1.77,36.80,1.110,4,0.000,0.047,2931,3272,2080,0,0,0,0,0,0
$GC,9472,0.64,247.4,761.0,14.0,746,9476,0.00,1.80,0.00,0.000,6,0.000,0.034,2940,2091,2076,0,0,0,0,0,0
$GC,9805,0.64,247.4,712.7,14.7,762,9808,0.00,1.67,0.00,0.000,4,0.000,0.047,2949,969,2069,0,0,0,0,0,0
$GC,9877,0.63,247.4,702.3,14.2,765,9881,0.00,1.77,0.00,0.000,6,0.000,0.040,2948,2156,2068,0,0,0,0,0,0
$GC,10205,0.62,247.4,653.0,15.4,781,10208,0.00,1.70,0.00,0.000,4,0.000,0.050,2948,3268,2066,0,0,0,0,0,0
$GC,10300,0.61,247.4,636.5,16.7,785,10304,0.00,1.77,0.00,0.000,6,0.000,0.035,2957,2091,2065,0,0,0,0,0,0
$GC,10621,0.61,247.4,583.5,16.9,805,10625,0.00,1.70,0.00,0.000,4,0.000,0.046,2965,957,2065,0,0,0,0,0,0
$GC,10716,0.60,247.4,567.6,16.1,813,10723,0.10,1.80,0.00,0.000,6,0.148,0.041,2929,2139,2064,0,0,0,0,0,0
$GC,11041,0.67,301.9,526.0,11.4,844,11093,0.00,0.00,46.47,0.964,6,0.000,0.000,2929,2139,1858,0,0,0,0,0,0
$GC,11412,0.75,374.8,484.1,10.6,879,11486,0.12,1.90,62.45,0.927,4,0.087,0.045,2999,971,1562,0,0,0,0,0,0
$GC,11582,0.75,374.8,453.6,18.8,893,11588,0.00,1.77,0.00,0.000,6,0.000,0.040,2991,2145,1557,0,0,0,0,0,0
$GC,11907,0.74,374.8,387.6,19.5,924,11908,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2145,1552,0,0,0,0,0,0
$GC,12227,0.74,374.8,325.7,19.4,954,12231,0.00,1.73,0.00,0.000,4,0.000,0.047,2991,3274,1550,0,0,0,0,0,0
$GC,12274,0.73,374.8,316.2,19.0,958,12278,0.12,1.77,0.00,0.000,6,0.175,0.034,2967,2082,1549,0,0,0,0,0,0
$GC,12620,0.74,378.0,262.4,13.7,1009,12627,0.00,1.67,0.00,0.000,4,0.000,0.045,2974,965,1549,0,0,0,0,0,0
$GC,12686,0.78,405.7,252.9,12.6,1020,12716,0.00,1.80,25.27,0.741,6,0.000,0.038,2974,2153,1437,0,0,0,0,0,0
$GC,13066,0.78,405.7,194.9,15.4,1084,13076,0.00,1.83,0.00,0.000,4,0.000,0.042,2983,965,1431,0,0,0,0,0,0
$GC,13090,0.78,405.7,191.3,15.6,1087,13096,0.00,1.75,0.00,0.000,6,0.000,0.036,2983,2153,1431,0,0,0,0,0,0
$GC,13452,0.84,454.7,138.3,11.7,1148,13503,0.00,1.88,41.33,0.656,4,0.000,0.043,2988,964,1235,0,0,0,0,0,0
$GC,13578,0.97,551.2,125.0,9.5,1166,13669,0.12,1.80,78.75,0.642,6,0.044,0.035,3065,2148,841,0,0,0,0,0,0
$GC,14028,0.98,551.2,46.2,16.2,1237,14037,0.00,1.80,0.00,0.000,4,0.000,0.043,3074,972,836,0,0,0,0,0,0
$GC,14103,0.98,551.2,34.1,15.8,1249,14112,0.00,1.77,0.00,0.000,6,0.000,0.034,3074,2153,836,0,0,0,0,0,0
$STATE,14309,end climb,SURFACE_DEPTH_REACHED
$STATE,14309,begin surface coast
$FINISH,2.3,1.021818
$STATE,14341,end surface coast,CONTROL_FINISHED_OK
$STATE,14341,begin surface
$SM_CCo,14358,64.12,0.456,1,0,480,640.23
$SM_GC,0.86,0.00,0.00,64.12,0.000,0.000,0.456,147,1957,480,-8.06,-1.92,640.23
$IRIDIUM_FIX,2319.18,12602.85,251010,181803
$TT8_MAMPS,0.026964
$HUMID,46.18
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.5,54.298
$10V_AH,9.9,45.455
$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,20.650,105.000,654.925,64.125,0.000,27.192,23.605,204.444,0.000,0.000,45.642,3184.822,7096.375,738.511,3545.901,272.418,0.000,2029.270,0.000,3264.196,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,75.735,1279.080,455.940,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,872.323,0.000,1744.262,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76841,1288
$CAP_FILE_SIZE,159261,0
$CFSIZE,260165632,233537536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.166,  0.4,1
$GPS,261010,024225,2324.405,12603.012,58,1.0,58,-3.4