version: 66.08
glider: 169
mission: 2
dive: 379
start: 10 27 110 17 27 23
data:
$ID,169
$MISSION,2
$DIVE,379
$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,-7185.1479
$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
$GPS1,271010,170954,2314.396,12558.523,114,1.2,114,-3.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.6
$GPS2,271010,172656,2314.295,12558.470,35,1.9,35,-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,201.3,208763,-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,15,-0.69,-204.4,0.0,0.0,0,124,0.00,0.00,-105.78,0.000,2,0.000,0.000,125,1975,3306,0,0,0,0,0,0
$GC,127,-0.69,-204.4,4.5,-8.9,13,154,10.15,1.95,-10.73,0.000,4,0.246,0.069,2490,3173,3927,0,0,0,0,0,0
$GC,244,-0.67,-204.4,47.1,-24.1,31,254,0.00,1.83,0.00,0.000,6,0.000,0.046,2489,2011,3928,0,0,0,0,0,0
$GC,611,-0.66,-204.4,151.3,-24.0,92,620,0.00,1.75,0.00,0.000,4,0.000,0.050,2490,869,3929,0,0,0,0,0,0
$GC,749,-0.67,-204.4,175.0,-12.5,115,757,0.00,1.80,0.00,0.000,6,0.000,0.047,2489,2052,3929,0,0,0,0,0,0
$GC,1094,-0.67,-204.4,240.7,-17.7,176,1102,0.00,1.73,0.00,0.000,4,0.000,0.057,2489,3165,3929,0,0,0,0,0,0
$GC,1139,-0.67,-204.4,248.5,-17.6,183,1147,0.00,1.75,0.00,0.000,6,0.000,0.041,2489,1996,3929,0,0,0,0,0,0
$GC,1484,-0.67,-204.4,307.5,-16.5,240,1488,0.00,1.85,0.00,0.000,4,0.000,0.056,2489,3161,3928,0,0,0,0,0,0
$GC,1507,-0.67,-204.4,311.1,-15.7,242,1511,0.00,1.77,0.00,0.000,6,0.000,0.041,2489,2004,3928,0,0,0,0,0,0
$GC,1839,-0.67,-204.4,360.0,-15.1,273,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,2002,3926,0,0,0,0,0,0
$GC,2159,-0.68,-204.4,404.4,-13.2,303,2163,0.00,1.83,0.00,0.000,4,0.000,0.054,2489,3168,3924,0,0,0,0,0,0
$GC,2252,-0.69,-204.4,416.1,-12.3,311,2256,0.00,1.80,0.00,0.000,6,0.000,0.040,2489,1998,3924,0,0,0,0,0,0
$GC,2584,-0.69,-204.4,461.1,-13.7,342,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1996,3921,0,0,0,0,0,0
$GC,2904,-0.70,-204.4,500.1,-12.2,372,2908,0.00,1.83,0.00,0.000,4,0.000,0.055,2489,3169,3918,0,0,0,0,0,0
$GC,2984,-0.71,-204.4,508.9,-9.9,379,2988,0.00,1.75,0.00,0.000,6,0.000,0.039,2489,1996,3918,0,0,0,0,0,0
$GC,3315,-0.72,-204.4,548.1,-12.2,410,3319,0.00,1.85,0.00,0.000,4,0.000,0.055,2489,3171,3914,0,0,0,0,0,0
$GC,3399,-0.73,-204.4,557.9,-11.3,417,3405,0.00,1.77,0.00,0.000,6,0.000,0.041,2489,2001,3914,0,0,0,0,0,0
$GC,3725,-0.74,-204.4,598.0,-12.3,448,3728,0.00,1.85,0.00,0.000,4,0.000,0.055,2489,3177,3911,0,0,0,0,0,0
$GC,3759,-0.75,-204.4,602.2,-11.9,450,3762,0.00,1.77,0.00,0.000,6,0.000,0.041,2489,1998,3911,0,0,0,0,0,0
$GC,4080,-0.76,-204.4,640.0,-11.5,466,4084,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3160,3907,0,0,0,0,0,0
$GC,4104,-0.78,-204.4,642.7,-11.5,467,4108,0.00,1.75,0.00,0.000,6,0.000,0.041,2489,1997,3907,0,0,0,0,0,0
$GC,4438,-0.79,-204.4,678.6,-10.4,483,4441,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3169,3904,0,0,0,0,0,0
$GC,4510,-0.80,-204.4,685.4,-8.4,486,4514,0.00,1.75,0.00,0.000,6,0.000,0.041,2489,2000,3903,0,0,0,0,0,0
$GC,4838,-0.81,-204.4,715.1,-9.1,502,4842,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3175,3900,0,0,0,0,0,0
$GC,4910,-0.83,-204.4,721.2,-7.5,505,4914,0.00,1.83,0.00,0.000,6,0.000,0.044,2489,2000,3900,0,0,0,0,0,0
$GC,5238,-0.84,-204.4,751.2,-9.6,521,5242,0.00,1.85,0.00,0.000,4,0.000,0.057,2489,3160,3897,0,0,0,0,0,0
$GC,5321,-0.86,-204.4,758.7,-8.1,524,5329,0.10,1.75,0.00,0.000,6,0.112,0.044,2446,2001,3896,0,0,0,0,0,0
$GC,5638,-0.86,-204.4,801.6,-14.0,540,5641,0.00,1.85,0.00,0.000,4,0.000,0.060,2445,3167,3893,0,0,0,0,0,0
$GC,5684,-0.87,-204.4,807.7,-12.7,542,5688,0.00,1.77,0.00,0.000,6,0.000,0.044,2445,1998,3893,0,0,0,0,0,0
$GC,6017,-0.87,-204.4,854.8,-14.1,558,6021,0.00,1.88,0.00,0.000,4,0.000,0.061,2446,3174,3890,0,0,0,0,0,0
$GC,6056,-0.88,-204.4,860.3,-12.9,559,6064,0.00,1.80,0.00,0.000,6,0.000,0.047,2445,1999,3890,0,0,0,0,0,0
$GC,6372,-0.88,-204.4,903.2,-13.6,575,6376,0.00,1.85,0.00,0.000,4,0.000,0.060,2445,3167,3888,0,0,0,0,0,0
$GC,6400,-0.89,-204.4,907.1,-13.0,576,6403,0.00,1.77,0.00,0.000,6,0.000,0.045,2446,2000,3887,0,0,0,0,0,0
$GC,6728,-0.89,-204.4,947.5,-12.3,592,6732,0.00,1.85,0.00,0.000,4,0.000,0.061,2445,3169,3885,0,0,0,0,0,0
$GC,6761,-0.90,-204.4,951.7,-11.9,593,6765,0.00,1.80,0.00,0.000,6,0.000,0.047,2445,2003,3884,0,0,0,0,0,0
$GC,7084,-0.91,-204.4,990.6,-12.2,609,7087,0.00,1.85,0.00,0.000,4,0.000,0.061,2446,3167,3883,0,0,0,0,0,0
$GC,7123,-0.91,-204.4,995.3,-10.9,610,7129,0.00,1.77,0.00,0.000,6,0.000,0.047,2446,2004,3882,0,0,0,0,0,0
$STATE,7168,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7168,begin apogee
$GC,7173,-0.18,0.0,1000.6,11.4,613,7349,0.68,0.08,170.18,1.274,6,0.129,0.108,2665,2094,3091,0,0,0,0,0,0
$STATE,7350,end apogee,CONTROL_FINISHED_OK
$STATE,7350,begin climb
$GC,7352,0.69,204.4,1009.5,0.0,621,7556,0.80,1.90,193.00,1.241,4,0.060,0.046,2963,974,2255,0,0,0,0,0,0
$GC,7730,0.67,204.4,970.6,16.7,638,7737,0.00,1.77,0.00,0.000,6,0.000,0.041,2962,2148,2244,0,0,0,0,0,0
$GC,8046,0.66,204.4,915.2,17.9,654,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2148,2240,0,0,0,0,0,0
$GC,8356,0.65,204.4,863.2,16.9,669,8359,0.00,1.80,0.00,0.000,4,0.000,0.046,2971,960,2238,0,0,0,0,0,0
$GC,8379,0.63,204.4,859.4,16.4,670,8383,0.12,1.77,0.00,0.000,6,0.185,0.041,2938,2154,2237,0,0,0,0,0,0
$GC,8711,0.62,204.4,810.7,14.2,686,8715,0.00,1.77,0.00,0.000,4,0.000,0.047,2946,967,2236,0,0,0,0,0,0
$GC,8739,0.62,204.4,806.5,14.6,687,8742,0.00,1.75,0.00,0.000,6,0.000,0.041,2945,2147,2236,0,0,0,0,0,0
$GC,9066,0.61,204.4,761.5,13.9,703,9069,0.00,1.77,0.00,0.000,4,0.000,0.046,2953,963,2234,0,0,0,0,0,0
$GC,9098,0.60,204.4,756.7,14.1,704,9102,0.00,1.80,0.00,0.000,6,0.000,0.041,2950,2143,2234,0,0,0,0,0,0
$GC,9421,0.59,204.4,710.9,14.5,720,9422,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2143,2234,0,0,0,0,0,0
$GC,9730,0.58,204.4,664.9,14.2,735,9731,0.12,0.00,0.00,0.000,6,0.187,0.000,2918,2145,2232,0,0,0,0,0,0
$GC,10040,0.63,253.1,627.7,11.7,750,10087,0.00,1.90,41.30,1.030,4,0.000,0.046,2927,965,2057,0,0,0,0,0,0
$GC,10154,0.70,302.6,613.8,11.6,755,10203,0.00,1.85,44.22,1.009,6,0.000,0.040,2922,2150,1857,0,0,0,0,0,0
$GC,10527,0.75,347.6,568.6,11.8,785,10574,0.15,1.85,38.97,0.979,4,0.075,0.044,3004,970,1672,0,0,0,0,0,0
$GC,10602,0.75,347.6,555.8,17.5,791,10611,0.12,1.83,0.00,0.000,6,0.172,0.041,2968,2149,1668,0,0,0,0,0,0
$GC,10927,0.74,347.6,502.2,16.6,822,10931,0.00,1.80,0.00,0.000,4,0.000,0.046,2978,959,1663,0,0,0,0,0,0
$GC,10999,0.74,347.6,490.2,15.6,828,11008,0.00,1.80,0.00,0.000,6,0.000,0.039,2974,2141,1662,0,0,0,0,0,0
$GC,11326,0.74,347.6,435.3,18.3,859,11330,0.00,1.80,0.00,0.000,4,0.000,0.045,2983,960,1661,0,0,0,0,0,0
$GC,11384,0.74,347.6,424.9,16.5,864,11387,0.00,1.77,0.00,0.000,6,0.000,0.039,2980,2157,1660,0,0,0,0,0,0
$GC,11717,0.74,347.6,368.1,16.7,895,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2157,1659,0,0,0,0,0,0
$GC,12036,0.74,347.6,318.1,15.1,925,12040,0.00,1.77,0.00,0.000,4,0.000,0.045,2989,968,1659,0,0,0,0,0,0
$GC,12151,0.74,347.6,300.7,14.9,935,12154,0.00,1.77,0.00,0.000,6,0.000,0.038,2988,2157,1658,0,0,0,0,0,0
$GC,12498,0.73,347.6,245.1,16.6,995,12506,0.00,1.80,0.00,0.000,4,0.000,0.044,2997,967,1659,0,0,0,0,0,0
$GC,12604,0.73,347.6,229.0,14.0,1013,12611,0.10,1.75,0.00,0.000,6,0.169,0.038,2970,2158,1659,0,0,0,0,0,0
$GC,12954,0.75,362.1,183.6,13.2,1074,12970,0.00,1.88,11.55,0.634,4,0.000,0.044,2979,961,1614,0,0,0,0,0,0
$GC,13018,0.79,386.5,175.3,12.8,1084,13047,0.00,1.80,21.80,0.662,6,0.000,0.036,2977,2154,1514,0,0,0,0,0,0
$GC,13398,0.86,437.6,127.5,11.6,1148,13447,0.00,1.90,43.10,0.641,4,0.000,0.042,2986,961,1305,0,0,0,0,0,0
$GC,13501,0.95,502.1,115.8,10.9,1162,13560,0.10,1.83,53.28,0.627,6,0.046,0.036,3052,2154,1043,0,0,0,0,0,0
$GC,13913,0.96,506.6,56.1,13.7,1229,13923,0.00,1.88,4.53,0.404,4,0.000,0.042,3057,957,1024,0,0,0,0,0,0
$GC,14056,0.97,506.6,36.2,15.8,1252,14064,0.00,1.77,0.00,0.000,6,0.000,0.034,3057,2147,1023,0,0,0,0,0,0
$STATE,14315,end climb,SURFACE_DEPTH_REACHED
$STATE,14315,begin surface coast
$FINISH,1.1,1.022041
$STATE,14335,end surface coast,CONTROL_FINISHED_OK
$STATE,14335,begin surface
$SM_CCo,14352,84.62,0.057,0,0,481,640.23
$SM_GC,1.21,0.00,0.00,84.62,0.000,0.000,0.057,150,1972,481,-8.07,-1.50,640.23
$IRIDIUM_FIX,2307.44,12555.44,271010,171706
$TT8_MAMPS,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.50
$XPDR_PINGS,1
$24V_AH,22.6,56.477
$10V_AH,9.9,47.018
$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,20.550,109.175,621.925,84.625,0.000,111.813,113.082,420.699,0.250,0.000,36.538,3240.909,7171.085,714.798,4017.869,303.933,0.000,2012.707,0.000,3340.658,0.000,0.544,0.000
$DEVICE_MAMPS,245.565,107.865,1273.725,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,879.685,0.000,1792.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333644
$DATA_FILE_SIZE,77026,1298
$CAP_FILE_SIZE,165612,0
$CFSIZE,260165632,232714240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 49.9,1
$GPS,271010,212907,2312.657,12557.847,38,1.9,38,-3.4