version: 66.08
glider: 169
mission: 2
dive: 378
start: 10 27 110 12 59 7
data:
$ID,169
$MISSION,2
$DIVE,378
$N_DIVES,390
$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,-7183.8848
$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
$GPS1,271010,125155,2315.336,12557.541,43,1.3,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-58.4
$GPS2,271010,125838,2315.315,12557.485,12,1.3,12,-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,170.8,210698,-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,-204.4,0.0,0.0,0,104,0.00,0.00,-87.40,0.000,2,0.000,0.000,123,1997,2883,0,0,0,0,0,0
$GC,107,-0.69,-204.4,4.3,-9.2,11,142,9.68,1.85,-17.83,0.000,4,0.228,0.065,2489,3168,3927,0,0,0,0,0,0
$GC,273,-0.68,-204.4,68.1,-28.4,37,283,0.00,1.83,0.00,0.000,6,0.000,0.044,2489,2003,3928,0,0,0,0,0,0
$GC,636,-0.67,-204.4,158.3,-20.8,98,645,0.00,1.73,0.00,0.000,4,0.000,0.047,2489,869,3928,0,0,0,0,0,0
$GC,664,-0.67,-204.4,163.4,-18.4,102,673,0.00,1.80,0.00,0.000,6,0.000,0.047,2488,2035,3929,0,0,0,0,0,0
$GC,1015,-0.66,-204.4,225.3,-17.0,163,1022,0.00,1.73,0.00,0.000,4,0.000,0.055,2488,3178,3929,0,0,0,0,0,0
$GC,1042,-0.66,-204.4,229.9,-17.4,167,1049,0.00,1.77,0.00,0.000,6,0.000,0.040,2488,1992,3929,0,0,0,0,0,0
$GC,1388,-0.66,-204.4,284.2,-14.4,228,1396,0.00,1.88,0.00,0.000,4,0.000,0.056,2488,3168,3929,0,0,0,0,0,0
$GC,1433,-0.66,-204.4,289.7,-12.0,235,1440,0.00,1.77,0.00,0.000,6,0.000,0.040,2488,1998,3929,0,0,0,0,0,0
$GC,1764,-0.66,-204.4,334.3,-13.8,272,1767,0.00,1.67,0.00,0.000,4,0.000,0.047,2488,865,3927,0,0,0,0,0,0
$GC,1780,-0.67,-204.4,336.7,-14.0,273,1788,0.00,1.83,0.00,0.000,6,0.000,0.047,2488,2050,3927,0,0,0,0,0,0
$GC,2108,-0.67,-204.4,377.3,-12.3,304,2111,0.00,1.73,0.00,0.000,4,0.000,0.056,2488,3174,3926,0,0,0,0,0,0
$GC,2199,-0.68,-204.4,387.6,-10.4,312,2202,0.00,1.77,0.00,0.000,6,0.000,0.041,2488,2002,3925,0,0,0,0,0,0
$GC,2532,-0.68,-204.4,430.6,-12.8,343,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2000,3923,0,0,0,0,0,0
$GC,2851,-0.69,-204.4,469.1,-12.0,373,2855,0.00,1.85,0.00,0.000,4,0.000,0.054,2488,3176,3921,0,0,0,0,0,0
$GC,2935,-0.70,-204.4,478.8,-10.5,380,2943,0.00,1.83,0.00,0.000,6,0.000,0.041,2488,1997,3920,0,0,0,0,0,0
$GC,3260,-0.71,-204.4,516.7,-12.3,411,3264,0.00,1.85,0.00,0.000,4,0.000,0.056,2488,3168,3918,0,0,0,0,0,0
$GC,3344,-0.72,-204.4,526.2,-10.6,418,3351,0.00,1.77,0.00,0.000,6,0.000,0.039,2488,1997,3917,0,0,0,0,0,0
$GC,3670,-0.73,-204.4,564.0,-10.9,449,3673,0.00,1.83,0.00,0.000,4,0.000,0.056,2488,3168,3915,0,0,0,0,0,0
$GC,3752,-0.75,-204.4,572.3,-9.7,456,3755,0.00,1.75,0.00,0.000,6,0.000,0.041,2488,2002,3914,0,0,0,0,0,0
$GC,4082,-0.75,-204.4,606.3,-9.7,484,4085,0.00,1.83,0.00,0.000,4,0.000,0.056,2488,3168,3912,0,0,0,0,0,0
$GC,4110,-0.77,-204.4,609.1,-8.8,485,4113,0.00,1.75,0.00,0.000,6,0.000,0.040,2488,2002,3912,0,0,0,0,0,0
$GC,4437,-0.78,-204.4,640.6,-9.9,501,4441,0.00,1.83,0.00,0.000,4,0.000,0.055,2488,3173,3908,0,0,0,0,0,0
$GC,4476,-0.79,-204.4,644.5,-9.6,502,4482,0.00,1.80,0.00,0.000,6,0.000,0.042,2488,1988,3908,0,0,0,0,0,0
$GC,4792,-0.80,-204.4,677.9,-11.0,518,4796,0.00,1.88,0.00,0.000,4,0.000,0.057,2488,3173,3906,0,0,0,0,0,0
$GC,4861,-0.82,-204.4,685.2,-9.9,521,4865,0.00,1.80,0.00,0.000,6,0.000,0.044,2488,2000,3905,0,0,0,0,0,0
$GC,5195,-0.83,-204.4,721.6,-10.9,537,5198,0.00,1.83,0.00,0.000,4,0.000,0.057,2488,3168,3903,0,0,0,0,0,0
$GC,5241,-0.84,-204.4,726.4,-9.9,539,5244,0.00,1.77,0.00,0.000,6,0.000,0.042,2488,1987,3902,0,0,0,0,0,0
$GC,5574,-0.85,-204.4,760.1,-10.0,555,5578,0.00,1.85,0.00,0.000,4,0.000,0.058,2488,3168,3899,0,0,0,0,0,0
$GC,5674,-0.87,-204.4,769.4,-8.7,559,5678,0.12,1.77,0.00,0.000,6,0.097,0.043,2436,1994,3899,0,0,0,0,0,0
$GC,5996,-0.87,-204.4,812.6,-13.3,575,6000,0.00,1.88,0.00,0.000,4,0.000,0.061,2435,3167,3896,0,0,0,0,0,0
$GC,6035,-0.88,-204.4,817.9,-12.7,576,6041,0.00,1.80,0.00,0.000,6,0.000,0.044,2435,2001,3896,0,0,0,0,0,0
$GC,6351,-0.88,-204.4,860.1,-13.7,592,6354,0.00,1.88,0.00,0.000,4,0.000,0.060,2434,3168,3894,0,0,0,0,0,0
$GC,6406,-0.88,-204.4,867.4,-12.4,594,6410,0.00,1.80,0.00,0.000,6,0.000,0.047,2434,1998,3893,0,0,0,0,0,0
$GC,6728,-0.88,-204.4,909.9,-13.5,610,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1997,3892,0,0,0,0,0,0
$GC,7038,-0.89,-204.4,951.6,-13.6,625,7041,0.00,1.88,0.00,0.000,4,0.000,0.061,2433,3172,3890,0,0,0,0,0,0
$GC,7084,-0.89,-204.4,957.6,-12.7,627,7087,0.00,1.80,0.00,0.000,6,0.000,0.048,2433,2004,3889,0,0,0,0,0,0
$STATE,7394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7394,begin apogee
$GC,7400,-0.18,0.0,1001.4,14.5,642,7579,0.73,0.05,172.07,1.275,6,0.126,0.068,2669,2100,3090,0,0,0,0,0,0
$STATE,7580,end apogee,CONTROL_FINISHED_OK
$STATE,7580,begin climb
$GC,7582,0.69,204.4,1013.6,0.0,650,7783,0.77,0.00,194.57,1.248,6,0.057,0.000,2952,2100,2255,0,0,0,0,0,0
$GC,8090,0.67,204.4,961.1,15.4,675,8094,0.00,1.73,0.00,0.000,4,0.000,0.047,2961,968,2241,0,0,0,0,0,0
$GC,8168,0.66,204.4,948.5,15.6,678,8171,0.00,1.80,0.00,0.000,6,0.000,0.042,2961,2156,2240,0,0,0,0,0,0
$GC,8490,0.65,204.4,894.2,16.6,694,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2156,2238,0,0,0,0,0,0
$GC,8799,0.64,204.4,844.0,15.7,709,8803,0.00,1.77,0.00,0.000,4,0.000,0.046,2969,967,2236,0,0,0,0,0,0
$GC,8823,0.62,204.4,840.0,17.5,710,8827,0.12,1.77,0.00,0.000,6,0.188,0.041,2932,2159,2236,0,0,0,0,0,0
$GC,9157,0.63,218.4,794.7,13.2,726,9171,0.00,1.70,10.45,1.018,4,0.000,0.047,2932,3272,2200,0,0,0,0,0,0
$GC,9194,0.63,222.0,789.2,13.7,727,9204,0.00,1.77,5.30,0.819,6,0.000,0.037,2941,2085,2186,0,0,0,0,0,0
$GC,9533,0.63,232.9,744.1,13.4,744,9549,0.00,1.88,11.48,1.009,4,0.000,0.046,2941,3277,2140,0,0,0,0,0,0
$GC,9583,0.62,232.9,736.4,15.3,745,9586,0.00,1.80,0.00,0.000,6,0.000,0.036,2950,2081,2138,0,0,0,0,0,0
$GC,9904,0.62,232.9,689.0,14.9,761,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2079,2135,0,0,0,0,0,0
$GC,10214,0.61,232.9,641.2,15.3,776,10218,0.00,1.83,0.00,0.000,4,0.000,0.049,2950,3268,2133,0,0,0,0,0,0
$GC,10275,0.60,232.9,631.0,17.2,778,10282,0.10,1.80,0.00,0.000,6,0.155,0.037,2926,2096,2132,0,0,0,0,0,0
$GC,10595,0.64,266.7,590.1,12.3,797,10630,0.00,1.80,30.65,1.006,4,0.000,0.048,2935,971,2002,0,0,0,0,0,0
$GC,10714,0.68,298.6,574.6,12.4,807,10748,0.00,1.80,29.05,0.979,6,0.000,0.041,2934,2145,1873,0,0,0,0,0,0
$GC,11068,0.73,337.5,529.1,12.1,840,11108,0.00,0.00,34.25,0.955,6,0.000,0.000,2935,2146,1713,0,0,0,0,0,0
$GC,11427,0.73,343.1,481.7,13.6,874,11442,0.00,1.85,5.03,0.673,4,0.000,0.048,2943,967,1692,0,0,0,0,0,0
$GC,11499,0.75,353.8,472.1,13.4,880,11515,0.00,1.83,11.20,0.840,6,0.000,0.040,2943,2153,1647,0,0,0,0,0,0
$GC,11844,0.75,353.8,422.2,14.1,912,11847,0.00,1.80,0.00,0.000,4,0.000,0.046,2952,970,1641,0,0,0,0,0,0
$GC,11902,0.76,353.8,414.0,14.7,917,11906,0.00,1.75,0.00,0.000,6,0.000,0.039,2952,2147,1641,0,0,0,0,0,0
$GC,12233,0.76,353.8,363.6,14.5,948,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2147,1639,0,0,0,0,0,0
$GC,12555,0.78,368.0,320.2,13.2,978,12572,0.00,1.85,12.43,0.752,4,0.000,0.046,2961,970,1590,0,0,0,0,0,0
$GC,12651,0.82,398.1,307.1,12.5,986,12685,0.00,1.80,26.90,0.783,6,0.000,0.038,2961,2142,1467,0,0,0,0,0,0
$GC,13022,0.82,398.1,254.1,14.4,1047,13030,0.10,1.80,0.00,0.000,4,0.099,0.044,3025,967,1461,0,0,0,0,0,0
$GC,13106,0.82,398.1,239.6,16.7,1061,13115,0.12,1.77,0.00,0.000,6,0.167,0.037,2992,2153,1460,0,0,0,0,0,0
$GC,13459,0.82,398.1,184.0,15.2,1122,13467,0.00,1.83,0.00,0.000,4,0.000,0.044,3000,964,1460,0,0,0,0,0,0
$GC,13549,0.82,398.1,170.5,14.9,1137,13557,0.00,1.75,0.00,0.000,6,0.000,0.036,3000,2156,1460,0,0,0,0,0,0
$GC,13903,0.88,447.9,123.1,11.6,1198,13951,0.00,0.00,41.80,0.644,6,0.000,0.000,3000,2156,1263,0,0,0,0,0,0
$GC,14303,1.03,558.8,79.1,8.8,1264,14403,0.17,1.90,88.75,0.604,4,0.064,0.043,3108,970,811,0,0,0,0,0,0
$GC,14501,1.03,558.8,47.8,18.8,1292,14510,0.12,1.80,0.00,0.000,6,0.136,0.033,3066,2157,808,0,0,0,0,0,0
$STATE,14807,end climb,SURFACE_DEPTH_REACHED
$STATE,14807,begin surface coast
$FINISH,0.1,1.022025
$STATE,14827,end surface coast,CONTROL_FINISHED_OK
$STATE,14827,begin surface
$SM_CCo,14844,55.12,0.439,1,0,480,640.23
$SM_GC,0.67,0.00,0.00,55.12,0.000,0.000,0.439,142,1975,480,-8.08,-1.41,640.23
$IRIDIUM_FIX,2307.44,12558.71,271010,080828
$TT8_MAMPS,0.026215
$HUMID,45.55
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.5,56.254
$10V_AH,9.9,46.861
$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,20.325,105.050,673.925,55.125,0.000,30.033,37.731,202.044,0.000,0.000,14.661,3339.399,7264.586,744.565,3657.126,292.267,0.000,2063.070,0.000,3403.450,0.000,0.543,0.000
$DEVICE_MAMPS,227.970,76.500,1275.255,439.110,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.181,0.000,1849.894,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333664
$DATA_FILE_SIZE,80315,1346
$CAP_FILE_SIZE,162478,0
$CFSIZE,260165632,232796160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.207, 30.9,1
$GPS,271010,170954,2314.396,12558.523,114,1.2,114,-3.4