version: 66.08
glider: 169
mission: 2
dive: 384
start: 10 28 110 14 51 47
data:
$ID,169
$MISSION,2
$DIVE,384
$N_DIVES,395
$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,-7193.4033
$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
$GPS1,281010,144007,2306.442,12555.242,80,0.9,80,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-62.3
$GPS2,281010,145120,2306.545,12555.179,13,1.8,13,-3.3
$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,172.2,194635,-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,-204.4,0.0,0.0,0,91,0.00,0.00,-73.43,0.000,2,0.000,0.000,122,1983,2477,0,0,0,0,0,0
$GC,94,-0.69,-204.4,3.1,-4.7,9,144,9.80,1.75,-32.03,0.000,4,0.231,0.073,2500,882,3927,0,0,0,0,0,0
$GC,304,-0.68,-204.4,51.9,-19.3,42,313,0.00,1.83,0.00,0.000,6,0.000,0.053,2500,2038,3927,0,0,0,0,0,0
$GC,671,-0.67,-204.4,143.7,-21.0,103,679,0.00,1.77,0.00,0.000,4,0.000,0.063,2500,3160,3928,0,0,0,0,0,0
$GC,757,-0.67,-204.4,160.1,-15.7,117,764,0.00,1.75,0.00,0.000,6,0.000,0.044,2500,2003,3928,0,0,0,0,0,0
$GC,1112,-0.67,-204.4,226.6,-18.6,178,1122,0.00,1.73,0.00,0.000,4,0.000,0.049,2500,878,3928,0,0,0,0,0,0
$GC,1160,-0.68,-204.4,234.5,-17.4,185,1167,0.00,1.75,0.00,0.000,6,0.000,0.050,2500,2042,3928,0,0,0,0,0,0
$GC,1515,-0.68,-204.4,293.5,-15.0,246,1524,0.00,1.75,0.00,0.000,4,0.000,0.059,2500,3162,3928,0,0,0,0,0,0
$GC,1593,-0.69,-204.4,304.4,-12.7,256,1602,0.00,1.80,0.00,0.000,6,0.000,0.042,2500,2000,3927,0,0,0,0,0,0
$GC,1922,-0.69,-204.4,349.6,-12.9,287,1926,0.00,1.85,0.00,0.000,4,0.000,0.056,2500,3161,3926,0,0,0,0,0,0
$GC,1947,-0.69,-204.4,352.9,-12.7,289,1951,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,2004,3926,0,0,0,0,0,0
$GC,2279,-0.70,-204.4,394.8,-13.1,320,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2002,3924,0,0,0,0,0,0
$GC,2598,-0.71,-204.4,437.5,-13.4,350,2601,0.00,1.85,0.00,0.000,4,0.000,0.056,2500,3174,3922,0,0,0,0,0,0
$GC,2645,-0.72,-204.4,443.7,-12.0,354,2648,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,1985,3921,0,0,0,0,0,0
$GC,2978,-0.73,-204.4,484.5,-11.7,385,2982,0.00,1.90,0.00,0.000,4,0.000,0.057,2499,3167,3919,0,0,0,0,0,0
$GC,3004,-0.74,-204.4,487.3,-11.4,387,3008,0.00,1.80,0.00,0.000,6,0.000,0.039,2500,1999,3919,0,0,0,0,0,0
$GC,3335,-0.75,-204.4,523.0,-10.9,418,3338,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3916,0,0,0,0,0,0
$GC,3373,-0.77,-204.4,527.1,-9.6,421,3380,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,2000,3916,0,0,0,0,0,0
$GC,3699,-0.78,-204.4,564.3,-12.0,452,3703,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3172,3914,0,0,0,0,0,0
$GC,3745,-0.79,-204.4,569.5,-10.8,456,3748,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,1990,3913,0,0,0,0,0,0
$GC,4086,-0.80,-204.4,606.7,-10.2,485,4090,0.00,1.88,0.00,0.000,4,0.000,0.057,2500,3173,3910,0,0,0,0,0,0
$GC,4136,-0.82,-204.4,611.5,-8.6,487,4140,0.10,1.77,0.00,0.000,6,0.116,0.043,2458,1990,3909,0,0,0,0,0,0
$GC,4465,-0.82,-204.4,652.2,-12.3,503,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1988,3905,0,0,0,0,0,0
$GC,4772,-0.83,-204.4,691.5,-12.8,518,4776,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3168,3903,0,0,0,0,0,0
$GC,4841,-0.84,-204.4,699.9,-11.3,521,4844,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2000,3903,0,0,0,0,0,0
$GC,5174,-0.84,-204.4,744.4,-13.4,537,5177,0.00,1.70,0.00,0.000,4,0.000,0.054,2458,880,3900,0,0,0,0,0,0
$GC,5198,-0.85,-204.4,747.7,-13.8,538,5201,0.00,1.77,0.00,0.000,6,0.000,0.050,2458,2042,3900,0,0,0,0,0,0
$GC,5531,-0.85,-204.4,791.7,-13.0,554,5535,0.00,1.75,0.00,0.000,4,0.000,0.060,2458,3168,3897,0,0,0,0,0,0
$GC,5580,-0.86,-204.4,798.0,-11.7,556,5584,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2003,3897,0,0,0,0,0,0
$GC,5909,-0.87,-204.4,839.9,-12.8,572,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2001,3894,0,0,0,0,0,0
$GC,6218,-0.87,-204.4,878.9,-12.7,587,6221,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3168,3892,0,0,0,0,0,0
$GC,6265,-0.89,-204.4,884.7,-12.3,589,6268,0.00,1.77,0.00,0.000,6,0.000,0.046,2458,2004,3892,0,0,0,0,0,0
$GC,6598,-0.89,-204.4,924.0,-11.5,605,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2003,3889,0,0,0,0,0,0
$GC,6907,-0.90,-204.4,959.7,-11.5,620,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2003,3886,0,0,0,0,0,0
$GC,7217,-0.91,-204.4,996.0,-11.7,635,7221,0.00,1.88,0.00,0.000,4,0.000,0.061,2458,3172,3885,0,0,0,0,0,0
$STATE,7249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7249,begin apogee
$GC,7256,-0.18,0.0,1000.1,11.2,636,7439,0.62,0.08,172.15,1.270,6,0.119,0.116,2665,2137,3090,0,0,0,0,0,0
$STATE,7440,end apogee,CONTROL_FINISHED_OK
$STATE,7440,begin climb
$GC,7442,0.69,204.4,1010.2,0.0,645,7644,0.80,1.95,193.95,1.245,4,0.063,0.046,2961,973,2256,0,0,0,0,0,0
$GC,7705,0.67,204.4,991.7,16.0,657,7709,0.00,1.88,0.00,0.000,6,0.000,0.038,2961,2145,2248,0,0,0,0,0,0
$GC,8028,0.66,204.4,937.9,17.0,673,8031,0.00,1.70,0.00,0.000,4,0.000,0.046,2961,3275,2241,0,0,0,0,0,0
$GC,8055,0.65,204.4,932.6,18.6,674,8060,0.08,1.80,0.00,0.000,6,0.174,0.035,2945,2093,2240,0,0,0,0,0,0
$GC,8383,0.63,204.4,882.4,14.9,690,8387,0.00,1.73,0.00,0.000,4,0.000,0.047,2954,966,2238,0,0,0,0,0,0
$GC,8433,0.63,205.5,874.7,13.8,692,8436,0.00,1.75,0.00,0.000,6,0.000,0.039,2954,2149,2237,0,0,0,0,0,0
$GC,8759,0.62,205.5,826.9,15.1,708,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2149,2236,0,0,0,0,0,0
$GC,9070,0.60,205.5,780.3,15.5,723,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2149,2235,0,0,0,0,0,0
$GC,9378,0.59,205.5,732.9,15.6,738,9380,0.12,0.00,0.00,0.000,6,0.187,0.000,2922,2151,2234,0,0,0,0,0,0
$GC,9688,0.62,232.9,692.5,12.6,753,9718,0.00,1.90,23.65,1.055,4,0.000,0.047,2930,969,2140,0,0,0,0,0,0
$GC,9757,0.64,245.4,683.2,13.3,756,9775,0.00,1.83,12.82,0.980,6,0.000,0.040,2929,2145,2090,0,0,0,0,0,0
$GC,10085,0.66,266.5,640.0,12.9,772,10110,0.00,1.88,19.48,1.003,4,0.000,0.047,2934,969,2003,0,0,0,0,0,0
$GC,10133,0.69,293.3,633.4,12.7,774,10165,0.00,1.83,25.10,1.002,6,0.000,0.040,2934,2142,1895,0,0,0,0,0,0
$GC,10485,0.70,299.6,586.8,13.6,795,10495,0.00,0.00,5.55,0.754,6,0.000,0.000,2934,2142,1869,0,0,0,0,0,0
$GC,10813,0.71,307.4,541.7,13.5,826,10824,0.00,0.00,8.73,0.847,6,0.000,0.000,2934,2142,1836,0,0,0,0,0,0
$GC,11144,0.73,325.9,497.5,13.0,857,11169,0.00,1.83,17.58,0.906,4,0.000,0.047,2934,967,1761,0,0,0,0,0,0
$GC,11251,0.77,355.0,483.8,12.6,866,11290,0.10,1.83,26.75,0.910,6,0.046,0.040,3000,2150,1641,0,0,0,0,0,0
$GC,11607,0.77,355.0,417.1,19.6,899,11608,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2150,1634,0,0,0,0,0,0
$GC,11927,0.76,355.0,354.9,19.0,929,11931,0.00,1.83,0.00,0.000,4,0.000,0.044,3010,967,1632,0,0,0,0,0,0
$GC,11962,0.75,355.0,347.5,19.0,932,11966,0.12,1.77,0.00,0.000,6,0.164,0.040,2976,2148,1632,0,0,0,0,0,0
$GC,12291,0.75,355.0,295.0,14.1,965,12297,0.00,1.77,0.00,0.000,4,0.000,0.044,2985,967,1631,0,0,0,0,0,0
$GC,12318,0.75,355.0,290.8,15.8,969,12324,0.00,1.75,0.00,0.000,6,0.000,0.038,2984,2151,1631,0,0,0,0,0,0
$GC,12676,0.75,357.3,236.3,13.8,1030,12685,0.00,1.70,0.00,0.000,4,0.000,0.045,2984,3265,1630,0,0,0,0,0,0
$GC,12711,0.75,357.3,231.1,15.3,1035,12718,0.00,1.75,0.00,0.000,6,0.000,0.033,2993,2085,1630,0,0,0,0,0,0
$GC,13069,0.81,405.9,181.3,11.7,1096,13120,0.00,1.75,41.88,0.690,4,0.000,0.041,3000,962,1434,0,0,0,0,0,0
$GC,13262,0.88,455.9,157.2,11.6,1127,13311,0.00,1.80,42.10,0.664,6,0.000,0.035,3000,2150,1232,0,0,0,0,0,0
$GC,13669,0.91,470.3,103.0,13.2,1194,13687,0.00,1.88,12.62,0.576,4,0.000,0.042,3002,957,1173,0,0,0,0,0,0
$GC,13885,1.13,633.9,85.5,6.4,1229,14025,0.20,1.80,130.18,0.599,6,0.044,0.037,3106,2147,505,0,0,0,0,0,0
$STATE,14274,end climb,SURFACE_DEPTH_REACHED
$STATE,14274,begin surface coast
$FINISH,0.1,1.022097
$STATE,14288,end surface coast,CONTROL_FINISHED_OK
$STATE,14288,begin surface
$SM_CCo,14305,5.90,0.063,0,0,481,640.23
$SM_GC,0.77,0.00,0.00,5.90,0.000,0.000,0.063,153,1975,481,-8.06,-1.41,640.23
$IRIDIUM_FIX,2300.41,12555.96,281010,101056
$TT8_MAMPS,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.5,57.585
$10V_AH,10.0,47.788
$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,20.325,93.775,732.525,5.900,0.000,29.437,39.706,409.977,0.000,0.000,13.899,3155.218,7105.549,698.542,3662.062,329.993,0.000,1975.861,0.000,3206.109,0.000,0.545,0.000
$DEVICE_MAMPS,231.030,115.515,1269.900,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.951,0.000,1753.828,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333548
$DATA_FILE_SIZE,77115,1291
$CAP_FILE_SIZE,156471,0
$CFSIZE,260165632,232316928
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.167, 26.3,1
$GPS,281010,185136,2305.304,12555.977,39,1.1,50,-3.3