version: 66.08
glider: 169
mission: 2
dive: 381
start: 10 28 110 2 4 35
data:
$ID,169
$MISSION,2
$DIVE,381
$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,-7187.6655
$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
$GPS1,281010,015424,2311.215,12556.642,95,1.2,95,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.8
$GPS2,281010,020406,2311.195,12556.493,43,1.0,43,-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,177.6,203132,-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,-204.4,0.0,0.0,0,115,0.00,0.00,-97.70,0.000,2,0.000,0.000,123,1964,3135,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.8,-6.1,12,152,9.70,1.73,-13.95,0.000,4,0.236,0.070,2497,882,3928,0,0,0,0,0,0
$GC,310,-0.67,-204.4,71.7,-26.7,43,320,0.00,1.83,0.00,0.000,6,0.000,0.052,2498,2043,3929,0,0,0,0,0,0
$GC,675,-0.67,-204.4,157.8,-20.9,104,683,0.00,1.83,0.00,0.000,4,0.000,0.050,2498,871,3931,0,0,0,0,0,0
$GC,743,-0.67,-204.4,171.4,-18.7,115,751,0.00,1.80,0.00,0.000,6,0.000,0.049,2497,2049,3932,0,0,0,0,0,0
$GC,1087,-0.67,-204.4,233.7,-16.7,176,1096,0.00,1.75,0.00,0.000,4,0.000,0.058,2498,3166,3931,0,0,0,0,0,0
$GC,1182,-0.68,-204.4,247.5,-13.3,192,1190,0.00,1.77,0.00,0.000,6,0.000,0.039,2498,2003,3931,0,0,0,0,0,0
$GC,1536,-0.68,-204.4,302.0,-14.5,253,1539,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3931,0,0,0,0,0,0
$GC,1574,-0.68,-204.4,307.9,-14.1,256,1583,0.00,1.80,0.00,0.000,6,0.000,0.040,2497,1999,3931,0,0,0,0,0,0
$GC,1902,-0.69,-204.4,353.1,-13.3,287,1905,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3164,3929,0,0,0,0,0,0
$GC,1936,-0.69,-204.4,358.0,-12.9,290,1940,0.00,1.75,0.00,0.000,6,0.000,0.039,2497,1998,3929,0,0,0,0,0,0
$GC,2269,-0.70,-204.4,401.6,-13.4,321,2273,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3163,3927,0,0,0,0,0,0
$GC,2340,-0.71,-204.4,410.6,-12.5,327,2344,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,1995,3926,0,0,0,0,0,0
$GC,2673,-0.72,-204.4,453.7,-12.7,358,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1993,3924,0,0,0,0,0,0
$GC,2993,-0.73,-204.4,490.6,-10.8,388,2996,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3173,3921,0,0,0,0,0,0
$GC,3040,-0.74,-204.4,495.4,-8.8,392,3043,0.00,1.80,0.00,0.000,6,0.000,0.042,2498,1998,3921,0,0,0,0,0,0
$GC,3371,-0.75,-204.4,529.3,-10.5,423,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1997,3918,0,0,0,0,0,0
$GC,3691,-0.76,-204.4,562.5,-10.4,453,3692,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1997,3916,0,0,0,0,0,0
$GC,4009,-0.77,-204.4,595.6,-10.5,483,4013,0.00,1.88,0.00,0.000,4,0.000,0.056,2497,3165,3913,0,0,0,0,0,0
$GC,4116,-0.79,-204.4,605.3,-8.7,489,4122,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3912,0,0,0,0,0,0
$GC,4433,-0.80,-204.4,636.6,-10.1,505,4434,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2001,3909,0,0,0,0,0,0
$GC,4742,-0.81,-204.4,667.8,-9.9,520,4746,0.00,1.83,0.00,0.000,4,0.000,0.056,2498,3168,3906,0,0,0,0,0,0
$GC,4788,-0.83,-204.4,672.2,-9.0,522,4792,0.10,1.75,0.00,0.000,6,0.113,0.040,2457,2000,3906,0,0,0,0,0,0
$GC,5122,-0.83,-204.4,715.3,-13.0,538,5126,0.00,1.88,0.00,0.000,4,0.000,0.058,2457,3167,3903,0,0,0,0,0,0
$GC,5156,-0.84,-204.4,719.5,-11.5,539,5160,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,1998,3903,0,0,0,0,0,0
$GC,5478,-0.85,-204.4,758.4,-12.0,555,5481,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3172,3900,0,0,0,0,0,0
$GC,5517,-0.86,-204.4,763.1,-11.5,556,5523,0.00,1.77,0.00,0.000,6,0.000,0.046,2457,2004,3900,0,0,0,0,0,0
$GC,5834,-0.86,-204.4,802.3,-12.8,572,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2456,2003,3897,0,0,0,0,0,0
$GC,6142,-0.87,-204.4,841.6,-12.8,587,6146,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3174,3894,0,0,0,0,0,0
$GC,6189,-0.88,-204.4,847.0,-11.3,589,6193,0.00,1.77,0.00,0.000,6,0.000,0.046,2457,2004,3894,0,0,0,0,0,0
$GC,6522,-0.89,-204.4,886.1,-11.4,605,6523,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2002,3893,0,0,0,0,0,0
$GC,6835,-0.89,-204.4,919.3,-10.4,620,6839,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3167,3890,0,0,0,0,0,0
$GC,6896,-0.90,-204.4,925.8,-10.0,622,6903,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2002,3890,0,0,0,0,0,0
$GC,7212,-0.91,-204.4,958.4,-10.6,638,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2001,3888,0,0,0,0,0,0
$GC,7522,-0.92,-204.4,989.8,-10.1,653,7526,0.00,1.85,0.00,0.000,4,0.000,0.061,2457,3168,3886,0,0,0,0,0,0
$GC,7583,-0.93,-204.4,995.8,-9.4,655,7591,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,2003,3885,0,0,0,0,0,0
$STATE,7629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7629,begin apogee
$GC,7635,-0.18,0.0,1000.5,9.8,658,7812,0.65,0.05,170.23,1.276,6,0.131,0.067,2666,2100,3091,0,0,0,0,0,0
$STATE,7812,end apogee,CONTROL_FINISHED_OK
$STATE,7812,begin climb
$GC,7815,0.69,204.4,1007.9,0.0,666,8020,0.80,1.88,194.10,1.248,4,0.067,0.044,2958,974,2255,0,0,0,0,0,0
$GC,8250,0.68,204.4,960.9,15.9,686,8254,0.00,1.80,0.00,0.000,6,0.000,0.039,2957,2139,2243,0,0,0,0,0,0
$GC,8577,0.66,204.4,907.9,16.4,702,8578,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2140,2239,0,0,0,0,0,0
$GC,8887,0.65,204.4,857.0,16.3,717,8888,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2140,2238,0,0,0,0,0,0
$GC,9196,0.64,204.4,806.6,15.8,732,9200,0.00,1.73,0.00,0.000,4,0.000,0.047,2958,3273,2236,0,0,0,0,0,0
$GC,9235,0.62,204.4,799.9,17.2,733,9242,0.10,1.80,0.00,0.000,6,0.164,0.036,2935,2095,2236,0,0,0,0,0,0
$GC,9551,0.64,227.1,757.9,12.9,749,9574,0.00,1.80,18.35,1.069,4,0.000,0.047,2943,960,2165,0,0,0,0,0,0
$GC,9636,0.65,236.0,746.4,13.5,752,9651,0.00,1.83,9.93,0.975,6,0.000,0.040,2943,2158,2128,0,0,0,0,0,0
$GC,9975,0.66,244.5,699.0,13.5,769,9989,0.00,1.77,8.27,0.924,4,0.000,0.047,2943,3278,2094,0,0,0,0,0,0
$GC,10011,0.65,244.5,693.3,14.1,770,10018,0.00,1.83,0.00,0.000,6,0.000,0.036,2952,2092,2093,0,0,0,0,0,0
$GC,10328,0.64,244.5,646.9,14.8,786,10329,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2090,2090,0,0,0,0,0,0
$GC,10637,0.64,244.5,601.1,15.1,801,10641,0.00,1.73,0.00,0.000,4,0.000,0.047,2960,965,2088,0,0,0,0,0,0
$GC,10733,0.63,247.9,587.3,13.7,808,10740,0.00,1.77,0.00,0.000,6,0.000,0.040,2960,2158,2088,0,0,0,0,0,0
$GC,11058,0.63,247.9,539.2,15.2,839,11062,0.00,1.73,0.00,0.000,4,0.000,0.047,2960,3272,2087,0,0,0,0,0,0
$GC,11129,0.62,247.9,527.8,15.8,845,11137,0.15,1.80,0.00,0.000,6,0.172,0.035,2929,2075,2086,0,0,0,0,0,0
$GC,11455,0.70,311.0,489.4,11.0,876,11520,0.00,1.77,58.80,0.950,4,0.000,0.049,2935,974,1822,0,0,0,0,0,0
$GC,11564,0.78,377.4,477.9,10.9,885,11627,0.12,1.80,57.40,0.924,6,0.081,0.038,3000,2158,1552,0,0,0,0,0,0
$GC,11955,0.78,377.4,407.7,19.4,921,11958,0.00,1.83,0.00,0.000,4,0.000,0.045,3009,964,1541,0,0,0,0,0,0
$GC,12056,0.77,377.4,388.2,16.9,930,12061,0.10,1.77,0.00,0.000,6,0.177,0.040,2984,2153,1540,0,0,0,0,0,0
$GC,12389,0.77,377.4,330.8,16.1,961,12393,0.00,1.83,0.00,0.000,4,0.000,0.045,2993,971,1538,0,0,0,0,0,0
$GC,12449,0.77,377.4,320.6,14.9,966,12458,0.00,1.80,0.00,0.000,6,0.000,0.038,2990,2153,1538,0,0,0,0,0,0
$GC,12788,0.77,377.4,265.3,17.1,1015,12796,0.00,1.80,0.00,0.000,4,0.000,0.045,2999,963,1537,0,0,0,0,0,0
$GC,12862,0.77,377.4,253.8,15.0,1027,12869,0.00,1.80,0.00,0.000,6,0.000,0.039,2999,2148,1537,0,0,0,0,0,0
$GC,13210,0.77,377.4,196.3,16.6,1088,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2148,1537,0,0,0,0,0,0
$GC,13562,0.77,377.4,146.5,14.1,1149,13570,0.00,1.83,0.00,0.000,4,0.000,0.042,3008,959,1537,0,0,0,0,0,0
$GC,13740,0.81,403.1,123.0,12.7,1178,13766,0.00,1.77,20.70,0.629,6,0.000,0.034,3008,2145,1447,0,0,0,0,0,0
$GC,14118,0.97,530.8,78.4,8.1,1241,14232,0.10,1.88,103.00,0.609,4,0.098,0.041,3079,973,926,0,0,0,0,0,0
$GC,14301,1.02,560.0,54.6,12.6,1266,14335,0.00,1.80,24.10,0.563,6,0.000,0.031,3079,2161,807,0,0,0,0,0,0
$STATE,14656,end climb,SURFACE_DEPTH_REACHED
$STATE,14656,begin surface coast
$FINISH,0.2,0.999137
$STATE,14682,end surface coast,CONTROL_FINISHED_OK
$STATE,14682,begin surface
$SM_CCo,14699,54.25,0.057,0,0,481,640.23
$SM_GC,0.86,0.00,0.00,54.25,0.000,0.000,0.057,136,1973,481,-8.11,-1.47,640.23
$IRIDIUM_FIX,2305.10,12555.44,271010,212142
$TT8_MAMPS,0.026215
$HUMID,45.86
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,22.5,56.922
$10V_AH,9.9,47.330
$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,19.875,94.225,664.875,54.250,0.000,26.626,45.225,305.128,0.250,0.000,44.191,3282.200,7234.124,711.515,3765.620,317.759,0.000,2041.107,0.000,3377.280,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,76.500,1276.020,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.666,0.000,1827.494,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80257,1329
$CAP_FILE_SIZE,160694,0
$CFSIZE,260165632,232554496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091, 15.2,1
$GPS,281010,061136,2309.666,12556.550,39,1.1,39,-3.4