version: 66.08
glider: 169
mission: 2
dive: 376
start: 10 27 110 4 33 35
data:
$ID,169
$MISSION,2
$DIVE,376
$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,-7179.3936
$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
$GPS1,271010,042537,2318.032,12559.544,72,1.4,72,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.5
$GPS2,271010,043307,2318.091,12559.477,38,2.0,38,-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,185.5,215761,-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,16,-0.69,-204.4,0.0,0.0,0,115,0.00,0.00,-97.43,0.000,2,0.000,0.000,123,2055,3136,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.5,-7.5,12,153,10.12,1.77,-12.25,0.000,4,0.242,0.073,2490,3166,3928,0,0,0,0,0,0
$GC,243,-0.67,-204.4,60.1,-30.7,31,252,0.00,1.83,0.00,0.000,6,0.000,0.044,2490,2003,3928,0,0,0,0,0,0
$GC,607,-0.66,-204.4,155.3,-22.2,92,616,0.00,1.73,0.00,0.000,4,0.000,0.046,2490,868,3930,0,0,0,0,0,0
$GC,645,-0.66,-204.4,163.2,-19.1,98,653,0.00,1.83,0.00,0.000,6,0.000,0.047,2490,2047,3930,0,0,0,0,0,0
$GC,997,-0.66,-204.4,230.2,-18.3,159,1004,0.00,1.73,0.00,0.000,4,0.000,0.057,2490,3168,3931,0,0,0,0,0,0
$GC,1059,-0.66,-204.4,240.8,-16.3,169,1066,0.00,1.77,0.00,0.000,6,0.000,0.039,2489,1995,3931,0,0,0,0,0,0
$GC,1405,-0.66,-204.4,295.9,-16.0,230,1414,0.00,1.88,0.00,0.000,4,0.000,0.057,2489,3168,3930,0,0,0,0,0,0
$GC,1490,-0.67,-204.4,308.9,-14.9,239,1494,0.00,1.75,0.00,0.000,6,0.000,0.039,2490,1999,3930,0,0,0,0,0,0
$GC,1821,-0.67,-204.4,357.5,-14.8,270,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1997,3928,0,0,0,0,0,0
$GC,2143,-0.68,-204.4,401.9,-14.2,300,2146,0.00,1.85,0.00,0.000,4,0.000,0.054,2490,3174,3927,0,0,0,0,0,0
$GC,2226,-0.69,-204.4,412.9,-11.9,307,2234,0.00,1.77,0.00,0.000,6,0.000,0.040,2489,1988,3926,0,0,0,0,0,0
$GC,2553,-0.69,-204.4,452.9,-11.4,338,2557,0.00,1.88,0.00,0.000,4,0.000,0.056,2490,3176,3924,0,0,0,0,0,0
$GC,2623,-0.71,-204.4,460.0,-8.8,344,2626,0.00,1.80,0.00,0.000,6,0.000,0.040,2490,2002,3923,0,0,0,0,0,0
$GC,2956,-0.71,-204.4,495.6,-10.7,375,2959,0.00,1.85,0.00,0.000,4,0.000,0.055,2490,3176,3920,0,0,0,0,0,0
$GC,2984,-0.72,-204.4,499.1,-10.6,377,2990,0.00,1.77,0.00,0.000,6,0.000,0.041,2489,1994,3920,0,0,0,0,0,0
$GC,3310,-0.73,-204.4,534.9,-11.5,408,3313,0.00,1.88,0.00,0.000,4,0.000,0.056,2490,3167,3917,0,0,0,0,0,0
$GC,3382,-0.75,-204.4,542.8,-10.3,414,3388,0.00,1.75,0.00,0.000,6,0.000,0.040,2489,1998,3916,0,0,0,0,0,0
$GC,3707,-0.75,-204.4,578.0,-10.5,445,3711,0.00,1.85,0.00,0.000,4,0.000,0.055,2490,3172,3914,0,0,0,0,0,0
$GC,3754,-0.77,-204.4,582.6,-9.1,449,3757,0.00,1.75,0.00,0.000,6,0.000,0.041,2489,2002,3913,0,0,0,0,0,0
$GC,4092,-0.78,-204.4,618.0,-10.8,473,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2000,3911,0,0,0,0,0,0
$GC,4401,-0.79,-204.4,651.4,-11.0,488,4404,0.00,1.85,0.00,0.000,4,0.000,0.056,2489,3168,3908,0,0,0,0,0,0
$GC,4473,-0.81,-204.4,659.0,-9.6,491,4477,0.00,1.75,0.00,0.000,6,0.000,0.041,2490,2001,3907,0,0,0,0,0,0
$GC,4801,-0.82,-204.4,692.8,-10.3,507,4805,0.00,1.83,0.00,0.000,4,0.000,0.056,2489,3172,3905,0,0,0,0,0,0
$GC,4856,-0.83,-204.4,698.1,-8.6,509,4860,0.00,1.83,0.00,0.000,6,0.000,0.043,2489,2001,3904,0,0,0,0,0,0
$GC,5178,-0.84,-204.4,729.3,-9.7,525,5182,0.00,1.85,0.00,0.000,4,0.000,0.057,2490,3167,3901,0,0,0,0,0,0
$GC,5228,-0.86,-204.4,734.0,-8.4,527,5233,0.10,1.77,0.00,0.000,6,0.107,0.041,2444,1993,3901,0,0,0,0,0,0
$GC,5557,-0.86,-204.4,776.7,-13.7,543,5561,0.00,1.90,0.00,0.000,4,0.000,0.060,2443,3167,3898,0,0,0,0,0,0
$GC,5590,-0.87,-204.4,781.2,-12.9,544,5593,0.00,1.77,0.00,0.000,6,0.000,0.045,2443,2003,3898,0,0,0,0,0,0
$GC,5912,-0.87,-204.4,824.4,-13.9,560,5914,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2002,3896,0,0,0,0,0,0
$GC,6221,-0.88,-204.4,867.5,-13.8,575,6225,0.00,1.85,0.00,0.000,4,0.000,0.060,2443,3167,3894,0,0,0,0,0,0
$GC,6290,-0.89,-204.4,876.2,-11.7,578,6294,0.00,1.80,0.00,0.000,6,0.000,0.045,2443,2000,3893,0,0,0,0,0,0
$GC,6623,-0.89,-204.4,919.3,-13.0,594,6624,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1998,3891,0,0,0,0,0,0
$GC,6933,-0.90,-204.4,959.8,-13.2,609,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1999,3889,0,0,0,0,0,0
$GC,7242,-0.90,-204.4,999.4,-12.4,624,7246,0.00,1.88,0.00,0.000,4,0.000,0.060,2443,3167,3887,0,0,0,0,0,0
$STATE,7250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7250,begin apogee
$GC,7256,-0.18,0.0,1001.1,12.1,624,7434,0.68,0.08,171.57,1.272,6,0.122,0.119,2665,2139,3091,0,0,0,0,0,0
$STATE,7434,end apogee,CONTROL_FINISHED_OK
$STATE,7435,begin climb
$GC,7436,0.69,204.4,1010.3,0.0,632,7638,0.80,1.92,193.80,1.244,4,0.060,0.044,2952,3265,2255,0,0,0,0,0,0
$GC,7735,0.67,204.4,984.5,17.5,646,7739,0.00,1.85,0.00,0.000,6,0.000,0.036,2961,2086,2245,0,0,0,0,0,0
$GC,8068,0.66,204.4,927.2,17.0,662,8072,0.00,1.70,0.00,0.000,4,0.000,0.047,2969,963,2240,0,0,0,0,0,0
$GC,8123,0.64,204.4,917.5,16.5,664,8127,0.00,1.80,0.00,0.000,6,0.000,0.039,2964,2139,2239,0,0,0,0,0,0
$GC,8446,0.63,204.4,862.5,16.7,680,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2139,2237,0,0,0,0,0,0
$GC,8754,0.62,204.4,810.0,16.9,695,8759,0.12,1.70,0.00,0.000,4,0.191,0.047,2923,3270,2236,0,0,0,0,0,0
$GC,8800,0.61,204.4,802.8,15.2,697,8804,0.00,1.77,0.00,0.000,6,0.000,0.036,2932,2078,2234,0,0,0,0,0,0
$GC,9133,0.61,210.5,757.5,13.6,713,9137,0.00,1.65,0.00,0.000,4,0.000,0.047,2941,964,2234,0,0,0,0,0,0
$GC,9203,0.62,223.3,748.0,13.3,716,9225,0.00,1.77,14.95,1.041,6,0.000,0.040,2936,2160,2179,0,0,0,0,0,0
$GC,9535,0.61,223.3,701.3,14.3,732,9539,0.00,1.70,0.00,0.000,4,0.000,0.048,2936,3273,2174,0,0,0,0,0,0
$GC,9604,0.61,230.7,691.4,13.6,735,9617,0.00,1.83,7.65,0.902,6,0.000,0.036,2945,2080,2150,0,0,0,0,0,0
$GC,9936,0.62,247.1,647.5,13.1,751,9960,0.00,1.77,16.50,1.000,4,0.000,0.047,2953,959,2082,0,0,0,0,0,0
$GC,9993,0.63,254.9,639.7,13.5,753,10006,0.00,1.83,8.45,0.889,6,0.000,0.041,2948,2165,2051,0,0,0,0,0,0
$GC,10316,0.63,264.0,597.3,13.5,769,10329,0.00,1.90,8.62,0.881,4,0.000,0.046,2958,969,2014,0,0,0,0,0,0
$GC,10357,0.63,264.0,591.0,14.7,772,10364,0.00,1.83,0.00,0.000,6,0.000,0.041,2950,2149,2012,0,0,0,0,0,0
$GC,10682,0.62,264.0,545.1,14.4,803,10686,0.00,1.80,0.00,0.000,4,0.000,0.046,2959,967,2009,0,0,0,0,0,0
$GC,10740,0.62,264.0,537.1,14.1,808,10743,0.00,1.77,0.00,0.000,6,0.000,0.041,2957,2156,2009,0,0,0,0,0,0
$GC,11073,0.61,264.1,489.7,13.9,839,11077,0.00,1.70,0.00,0.000,4,0.000,0.048,2957,3278,2007,0,0,0,0,0,0
$GC,11111,0.61,264.1,483.4,14.8,842,11121,0.10,1.83,0.00,0.000,6,0.154,0.035,2933,2081,2007,0,0,0,0,0,0
$GC,11438,0.63,285.4,443.0,12.9,873,11464,0.00,1.75,19.85,0.884,4,0.000,0.047,2941,969,1926,0,0,0,0,0,0
$GC,11559,0.67,311.0,427.5,12.7,883,11588,0.00,1.77,23.48,0.871,6,0.000,0.039,2938,2155,1823,0,0,0,0,0,0
$GC,11915,0.68,314.8,379.2,13.7,916,11919,0.00,1.83,0.00,0.000,4,0.000,0.045,2946,973,1814,0,0,0,0,0,0
$GC,11983,0.72,343.5,370.1,12.6,922,12022,0.00,1.77,28.58,0.833,6,0.000,0.038,2947,2152,1688,0,0,0,0,0,0
$GC,12339,0.80,409.9,325.8,10.9,955,12401,0.12,1.75,56.05,0.809,4,0.086,0.043,3003,3269,1418,0,0,0,0,0,0
$GC,12417,0.79,409.9,313.7,17.8,961,12421,0.00,1.80,0.00,0.000,6,0.000,0.033,3012,2090,1415,0,0,0,0,0,0
$GC,12760,0.79,409.9,247.5,19.8,1015,12768,0.00,1.70,0.00,0.000,4,0.000,0.044,3021,963,1410,0,0,0,0,0,0
$GC,12833,0.78,409.9,234.1,17.4,1027,12841,0.12,1.77,0.00,0.000,6,0.166,0.037,2984,2151,1409,0,0,0,0,0,0
$GC,13186,0.79,412.9,183.3,13.8,1088,13194,0.00,1.80,0.00,0.000,4,0.000,0.044,2992,974,1409,0,0,0,0,0,0
$GC,13278,0.88,484.1,171.6,10.6,1103,13349,0.00,1.73,60.15,0.684,6,0.000,0.035,2990,2153,1114,0,0,0,0,0,0
$GC,13705,0.94,523.8,119.9,12.1,1173,13747,0.12,1.75,33.08,0.628,4,0.082,0.038,3061,3272,953,0,0,0,0,0,0
$GC,13850,0.94,523.8,97.3,15.7,1195,13860,0.10,1.80,0.00,0.000,6,0.142,0.031,3035,2093,951,0,0,0,0,0,0
$GC,14220,1.05,602.3,54.0,10.3,1256,14293,0.00,1.77,62.35,0.579,4,0.000,0.044,3040,967,632,0,0,0,0,0,0
$GC,14393,1.14,654.0,35.2,11.5,1281,14442,0.12,1.80,39.38,0.551,6,0.044,0.031,3116,2159,433,0,0,0,0,0,0
$STATE,14573,end climb,SURFACE_DEPTH_REACHED
$STATE,14573,begin surface coast
$FINISH,0.7,1.021969
$STATE,14586,end surface coast,CONTROL_FINISHED_OK
$STATE,14586,begin surface
$SM_CCo,14664,0.00,0.000,0,0,429,652.99
$SM_GC,0.93,8.38,0.00,0.00,0.079,0.000,0.000,140,1995,429,-8.05,-0.88,652.99
$IRIDIUM_FIX,2312.13,12600.09,271010,000031
$TT8_MAMPS,0.026215
$HUMID,45.27
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.5,55.826
$10V_AH,9.9,46.552
$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,20.900,111.450,744.450,0.000,0.000,27.396,45.642,212.993,0.000,0.000,41.884,3239.365,7193.911,718.684,3664.752,283.094,0.000,2069.833,0.000,3353.176,0.000,0.544,0.000
$DEVICE_MAMPS,241.740,118.575,1272.195,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,887.232,0.000,1801.885,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,77014,1311
$CAP_FILE_SIZE,164519,0
$CFSIZE,260165632,232960000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.087,342.0,1
$GPS,271010,083930,2316.455,12558.628,65,1.3,65,-3.4