version: 66.08
glider: 169
mission: 2
dive: 380
start: 10 27 110 21 42 49
data:
$ID,169
$MISSION,2
$DIVE,380
$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,-7186.4067
$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
$GPS1,271010,212907,2312.657,12557.847,38,1.9,38,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.2
$GPS2,271010,214222,2312.565,12557.699,11,2.1,30,-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,192.1,205596,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,119,0.00,0.00,-99.57,0.000,2,0.000,0.000,123,1971,3183,0,0,0,0,0,0
$GC,121,-0.69,-204.4,4.0,-5.6,12,156,9.95,1.95,-12.55,0.000,4,0.248,0.066,2489,3178,3930,0,0,0,0,0,0
$GC,258,-0.67,-204.4,58.2,-27.7,33,268,0.00,1.85,0.00,0.000,6,0.000,0.044,2489,2003,3930,0,0,0,0,0,0
$GC,625,-0.66,-204.4,148.1,-18.8,94,634,0.00,1.73,0.00,0.000,4,0.000,0.047,2489,869,3931,0,0,0,0,0,0
$GC,719,-0.66,-204.4,166.7,-17.5,110,728,0.00,1.83,0.00,0.000,6,0.000,0.047,2489,2049,3931,0,0,0,0,0,0
$GC,1070,-0.66,-204.4,230.7,-17.9,171,1077,0.00,1.73,0.00,0.000,4,0.000,0.056,2487,3178,3931,0,0,0,0,0,0
$GC,1153,-0.66,-204.4,243.1,-12.9,185,1161,0.00,1.77,0.00,0.000,6,0.000,0.041,2487,1998,3931,0,0,0,0,0,0
$GC,1499,-0.66,-204.4,295.8,-14.7,246,1507,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1997,3929,0,0,0,0,0,0
$GC,1832,-0.66,-204.4,344.0,-15.5,279,1836,0.00,1.85,0.00,0.000,4,0.000,0.055,2487,3174,3929,0,0,0,0,0,0
$GC,1913,-0.67,-204.4,355.6,-12.5,286,1917,0.00,1.77,0.00,0.000,6,0.000,0.041,2487,1989,3928,0,0,0,0,0,0
$GC,2246,-0.68,-204.4,403.3,-13.0,317,2250,0.00,1.88,0.00,0.000,4,0.000,0.057,2487,3162,3926,0,0,0,0,0,0
$GC,2316,-0.69,-204.4,411.7,-11.7,323,2320,0.00,1.77,0.00,0.000,6,0.000,0.040,2487,1993,3926,0,0,0,0,0,0
$GC,2649,-0.69,-204.4,453.6,-12.7,354,2653,0.00,1.85,0.00,0.000,4,0.000,0.055,2487,3168,3923,0,0,0,0,0,0
$GC,2699,-0.70,-204.4,459.9,-10.9,358,2707,0.00,1.80,0.00,0.000,6,0.000,0.040,2487,2000,3923,0,0,0,0,0,0
$GC,3026,-0.71,-204.4,499.0,-12.1,389,3030,0.00,1.88,0.00,0.000,4,0.000,0.054,2487,3171,3920,0,0,0,0,0,0
$GC,3084,-0.72,-204.4,505.7,-11.2,394,3088,0.00,1.75,0.00,0.000,6,0.000,0.041,2487,2002,3920,0,0,0,0,0,0
$GC,3416,-0.73,-204.4,545.8,-12.4,425,3419,0.00,1.83,0.00,0.000,4,0.000,0.054,2487,3171,3918,0,0,0,0,0,0
$GC,3462,-0.74,-204.4,551.2,-11.7,429,3465,0.00,1.80,0.00,0.000,6,0.000,0.041,2487,1990,3917,0,0,0,0,0,0
$GC,3793,-0.75,-204.4,588.9,-11.4,460,3796,0.00,1.88,0.00,0.000,4,0.000,0.057,2487,3171,3914,0,0,0,0,0,0
$GC,3820,-0.76,-204.4,592.2,-11.6,462,3827,0.00,1.77,0.00,0.000,6,0.000,0.042,2487,1997,3914,0,0,0,0,0,0
$GC,4150,-0.77,-204.4,628.2,-11.3,482,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1996,3911,0,0,0,0,0,0
$GC,4458,-0.78,-204.4,660.8,-10.0,497,4460,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1996,3908,0,0,0,0,0,0
$GC,4768,-0.79,-204.4,689.8,-9.3,512,4772,0.00,1.88,0.00,0.000,4,0.000,0.057,2487,3161,3905,0,0,0,0,0,0
$GC,4801,-0.80,-204.4,692.9,-8.3,513,4805,0.00,1.75,0.00,0.000,6,0.000,0.043,2487,2003,3904,0,0,0,0,0,0
$GC,5123,-0.81,-204.4,723.8,-10.1,529,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2002,3902,0,0,0,0,0,0
$GC,5433,-0.82,-204.4,756.1,-10.4,544,5437,0.00,1.85,0.00,0.000,4,0.000,0.057,2487,3167,3899,0,0,0,0,0,0
$GC,5494,-0.84,-204.4,762.2,-8.9,546,5501,0.00,1.75,0.00,0.000,6,0.000,0.042,2487,2001,3899,0,0,0,0,0,0
$GC,5811,-0.85,-204.4,794.2,-10.2,562,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,2000,3896,0,0,0,0,0,0
$GC,6120,-0.86,-204.4,824.8,-9.8,577,6124,0.10,1.88,0.00,0.000,4,0.114,0.059,2445,3168,3894,0,0,0,0,0,0
$GC,6158,-0.87,-204.4,829.3,-11.7,578,6164,0.00,1.80,0.00,0.000,6,0.000,0.046,2444,2003,3893,0,0,0,0,0,0
$GC,6475,-0.88,-204.4,870.3,-12.8,594,6479,0.00,1.75,0.00,0.000,4,0.000,0.055,2445,884,3891,0,0,0,0,0,0
$GC,6502,-0.88,-204.4,874.2,-13.7,595,6505,0.00,1.77,0.00,0.000,6,0.000,0.051,2444,2041,3891,0,0,0,0,0,0
$GC,6830,-0.89,-204.4,914.3,-12.8,611,6833,0.00,1.77,0.00,0.000,4,0.000,0.061,2444,3168,3889,0,0,0,0,0,0
$GC,6876,-0.90,-204.4,919.8,-11.2,613,6880,0.00,1.77,0.00,0.000,6,0.000,0.044,2444,2002,3888,0,0,0,0,0,0
$GC,7209,-0.90,-204.4,961.0,-12.5,629,7213,0.00,1.85,0.00,0.000,4,0.000,0.060,2444,3172,3886,0,0,0,0,0,0
$GC,7256,-0.91,-204.4,966.3,-11.1,631,7259,0.00,1.80,0.00,0.000,6,0.000,0.047,2444,2000,3886,0,0,0,0,0,0
$STATE,7545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7545,begin apogee
$GC,7550,-0.18,0.0,1002.2,12.4,645,7728,0.68,0.08,172.15,1.277,6,0.128,0.105,2663,2094,3091,0,0,0,0,0,0
$STATE,7729,end apogee,CONTROL_FINISHED_OK
$STATE,7729,begin climb
$GC,7731,0.69,204.4,1011.5,0.0,653,7933,0.77,2.08,194.30,1.249,4,0.052,0.046,2952,3272,2256,0,0,0,0,0,0
$GC,8051,0.67,204.4,981.5,18.1,668,8058,0.00,1.83,0.00,0.000,6,0.000,0.035,2961,2095,2245,0,0,0,0,0,0
$GC,8367,0.66,204.4,927.3,16.8,684,8368,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2093,2240,0,0,0,0,0,0
$GC,8676,0.64,204.4,876.4,16.5,699,8677,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2093,2238,0,0,0,0,0,0
$GC,8987,0.63,204.4,826.2,16.1,714,8990,0.00,1.70,0.00,0.000,4,0.000,0.047,2969,969,2236,0,0,0,0,0,0
$GC,9025,0.62,204.4,819.5,17.2,715,9032,0.10,1.80,0.00,0.000,6,0.166,0.041,2933,2149,2236,0,0,0,0,0,0
$GC,9341,0.63,219.9,775.8,13.2,731,9363,0.00,1.88,12.10,1.034,4,0.000,0.047,2941,968,2193,0,0,0,0,0,0
$GC,9420,0.64,230.9,765.4,13.4,734,9437,0.00,1.77,12.05,1.021,6,0.000,0.041,2937,2148,2149,0,0,0,0,0,0
$GC,9760,0.63,230.9,718.0,14.3,751,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2149,2142,0,0,0,0,0,0
$GC,10068,0.63,230.9,673.8,14.2,766,10069,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2149,2140,0,0,0,0,0,0
$GC,10377,0.62,230.9,629.1,13.9,781,10381,0.00,1.80,0.00,0.000,4,0.000,0.047,2946,969,2138,0,0,0,0,0,0
$GC,10449,0.62,230.9,618.9,13.9,784,10453,0.00,1.77,0.00,0.000,6,0.000,0.041,2945,2157,2138,0,0,0,0,0,0
$GC,10773,0.61,230.9,573.2,14.5,808,10777,0.00,1.73,0.00,0.000,4,0.000,0.047,2946,3274,2137,0,0,0,0,0,0
$GC,10800,0.60,230.9,568.7,14.9,810,10807,0.00,1.80,0.00,0.000,6,0.000,0.035,2954,2074,2136,0,0,0,0,0,0
$GC,11126,0.60,235.8,523.5,13.7,841,11129,0.00,1.67,0.00,0.000,4,0.000,0.047,2963,960,2136,0,0,0,0,0,0
$GC,11184,0.61,250.1,516.0,13.2,846,11208,0.08,1.80,17.27,0.924,6,0.161,0.041,2935,2141,2071,0,0,0,0,0,0
$GC,11526,0.66,292.7,471.8,11.9,878,11567,0.00,0.00,38.10,0.925,6,0.000,0.000,2936,2141,1897,0,0,0,0,0,0
$GC,11883,0.69,310.0,426.0,13.1,912,11909,0.00,1.88,15.25,0.840,4,0.000,0.046,2944,967,1827,0,0,0,0,0,0
$GC,12015,0.72,338.5,409.2,12.6,923,12051,0.00,1.80,26.25,0.855,6,0.000,0.039,2944,2152,1708,0,0,0,0,0,0
$GC,12368,0.76,361.9,360.7,12.8,956,12391,0.00,0.00,20.23,0.808,6,0.000,0.000,2944,2153,1615,0,0,0,0,0,0
$GC,12707,0.79,386.2,316.7,12.8,988,12734,0.12,1.90,21.35,0.776,4,0.084,0.046,3019,961,1515,0,0,0,0,0,0
$GC,12880,0.79,386.2,286.5,17.6,1009,12889,0.12,1.77,0.00,0.000,6,0.173,0.039,2985,2150,1511,0,0,0,0,0,0
$GC,13232,0.79,386.2,225.3,17.3,1070,13241,0.00,1.80,0.00,0.000,4,0.000,0.044,2993,973,1509,0,0,0,0,0,0
$GC,13336,0.79,386.2,208.8,14.3,1088,13345,0.00,1.77,0.00,0.000,6,0.000,0.037,2993,2149,1509,0,0,0,0,0,0
$GC,13686,0.81,404.7,156.8,13.0,1149,13707,0.00,0.00,16.23,0.643,6,0.000,0.000,2993,2150,1440,0,0,0,0,0,0
$GC,14066,0.93,493.7,113.5,9.8,1212,14148,0.10,1.85,73.68,0.633,4,0.097,0.039,3061,957,1077,0,0,0,0,0,0
$GC,14165,0.93,493.7,99.0,16.1,1224,14174,0.00,1.85,0.00,0.000,6,0.000,0.034,3058,2156,1076,0,0,0,0,0,0
$GC,14526,0.93,493.7,39.0,21.2,1285,14535,0.00,1.80,0.00,0.000,4,0.000,0.040,3068,971,1072,0,0,0,0,0,0
$GC,14668,0.95,505.2,15.6,13.4,1308,14686,0.08,1.75,10.15,0.493,6,0.135,0.033,3041,2154,1029,0,0,0,0,0,0
$STATE,14818,end climb,SURFACE_DEPTH_REACHED
$STATE,14818,begin surface coast
$FINISH,1.0,1.022059
$STATE,14856,end surface coast,CONTROL_FINISHED_OK
$STATE,14856,begin surface
$SM_CCo,14872,93.53,0.482,1,0,480,640.23
$SM_GC,0.99,0.00,0.00,93.53,0.000,0.000,0.482,137,1964,480,-8.08,-1.72,640.23
$IRIDIUM_FIX,2302.75,12557.33,271010,212125
$TT8_MAMPS,0.026215
$HUMID,44.68
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.40
$XPDR_PINGS,1
$24V_AH,22.5,56.705
$10V_AH,9.9,47.174
$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,20.200,94.625,629.100,93.525,0.000,80.589,136.036,300.913,0.250,0.000,32.541,3306.489,7526.555,750.039,3884.817,287.622,0.000,2046.761,0.000,3352.853,0.000,0.546,0.000
$DEVICE_MAMPS,247.860,104.805,1276.785,481.950,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.908,0.000,1833.921,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,80184,1338
$CAP_FILE_SIZE,161002,1
$CFSIZE,260165632,232636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.095,345.0,1
$GPS,281010,015424,2311.215,12556.642,95,1.2,95,-3.4