version: 66.08
glider: 169
mission: 2
dive: 387
start: 10 29 110 3 33 5
data:
$ID,169
$MISSION,2
$DIVE,387
$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,-7200.167
$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
$GPS1,291010,032537,2302.411,12554.417,61,0.9,61,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-64.8
$GPS2,291010,033237,2302.410,12554.352,12,1.6,17,-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,174.4,187073,-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,-204.4,0.0,0.0,0,111,0.00,0.00,-93.25,0.000,2,0.000,0.000,150,1977,3021,0,0,0,0,0,0
$GC,114,-0.69,-204.4,3.8,-6.6,11,148,9.88,1.75,-16.20,0.000,4,0.239,0.067,2499,870,3927,0,0,0,0,0,0
$GC,246,-0.68,-204.4,45.5,-23.2,31,254,0.00,1.85,0.00,0.000,6,0.000,0.052,2499,2042,3928,0,0,0,0,0,0
$GC,613,-0.67,-204.4,148.5,-19.2,92,622,0.00,1.83,0.00,0.000,4,0.000,0.050,2500,870,3929,0,0,0,0,0,0
$GC,630,-0.66,-204.4,152.0,-19.2,94,638,0.00,1.83,0.00,0.000,6,0.000,0.048,2500,2049,3930,0,0,0,0,0,0
$GC,991,-0.66,-204.4,217.0,-17.2,155,998,0.00,1.73,0.00,0.000,4,0.000,0.057,2499,3168,3931,0,0,0,0,0,0
$GC,1066,-0.67,-204.4,228.4,-14.4,167,1073,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,1996,3931,0,0,0,0,0,0
$GC,1421,-0.67,-204.4,286.0,-15.1,228,1431,0.00,1.85,0.00,0.000,4,0.000,0.056,2500,3161,3930,0,0,0,0,0,0
$GC,1496,-0.67,-204.4,296.5,-13.3,240,1506,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,2003,3930,0,0,0,0,0,0
$GC,1834,-0.68,-204.4,344.0,-13.4,273,1838,0.00,1.67,0.00,0.000,4,0.000,0.047,2500,868,3929,0,0,0,0,0,0
$GC,1851,-0.68,-204.4,346.9,-13.9,274,1859,0.00,1.80,0.00,0.000,6,0.000,0.045,2500,2039,3929,0,0,0,0,0,0
$GC,2179,-0.69,-204.4,384.2,-11.6,305,2183,0.00,1.77,0.00,0.000,4,0.000,0.057,2500,3168,3927,0,0,0,0,0,0
$GC,2259,-0.70,-204.4,392.9,-9.6,312,2263,0.00,1.77,0.00,0.000,6,0.000,0.038,2500,2002,3926,0,0,0,0,0,0
$GC,2592,-0.71,-204.4,429.9,-11.2,343,2596,0.00,1.80,0.00,0.000,4,0.000,0.054,2499,3168,3924,0,0,0,0,0,0
$GC,2632,-0.72,-204.4,434.6,-10.0,346,2640,0.00,1.77,0.00,0.000,6,0.000,0.037,2500,2002,3924,0,0,0,0,0,0
$GC,2960,-0.73,-204.4,472.2,-12.1,377,2964,0.00,1.85,0.00,0.000,4,0.000,0.053,2499,3165,3922,0,0,0,0,0,0
$GC,3008,-0.75,-204.4,477.8,-10.7,381,3012,0.00,1.77,0.00,0.000,6,0.000,0.038,2500,2005,3922,0,0,0,0,0,0
$GC,3339,-0.76,-204.4,515.4,-11.0,412,3342,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3175,3919,0,0,0,0,0,0
$GC,3397,-0.77,-204.4,520.9,-8.7,417,3400,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,1989,3919,0,0,0,0,0,0
$GC,3728,-0.78,-204.4,553.8,-10.1,448,3732,0.00,1.88,0.00,0.000,4,0.000,0.055,2499,3171,3916,0,0,0,0,0,0
$GC,3755,-0.80,-204.4,556.6,-9.7,450,3762,0.00,1.77,0.00,0.000,6,0.000,0.040,2500,2002,3916,0,0,0,0,0,0
$GC,4081,-0.81,-204.4,590.1,-10.2,481,4085,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3171,3913,0,0,0,0,0,0
$GC,4120,-0.82,-204.4,594.0,-8.9,484,4129,0.10,1.77,0.00,0.000,6,0.125,0.041,2460,1989,3913,0,0,0,0,0,0
$GC,4450,-0.83,-204.4,633.0,-11.6,503,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1988,3910,0,0,0,0,0,0
$GC,4758,-0.83,-204.4,669.4,-12.0,518,4761,0.00,1.85,0.00,0.000,4,0.000,0.058,2459,3168,3907,0,0,0,0,0,0
$GC,4827,-0.84,-204.4,676.7,-10.1,521,4831,0.00,1.75,0.00,0.000,6,0.000,0.041,2460,2002,3907,0,0,0,0,0,0
$GC,5161,-0.85,-204.4,716.8,-12.3,537,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2000,3904,0,0,0,0,0,0
$GC,5470,-0.86,-204.4,756.2,-12.9,552,5473,0.00,1.85,0.00,0.000,4,0.000,0.058,2460,3167,3902,0,0,0,0,0,0
$GC,5526,-0.87,-204.4,763.1,-11.4,554,5529,0.00,1.77,0.00,0.000,6,0.000,0.042,2460,1991,3901,0,0,0,0,0,0
$GC,5847,-0.88,-204.4,802.4,-12.0,570,5851,0.00,1.85,0.00,0.000,4,0.000,0.059,2460,3168,3898,0,0,0,0,0,0
$GC,5880,-0.89,-204.4,806.4,-11.6,571,5884,0.00,1.77,0.00,0.000,6,0.000,0.043,2460,1998,3898,0,0,0,0,0,0
$GC,6203,-0.89,-204.4,843.8,-11.4,587,6207,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3168,3895,0,0,0,0,0,0
$GC,6236,-0.90,-204.4,847.8,-10.6,588,6240,0.00,1.75,0.00,0.000,6,0.000,0.044,2460,2003,3895,0,0,0,0,0,0
$GC,6558,-0.91,-204.4,882.0,-10.5,604,6560,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2002,3893,0,0,0,0,0,0
$GC,6869,-0.92,-204.4,914.9,-10.9,619,6872,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3175,3891,0,0,0,0,0,0
$GC,6953,-0.93,-204.4,924.2,-10.0,622,6959,0.00,1.83,0.00,0.000,6,0.000,0.045,2460,2004,3890,0,0,0,0,0,0
$GC,7269,-0.94,-204.4,961.6,-12.4,638,7273,0.00,1.83,0.00,0.000,4,0.000,0.060,2460,3167,3888,0,0,0,0,0,0
$GC,7302,-0.95,-204.4,965.7,-11.5,639,7307,0.10,1.77,0.00,0.000,6,0.119,0.044,2420,2002,3888,0,0,0,0,0,0
$STATE,7539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7539,begin apogee
$GC,7545,-0.18,0.0,1001.7,15.4,651,7723,0.77,0.08,172.60,1.281,6,0.143,0.107,2661,2093,3091,0,0,0,0,0,0
$STATE,7724,end apogee,CONTROL_FINISHED_OK
$STATE,7724,begin climb
$GC,7726,0.69,204.4,1012.9,0.0,659,7931,0.80,1.88,195.93,1.249,4,0.054,0.043,2966,964,2255,0,0,0,0,0,0
$GC,7960,0.67,204.4,999.3,16.7,671,7964,0.00,1.88,0.00,0.000,6,0.000,0.037,2965,2144,2250,0,0,0,0,0,0
$GC,8293,0.66,204.4,940.5,17.4,687,8294,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2145,2240,0,0,0,0,0,0
$GC,8602,0.64,204.4,886.2,17.6,702,8606,0.00,1.73,0.00,0.000,4,0.000,0.048,2966,3277,2238,0,0,0,0,0,0
$GC,8672,0.63,204.4,873.4,18.2,705,8676,0.12,1.83,0.00,0.000,6,0.168,0.036,2937,2085,2237,0,0,0,0,0,0
$GC,9004,0.62,204.4,820.8,15.7,721,9008,0.00,1.70,0.00,0.000,4,0.000,0.047,2945,972,2236,0,0,0,0,0,0
$GC,9056,0.61,204.4,812.6,15.3,723,9060,0.00,1.75,0.00,0.000,6,0.000,0.041,2944,2148,2235,0,0,0,0,0,0
$GC,9383,0.60,204.4,761.5,15.1,739,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2148,2234,0,0,0,0,0,0
$GC,9692,0.59,204.4,716.2,14.6,754,9696,0.00,1.80,0.00,0.000,4,0.000,0.046,2953,963,2233,0,0,0,0,0,0
$GC,9720,0.58,204.4,711.8,15.3,755,9724,0.12,1.77,0.00,0.000,6,0.175,0.041,2921,2154,2233,0,0,0,0,0,0
$GC,10048,0.59,217.3,669.5,13.3,771,10062,0.00,1.75,8.80,0.934,4,0.000,0.049,2920,3270,2204,0,0,0,0,0,0
$GC,10093,0.59,217.3,663.2,14.5,773,10096,0.00,1.77,0.00,0.000,6,0.000,0.035,2930,2075,2203,0,0,0,0,0,0
$GC,10426,0.64,261.7,622.6,11.9,789,10473,0.00,1.73,41.67,1.034,4,0.000,0.045,2938,963,2023,0,0,0,0,0,0
$GC,10495,0.70,308.4,614.0,11.8,792,10542,0.00,1.83,42.53,1.011,6,0.000,0.041,2937,2154,1833,0,0,0,0,0,0
$GC,10863,0.71,316.9,565.7,13.5,821,10876,0.00,1.90,7.05,0.815,4,0.000,0.047,2946,961,1798,0,0,0,0,0,0
$GC,10938,0.72,322.4,554.9,13.6,827,10949,0.00,1.83,6.80,0.799,6,0.000,0.041,2946,2155,1776,0,0,0,0,0,0
$GC,11269,0.72,322.4,504.2,16.1,858,11272,0.00,1.80,0.00,0.000,4,0.000,0.045,2955,960,1770,0,0,0,0,0,0
$GC,11303,0.72,322.4,498.9,16.4,861,11307,0.00,1.77,0.00,0.000,6,0.000,0.041,2955,2151,1769,0,0,0,0,0,0
$GC,11634,0.71,322.4,448.5,14.2,892,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2151,1768,0,0,0,0,0,0
$GC,11955,0.72,332.3,404.0,13.4,922,11969,0.00,1.88,8.95,0.780,4,0.000,0.046,2964,963,1735,0,0,0,0,0,0
$GC,12044,0.75,348.2,390.6,13.2,929,12064,0.00,1.77,15.60,0.828,6,0.000,0.040,2964,2150,1671,0,0,0,0,0,0
$GC,12381,0.75,348.2,341.6,14.2,961,12385,0.00,1.77,0.00,0.000,4,0.000,0.044,2972,963,1665,0,0,0,0,0,0
$GC,12432,0.77,362.0,333.9,13.3,965,12452,0.00,1.77,12.68,0.769,6,0.000,0.039,2972,2155,1614,0,0,0,0,0,0
$GC,12780,0.77,362.0,280.5,15.9,1007,12787,0.00,1.77,0.00,0.000,4,0.000,0.044,2982,967,1610,0,0,0,0,0,0
$GC,12889,0.79,379.4,264.9,13.1,1025,12910,0.00,1.75,15.73,0.731,6,0.000,0.037,2981,2153,1544,0,0,0,0,0,0
$GC,13262,0.79,379.4,207.0,15.7,1088,13271,0.00,1.83,0.00,0.000,4,0.000,0.043,2990,962,1539,0,0,0,0,0,0
$GC,13297,0.79,379.4,201.9,15.4,1093,13304,0.00,1.75,0.00,0.000,6,0.000,0.037,2990,2151,1539,0,0,0,0,0,0
$GC,13660,0.80,385.9,147.3,13.6,1154,13677,0.00,1.83,6.72,0.552,4,0.000,0.042,2998,967,1517,0,0,0,0,0,0
$GC,13833,0.84,421.2,125.9,12.3,1182,13874,0.00,1.77,31.52,0.642,6,0.000,0.035,2999,2148,1371,0,0,0,0,0,0
$GC,14226,1.06,585.6,83.0,6.4,1247,14366,0.20,1.92,131.60,0.605,4,0.061,0.040,3109,959,702,0,0,0,0,0,0
$GC,14487,1.06,585.6,36.8,19.1,1284,14496,0.10,1.80,0.00,0.000,6,0.142,0.031,3075,2154,699,0,0,0,0,0,0
$STATE,14687,end climb,SURFACE_DEPTH_REACHED
$STATE,14687,begin surface coast
$FINISH,0.1,1.009577
$STATE,14713,end surface coast,CONTROL_FINISHED_OK
$STATE,14713,begin surface
$SM_CCo,14730,39.03,0.058,0,0,481,640.23
$SM_GC,0.89,0.00,0.00,39.03,0.000,0.000,0.058,144,1996,481,-8.08,-0.82,640.23
$IRIDIUM_FIX,2253.38,12554.58,281010,232326
$TT8_MAMPS,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.4,58.231
$10V_AH,9.9,48.249
$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,20.625,112.025,698.175,39.025,0.000,23.912,45.746,210.351,0.000,0.000,19.226,3277.138,7295.568,737.079,3569.203,299.479,0.000,2047.757,0.000,3303.157,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,107.100,1280.610,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.269,0.000,1795.396,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333640
$DATA_FILE_SIZE,76833,1321
$CAP_FILE_SIZE,162603,0
$CFSIZE,260165632,232071168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,345.1,1
$GPS,291010,074107,2300.564,12554.141,84,1.0,84,-3.3