version: 66.08
glider: 169
mission: 2
dive: 389
start: 10 29 110 12 1 30
data:
$ID,169
$MISSION,2
$DIVE,389
$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,-7203.6748
$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
$GPS1,291010,115454,2259.076,12553.074,39,1.1,39,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.5
$GPS2,291010,120102,2259.134,12552.990,12,1.6,12,-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,163.9,181186,-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,16,-0.69,-204.4,0.0,0.0,0,106,0.00,0.00,-88.25,0.000,2,0.000,0.000,139,1969,2859,0,0,0,0,0,0
$GC,109,-0.69,-204.4,3.1,-4.5,11,152,9.82,1.75,-20.85,0.000,4,0.235,0.065,2497,870,3928,0,0,0,0,0,0
$GC,273,-0.68,-204.4,49.0,-21.5,36,281,0.00,1.85,0.00,0.000,6,0.000,0.054,2497,2036,3928,0,0,0,0,0,0
$GC,639,-0.67,-204.4,147.1,-19.6,97,648,0.00,1.77,0.00,0.000,4,0.000,0.057,2497,3170,3930,0,0,0,0,0,0
$GC,690,-0.67,-204.4,156.3,-17.6,105,697,0.00,1.77,0.00,0.000,6,0.000,0.044,2497,1996,3931,0,0,0,0,0,0
$GC,1036,-0.66,-204.4,219.0,-20.0,166,1045,0.00,1.88,0.00,0.000,4,0.000,0.057,2497,3168,3931,0,0,0,0,0,0
$GC,1071,-0.66,-204.4,225.2,-18.7,171,1079,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,2001,3932,0,0,0,0,0,0
$GC,1419,-0.66,-204.4,281.9,-15.3,232,1428,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3163,3931,0,0,0,0,0,0
$GC,1441,-0.66,-204.4,285.2,-15.1,235,1449,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,1998,3931,0,0,0,0,0,0
$GC,1783,-0.67,-204.4,334.9,-13.6,275,1787,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3173,3930,0,0,0,0,0,0
$GC,1822,-0.67,-204.4,340.2,-11.9,278,1831,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2002,3930,0,0,0,0,0,0
$GC,2149,-0.68,-204.4,382.9,-13.6,309,2153,0.00,1.85,0.00,0.000,4,0.000,0.054,2497,3165,3929,0,0,0,0,0,0
$GC,2197,-0.69,-204.4,389.1,-11.7,313,2201,0.00,1.77,0.00,0.000,6,0.000,0.038,2498,2003,3929,0,0,0,0,0,0
$GC,2530,-0.70,-204.4,434.7,-13.2,344,2533,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3176,3927,0,0,0,0,0,0
$GC,2589,-0.71,-204.4,442.1,-12.3,349,2592,0.00,1.80,0.00,0.000,6,0.000,0.040,2497,2003,3927,0,0,0,0,0,0
$GC,2921,-0.72,-204.4,483.4,-11.4,380,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2002,3925,0,0,0,0,0,0
$GC,3239,-0.73,-204.4,518.2,-11.1,410,3243,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3175,3922,0,0,0,0,0,0
$GC,3267,-0.74,-204.4,521.3,-10.1,412,3273,0.00,1.77,0.00,0.000,6,0.000,0.039,2497,1989,3921,0,0,0,0,0,0
$GC,3592,-0.75,-204.4,552.4,-9.3,443,3596,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3170,3919,0,0,0,0,0,0
$GC,3650,-0.77,-204.4,557.2,-8.1,448,3654,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2002,3919,0,0,0,0,0,0
$GC,3982,-0.78,-204.4,589.1,-10.2,479,3985,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3170,3916,0,0,0,0,0,0
$GC,4054,-0.79,-204.4,596.3,-9.5,485,4061,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3916,0,0,0,0,0,0
$GC,4373,-0.81,-204.4,633.0,-12.3,503,4376,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3170,3913,0,0,0,0,0,0
$GC,4406,-0.82,-204.4,637.3,-11.6,504,4409,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,1989,3913,0,0,0,0,0,0
$GC,4729,-0.83,-204.4,674.6,-11.5,520,4733,0.10,1.90,0.00,0.000,4,0.129,0.057,2460,3171,3910,0,0,0,0,0,0
$GC,4789,-0.84,-204.4,682.9,-13.7,522,4796,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2003,3909,0,0,0,0,0,0
$GC,5106,-0.85,-204.4,726.4,-13.9,538,5110,0.00,1.83,0.00,0.000,4,0.000,0.058,2460,3167,3907,0,0,0,0,0,0
$GC,5133,-0.85,-204.4,730.5,-14.0,539,5137,0.00,1.80,0.00,0.000,6,0.000,0.043,2460,2003,3907,0,0,0,0,0,0
$GC,5461,-0.86,-204.4,774.8,-13.5,555,5462,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3904,0,0,0,0,0,0
$GC,5771,-0.87,-204.4,813.9,-12.4,570,5775,0.00,1.88,0.00,0.000,4,0.000,0.060,2460,3165,3902,0,0,0,0,0,0
$GC,5848,-0.88,-204.4,822.5,-10.5,573,5852,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,2000,3901,0,0,0,0,0,0
$GC,6170,-0.88,-204.4,860.0,-11.8,589,6174,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3171,3899,0,0,0,0,0,0
$GC,6209,-0.89,-204.4,864.6,-11.0,590,6216,0.00,1.80,0.00,0.000,6,0.000,0.046,2460,1998,3899,0,0,0,0,0,0
$GC,6526,-0.90,-204.4,901.0,-11.8,606,6529,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3171,3896,0,0,0,0,0,0
$GC,6559,-0.91,-204.4,905.1,-11.3,607,6563,0.00,1.80,0.00,0.000,6,0.000,0.046,2460,2004,3896,0,0,0,0,0,0
$GC,6881,-0.92,-204.4,942.0,-11.5,623,6884,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3171,3894,0,0,0,0,0,0
$GC,6909,-0.92,-204.4,945.3,-11.8,624,6913,0.00,1.80,0.00,0.000,6,0.000,0.047,2460,2002,3894,0,0,0,0,0,0
$GC,7237,-0.93,-204.4,981.0,-10.7,640,7241,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3170,3892,0,0,0,0,0,0
$GC,7272,-0.94,-204.4,984.7,-10.2,641,7275,0.00,1.80,0.00,0.000,6,0.000,0.047,2460,1999,3891,0,0,0,0,0,0
$STATE,7426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7426,begin apogee
$GC,7431,-0.18,0.0,1001.2,10.5,649,7611,0.65,0.08,173.77,1.272,6,0.140,0.105,2664,2092,3091,0,0,0,0,0,0
$STATE,7612,end apogee,CONTROL_FINISHED_OK
$STATE,7612,begin climb
$GC,7614,0.69,204.4,1009.2,0.0,657,7819,0.80,1.95,195.18,1.243,4,0.065,0.044,2957,964,2255,0,0,0,0,0,0
$GC,8067,0.68,204.4,962.6,15.1,678,8071,0.00,1.80,0.00,0.000,6,0.000,0.039,2957,2147,2243,0,0,0,0,0,0
$GC,8389,0.66,204.4,912.5,15.9,694,8393,0.00,1.70,0.00,0.000,4,0.000,0.047,2957,3277,2239,0,0,0,0,0,0
$GC,8439,0.65,204.4,904.0,16.2,696,8443,0.00,1.80,0.00,0.000,6,0.000,0.035,2965,2088,2238,0,0,0,0,0,0
$GC,8767,0.64,204.4,851.8,16.7,712,8771,0.00,1.65,0.00,0.000,4,0.000,0.045,2974,967,2237,0,0,0,0,0,0
$GC,8805,0.62,204.4,844.9,15.8,713,8813,0.12,1.80,0.00,0.000,6,0.161,0.040,2935,2154,2236,0,0,0,0,0,0
$GC,9122,0.62,204.4,798.5,14.2,729,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2154,2235,0,0,0,0,0,0
$GC,9432,0.61,204.4,752.2,14.9,744,9436,0.00,1.70,0.00,0.000,4,0.000,0.047,2934,3271,2234,0,0,0,0,0,0
$GC,9487,0.60,204.4,743.0,16.7,746,9491,0.00,1.80,0.00,0.000,6,0.000,0.034,2943,2082,2233,0,0,0,0,0,0
$GC,9810,0.59,204.4,695.8,14.4,762,9813,0.00,1.65,0.00,0.000,4,0.000,0.046,2952,965,2233,0,0,0,0,0,0
$GC,9848,0.58,204.4,689.8,15.0,763,9856,0.10,1.80,0.00,0.000,6,0.152,0.039,2919,2150,2233,0,0,0,0,0,0
$GC,10164,0.63,243.3,650.7,12.1,779,10204,0.00,0.00,33.45,1.043,6,0.000,0.000,2919,2151,2096,0,0,0,0,0,0
$GC,10514,0.67,277.0,606.4,12.4,796,10549,0.00,1.90,29.90,1.005,4,0.000,0.047,2928,966,1961,0,0,0,0,0,0
$GC,10593,0.72,314.0,596.4,12.2,800,10637,0.00,1.80,33.75,0.988,6,0.000,0.038,2928,2155,1808,0,0,0,0,0,0
$GC,10954,0.73,321.0,546.5,13.6,834,10965,0.10,0.00,6.10,0.763,6,0.100,0.000,2982,2155,1782,0,0,0,0,0,0
$GC,11285,0.72,321.0,490.1,17.2,865,11288,0.00,1.80,0.00,0.000,4,0.000,0.044,2991,967,1778,0,0,0,0,0,0
$GC,11355,0.71,321.0,477.9,17.0,871,11359,0.00,1.75,0.00,0.000,6,0.000,0.039,2990,2147,1777,0,0,0,0,0,0
$GC,11686,0.71,321.0,418.2,18.1,902,11688,0.12,0.00,0.00,0.000,6,0.182,0.000,2957,2148,1776,0,0,0,0,0,0
$GC,12005,0.71,321.0,371.2,15.1,932,12008,0.00,1.75,0.00,0.000,4,0.000,0.044,2966,967,1776,0,0,0,0,0,0
$GC,12087,0.71,325.6,359.6,13.7,939,12100,0.00,1.80,4.60,0.588,6,0.000,0.037,2962,2155,1763,0,0,0,0,0,0
$GC,12417,0.74,345.4,312.3,13.0,970,12443,0.00,1.88,19.35,0.776,4,0.000,0.043,2969,966,1681,0,0,0,0,0,0
$GC,12481,0.75,354.2,304.3,13.5,975,12494,0.00,1.77,8.93,0.692,6,0.000,0.037,2970,2159,1646,0,0,0,0,0,0
$GC,12829,0.75,356.4,255.2,13.8,1034,12838,0.00,1.83,0.00,0.000,4,0.000,0.043,2978,969,1641,0,0,0,0,0,0
$GC,12897,0.78,375.8,246.1,13.0,1045,12927,0.00,1.77,19.27,0.718,6,0.000,0.037,2978,2158,1557,0,0,0,0,0,0
$GC,13270,0.78,376.9,193.4,13.8,1109,13277,0.00,1.83,0.00,0.000,4,0.000,0.041,2986,964,1552,0,0,0,0,0,0
$GC,13403,0.83,411.6,175.7,12.3,1132,13440,0.00,1.77,30.58,0.675,6,0.000,0.035,2986,2146,1412,0,0,0,0,0,0
$GC,13786,0.84,422.3,125.5,13.4,1197,13803,0.00,1.70,9.98,0.575,4,0.000,0.039,2986,3273,1369,0,0,0,0,0,0
$GC,13832,0.86,431.0,119.7,13.5,1203,13850,0.00,1.80,9.20,0.560,6,0.000,0.031,2995,2079,1332,0,0,0,0,0,0
$GC,14202,1.00,537.2,80.2,9.0,1265,14294,0.15,1.77,86.45,0.604,4,0.073,0.040,3083,960,901,0,0,0,0,0,0
$GC,14443,1.01,537.2,47.7,15.9,1301,14452,0.08,1.80,0.00,0.000,6,0.142,0.033,3057,2154,897,0,0,0,0,0,0
$STATE,14726,end climb,SURFACE_DEPTH_REACHED
$STATE,14726,begin surface coast
$FINISH,0.3,1.009406
$STATE,14752,end surface coast,CONTROL_FINISHED_OK
$STATE,14752,begin surface
$SM_CCo,14769,74.93,0.058,0,0,480,640.23
$SM_GC,0.97,0.00,0.00,74.93,0.000,0.000,0.058,150,1978,480,-8.06,-1.33,640.23
$IRIDIUM_FIX,2253.38,12551.31,291010,070706
$TT8_MAMPS,0.026215
$HUMID,44.92
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.4,58.653
$10V_AH,9.9,48.558
$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,20.450,112.200,660.500,74.925,0.000,25.492,16.696,191.443,0.000,0.000,13.175,3353.409,7134.869,757.861,3670.475,284.831,0.000,2098.790,0.000,3442.667,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,104.805,1272.195,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.800,0.000,1881.815,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333696
$DATA_FILE_SIZE,80192,1352
$CAP_FILE_SIZE,165901,0
$CFSIZE,260165632,231899136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,355.0,1
$GPS,291010,161007,2258.238,12553.310,44,1.4,44,-3.3