version: 66.08
glider: 169
mission: 2
dive: 386
start: 10 28 110 23 11 24
data:
$ID,169
$MISSION,2
$DIVE,386
$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,-7197.9165
$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
$GPS1,281010,230425,2303.783,12555.091,37,2.0,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.1
$GPS2,281010,231056,2303.773,12555.075,14,1.4,14,-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,179.6,189520,-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,-204.4,0.0,0.0,0,106,0.00,0.00,-87.78,0.000,2,0.000,0.000,147,1975,2842,0,0,0,0,0,0
$GC,108,-0.69,-204.4,3.0,-4.6,11,150,9.68,1.77,-20.50,0.000,4,0.231,0.069,2498,874,3928,0,0,0,0,0,0
$GC,271,-0.68,-204.4,56.0,-26.1,36,279,0.00,1.83,0.00,0.000,6,0.000,0.051,2498,2035,3928,0,0,0,0,0,0
$GC,637,-0.67,-204.4,151.2,-21.2,97,644,0.00,1.75,0.00,0.000,4,0.000,0.056,2498,3169,3930,0,0,0,0,0,0
$GC,768,-0.67,-204.4,175.3,-16.5,119,774,0.00,1.77,0.00,0.000,6,0.000,0.044,2498,2000,3931,0,0,0,0,0,0
$GC,1113,-0.67,-204.4,234.5,-16.7,180,1121,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3162,3931,0,0,0,0,0,0
$GC,1162,-0.67,-204.4,242.0,-13.9,188,1170,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2001,3931,0,0,0,0,0,0
$GC,1511,-0.67,-204.4,296.8,-16.2,249,1518,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3177,3930,0,0,0,0,0,0
$GC,1570,-0.68,-204.4,305.4,-12.9,256,1574,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1997,3930,0,0,0,0,0,0
$GC,1903,-0.69,-204.4,353.1,-14.2,287,1907,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3168,3929,0,0,0,0,0,0
$GC,1960,-0.70,-204.4,360.7,-11.6,292,1963,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1987,3930,0,0,0,0,0,0
$GC,2293,-0.71,-204.4,405.2,-12.8,323,2297,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3167,3927,0,0,0,0,0,0
$GC,2363,-0.72,-204.4,413.3,-10.3,329,2366,0.00,1.73,0.00,0.000,6,0.000,0.037,2498,2001,3927,0,0,0,0,0,0
$GC,2694,-0.73,-204.4,452.0,-11.4,360,2698,0.00,1.80,0.00,0.000,4,0.000,0.054,2498,3168,3924,0,0,0,0,0,0
$GC,2731,-0.74,-204.4,455.7,-10.6,363,2734,0.00,1.77,0.00,0.000,6,0.000,0.038,2498,2003,3924,0,0,0,0,0,0
$GC,3062,-0.75,-204.4,489.9,-9.7,394,3066,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3177,3922,0,0,0,0,0,0
$GC,3144,-0.76,-204.4,497.4,-9.5,401,3147,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,1990,3921,0,0,0,0,0,0
$GC,3475,-0.77,-204.4,534.5,-11.7,432,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1988,3919,0,0,0,0,0,0
$GC,3796,-0.78,-204.4,570.9,-10.6,462,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1988,3916,0,0,0,0,0,0
$GC,4132,-0.80,-204.4,604.8,-9.8,492,4135,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3168,3913,0,0,0,0,0,0
$GC,4223,-0.81,-204.4,612.8,-8.4,496,4226,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,2002,3913,0,0,0,0,0,0
$GC,4556,-0.82,-204.4,643.3,-8.9,512,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2000,3910,0,0,0,0,0,0
$GC,4865,-0.84,-204.4,670.2,-8.6,527,4870,0.12,1.90,0.00,0.000,4,0.114,0.057,2451,3167,3907,0,0,0,0,0,0
$GC,4949,-0.85,-204.4,679.3,-10.9,530,4955,0.00,1.80,0.00,0.000,6,0.000,0.044,2450,1998,3906,0,0,0,0,0,0
$GC,5265,-0.85,-204.4,718.6,-12.6,546,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1997,3904,0,0,0,0,0,0
$GC,5575,-0.85,-204.4,758.3,-12.8,561,5579,0.00,1.85,0.00,0.000,4,0.000,0.059,2450,3169,3902,0,0,0,0,0,0
$GC,5599,-0.86,-204.4,761.4,-12.9,562,5603,0.00,1.83,0.00,0.000,6,0.000,0.046,2450,2001,3902,0,0,0,0,0,0
$GC,5934,-0.86,-204.4,803.9,-12.8,578,5937,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3161,3899,0,0,0,0,0,0
$GC,5961,-0.87,-204.4,807.7,-12.5,579,5965,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2003,3899,0,0,0,0,0,0
$GC,6289,-0.87,-204.4,850.8,-13.3,595,6292,0.00,1.83,0.00,0.000,4,0.000,0.060,2450,3167,3896,0,0,0,0,0,0
$GC,6322,-0.88,-204.4,855.2,-12.5,596,6326,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2000,3896,0,0,0,0,0,0
$GC,6644,-0.89,-204.4,896.2,-12.5,612,6648,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3172,3894,0,0,0,0,0,0
$GC,6668,-0.89,-204.4,899.1,-12.5,613,6671,0.00,1.80,0.00,0.000,6,0.000,0.046,2450,1993,3894,0,0,0,0,0,0
$GC,7001,-0.90,-204.4,938.1,-11.3,629,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1992,3893,0,0,0,0,0,0
$GC,7310,-0.90,-204.4,971.5,-10.8,644,7314,0.00,1.90,0.00,0.000,4,0.000,0.060,2450,3162,3890,0,0,0,0,0,0
$GC,7372,-0.92,-204.4,977.5,-8.9,646,7378,0.00,1.80,0.00,0.000,6,0.000,0.045,2450,2002,3890,0,0,0,0,0,0
$STATE,7603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7603,begin apogee
$GC,7608,-0.18,0.0,1000.7,10.0,658,7788,0.70,0.08,173.38,1.272,6,0.147,0.106,2666,2092,3091,0,0,0,0,0,0
$STATE,7788,end apogee,CONTROL_FINISHED_OK
$STATE,7789,begin climb
$GC,7790,0.69,204.4,1006.6,0.0,666,7996,0.77,2.08,195.18,1.239,4,0.057,0.045,2948,3272,2255,0,0,0,0,0,0
$GC,8220,0.67,204.4,954.6,17.7,686,8223,0.00,1.83,0.00,0.000,6,0.000,0.035,2957,2076,2242,0,0,0,0,0,0
$GC,8542,0.66,204.4,900.8,16.4,702,8545,0.00,1.83,0.00,0.000,4,0.000,0.046,2949,3271,2239,0,0,0,0,0,0
$GC,8614,0.65,204.4,888.6,16.6,705,8618,0.00,1.80,0.00,0.000,6,0.000,0.036,2958,2091,2238,0,0,0,0,0,0
$GC,8942,0.63,204.4,837.8,16.1,721,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2089,2236,0,0,0,0,0,0
$GC,9251,0.62,204.4,788.9,15.7,736,9254,0.00,1.80,0.00,0.000,4,0.000,0.046,2949,3274,2236,0,0,0,0,0,0
$GC,9289,0.61,204.4,782.4,16.4,737,9298,0.12,1.80,0.00,0.000,6,0.191,0.035,2927,2075,2235,0,0,0,0,0,0
$GC,9606,0.61,209.2,739.3,13.7,753,9609,0.00,1.83,0.00,0.000,4,0.000,0.046,2927,3274,2235,0,0,0,0,0,0
$GC,9633,0.60,209.2,735.2,14.2,754,9637,0.00,1.83,0.00,0.000,6,0.000,0.035,2936,2061,2234,0,0,0,0,0,0
$GC,9961,0.64,247.7,692.9,12.1,770,10004,0.00,0.00,36.97,1.075,6,0.000,0.000,2936,2060,2079,0,0,0,0,0,0
$GC,10314,0.64,251.8,646.9,13.7,787,10316,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2059,2068,0,0,0,0,0,0
$GC,10624,0.65,260.5,605.6,13.5,802,10637,0.00,0.00,11.05,0.933,6,0.000,0.000,2936,2059,2028,0,0,0,0,0,0
$GC,10942,0.66,274.1,563.0,13.3,829,10960,0.00,1.73,13.40,0.929,4,0.000,0.046,2944,969,1972,0,0,0,0,0,0
$GC,11029,0.67,281.8,550.9,13.5,836,11041,0.00,1.80,8.25,0.842,6,0.000,0.039,2944,2154,1942,0,0,0,0,0,0
$GC,11359,0.67,281.8,503.8,14.6,867,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2155,1936,0,0,0,0,0,0
$GC,11681,0.68,291.2,461.1,13.5,897,11699,0.00,0.00,8.88,0.808,6,0.000,0.000,2944,2155,1903,0,0,0,0,0,0
$GC,12017,0.71,316.9,417.6,12.7,929,12046,0.00,1.83,24.15,0.868,4,0.000,0.043,2952,969,1799,0,0,0,0,0,0
$GC,12146,0.75,349.9,400.8,12.4,940,12180,0.00,1.80,29.88,0.853,6,0.000,0.037,2952,2146,1663,0,0,0,0,0,0
$GC,12497,0.76,355.6,351.7,13.6,973,12510,0.00,1.83,5.25,0.615,4,0.000,0.042,2961,959,1640,0,0,0,0,0,0
$GC,12548,0.78,365.5,344.7,13.4,977,12564,0.00,1.80,10.32,0.739,6,0.000,0.036,2961,2159,1599,0,0,0,0,0,0
$GC,12888,0.78,368.3,294.9,13.8,1011,12895,0.00,1.80,0.00,0.000,4,0.000,0.043,2969,966,1595,0,0,0,0,0,0
$GC,12976,0.79,375.6,282.6,13.6,1026,12991,0.00,1.80,9.40,0.685,6,0.000,0.037,2969,2153,1559,0,0,0,0,0,0
$GC,13334,0.79,375.6,230.3,14.4,1088,13343,0.00,1.80,0.00,0.000,4,0.000,0.042,2978,971,1555,0,0,0,0,0,0
$GC,13391,0.81,386.6,222.4,13.4,1097,13408,0.00,1.73,10.88,0.659,6,0.000,0.035,2977,2150,1514,0,0,0,0,0,0
$GC,13750,0.81,386.6,171.8,14.4,1159,13757,0.00,1.77,0.00,0.000,4,0.000,0.042,2986,966,1510,0,0,0,0,0,0
$GC,13827,0.88,434.7,161.5,11.7,1172,13878,0.00,1.77,41.33,0.669,6,0.000,0.034,2986,2152,1318,0,0,0,0,0,0
$GC,14229,0.93,474.5,114.2,12.1,1239,14271,0.12,1.85,33.20,0.624,4,0.083,0.040,3065,963,1157,0,0,0,0,0,0
$GC,14455,0.94,477.0,77.1,13.8,1275,14464,0.08,1.80,0.00,0.000,6,0.132,0.035,3037,2154,1152,0,0,0,0,0,0
$GC,14824,1.00,520.0,37.1,11.9,1336,14874,0.00,1.88,37.62,0.558,4,0.000,0.039,3042,958,969,0,0,0,0,0,0
$GC,14949,1.10,587.2,25.7,10.8,1354,15015,0.08,1.80,54.25,0.547,6,0.054,0.032,3099,2160,695,0,0,0,0,0,0
$STATE,15081,end climb,SURFACE_DEPTH_REACHED
$STATE,15081,begin surface coast
$FINISH,0.2,1.022109
$STATE,15101,end surface coast,CONTROL_FINISHED_OK
$STATE,15101,begin surface
$SM_CCo,15117,40.15,0.395,1,0,480,640.23
$SM_GC,0.96,0.00,0.00,40.15,0.000,0.000,0.395,150,1977,480,-8.06,-1.36,640.23
$IRIDIUM_FIX,2258.07,12557.85,281010,181845
$TT8_MAMPS,0.026964
$HUMID,45.03
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.4,58.014
$10V_AH,9.9,48.098
$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,20.075,98.550,703.375,40.150,0.000,29.436,18.227,202.532,0.000,0.000,16.362,3383.873,7400.976,731.636,3732.760,294.761,0.000,2091.773,0.000,3489.084,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,106.335,1272.195,394.740,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,931.831,0.000,1913.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333672
$DATA_FILE_SIZE,80230,1376
$CAP_FILE_SIZE,164114,0
$CFSIZE,260165632,232148992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,340.7,1
$GPS,291010,032537,2302.411,12554.417,61,0.9,61,-3.3