version: 66.08
glider: 169
mission: 2
dive: 393
start: 10 30 110 4 57 54
data:
$ID,169
$MISSION,2
$DIVE,393
$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,-7211.7954
$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
$GPS1,301010,045107,2253.864,12552.029,37,1.2,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.7
$GPS2,301010,045726,2253.913,12551.984,19,1.3,19,-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,172.7,171700,-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,-204.4,0.0,0.0,0,116,0.00,0.00,-98.25,0.000,2,0.000,0.000,140,1951,3173,0,0,0,0,0,0
$GC,119,-0.69,-204.4,4.3,-7.2,12,154,10.30,1.73,-12.60,0.000,4,0.250,0.064,2497,863,3929,0,0,0,0,0,0
$GC,297,-0.68,-204.4,64.4,-24.9,40,306,0.00,1.85,0.00,0.000,6,0.000,0.050,2498,2045,3929,0,0,0,0,0,0
$GC,663,-0.67,-204.4,155.2,-23.0,101,670,0.00,1.73,0.00,0.000,4,0.000,0.058,2497,3168,3931,0,0,0,0,0,0
$GC,742,-0.67,-204.4,170.5,-16.8,114,751,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2003,3932,0,0,0,0,0,0
$GC,1102,-0.67,-204.4,236.9,-17.5,175,1109,0.00,1.73,0.00,0.000,4,0.000,0.046,2497,865,3932,0,0,0,0,0,0
$GC,1165,-0.68,-204.4,246.6,-13.2,185,1172,0.00,1.77,0.00,0.000,6,0.000,0.047,2497,2049,3932,0,0,0,0,0,0
$GC,1521,-0.68,-204.4,299.6,-14.4,246,1530,0.00,1.75,0.00,0.000,4,0.000,0.057,2497,3169,3932,0,0,0,0,0,0
$GC,1606,-0.69,-204.4,311.0,-12.5,254,1609,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,1997,3932,0,0,0,0,0,0
$GC,1939,-0.69,-204.4,355.9,-13.1,285,1943,0.00,1.88,0.00,0.000,4,0.000,0.055,2497,3171,3930,0,0,0,0,0,0
$GC,1965,-0.70,-204.4,359.0,-12.2,287,1969,0.00,1.80,0.00,0.000,6,0.000,0.039,2498,1998,3930,0,0,0,0,0,0
$GC,2295,-0.71,-204.4,399.9,-12.1,318,2299,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3173,3929,0,0,0,0,0,0
$GC,2333,-0.72,-204.4,404.1,-11.0,321,2337,0.00,1.80,0.00,0.000,6,0.000,0.039,2497,1999,3928,0,0,0,0,0,0
$GC,2664,-0.73,-204.4,443.8,-12.1,352,2668,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3174,3927,0,0,0,0,0,0
$GC,2704,-0.74,-204.4,448.6,-11.0,355,2711,0.00,1.75,0.00,0.000,6,0.000,0.038,2498,2000,3926,0,0,0,0,0,0
$GC,3030,-0.75,-204.4,487.4,-13.1,386,3034,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3171,3924,0,0,0,0,0,0
$GC,3114,-0.76,-204.4,495.8,-9.3,393,3118,0.00,1.75,0.00,0.000,6,0.000,0.041,2497,2001,3923,0,0,0,0,0,0
$GC,3445,-0.77,-204.4,529.0,-9.7,424,3449,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3168,3920,0,0,0,0,0,0
$GC,3483,-0.79,-204.4,532.7,-9.1,427,3490,0.00,1.75,0.00,0.000,6,0.000,0.037,2497,1994,3920,0,0,0,0,0,0
$GC,3809,-0.80,-204.4,565.0,-10.3,458,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1992,3917,0,0,0,0,0,0
$GC,4129,-0.81,-204.4,596.3,-9.6,488,4132,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3170,3915,0,0,0,0,0,0
$GC,4175,-0.83,-204.4,600.4,-8.1,492,4179,0.00,1.75,0.00,0.000,6,0.000,0.039,2497,1999,3914,0,0,0,0,0,0
$GC,4508,-0.84,-204.4,629.2,-8.5,508,4512,0.12,1.85,0.00,0.000,4,0.116,0.057,2450,3168,3911,0,0,0,0,0,0
$GC,4547,-0.85,-204.4,633.5,-11.7,509,4553,0.00,1.77,0.00,0.000,6,0.000,0.042,2451,1991,3911,0,0,0,0,0,0
$GC,4863,-0.85,-204.4,675.0,-14.3,525,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1989,3908,0,0,0,0,0,0
$GC,5172,-0.85,-204.4,718.9,-14.1,540,5175,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3167,3906,0,0,0,0,0,0
$GC,5250,-0.86,-204.4,729.6,-13.2,543,5254,0.00,1.77,0.00,0.000,6,0.000,0.043,2451,1998,3905,0,0,0,0,0,0
$GC,5573,-0.86,-204.4,772.6,-13.2,559,5574,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1997,3902,0,0,0,0,0,0
$GC,5882,-0.87,-204.4,811.9,-12.5,574,5886,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3167,3900,0,0,0,0,0,0
$GC,5909,-0.88,-204.4,815.6,-12.5,575,5913,0.00,1.77,0.00,0.000,6,0.000,0.043,2450,2000,3900,0,0,0,0,0,0
$GC,6238,-0.88,-204.4,856.8,-12.7,591,6241,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3174,3897,0,0,0,0,0,0
$GC,6265,-0.89,-204.4,860.5,-12.5,592,6269,0.00,1.83,0.00,0.000,6,0.000,0.044,2450,2004,3897,0,0,0,0,0,0
$GC,6593,-0.90,-204.4,899.6,-12.1,608,6597,0.00,1.88,0.00,0.000,4,0.000,0.060,2451,3165,3895,0,0,0,0,0,0
$GC,6654,-0.91,-204.4,906.8,-10.7,610,6662,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2001,3895,0,0,0,0,0,0
$GC,6970,-0.91,-204.4,944.1,-11.6,626,6974,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3170,3893,0,0,0,0,0,0
$GC,6998,-0.92,-204.4,947.5,-11.4,627,7002,0.00,1.83,0.00,0.000,6,0.000,0.044,2451,2003,3892,0,0,0,0,0,0
$GC,7326,-0.93,-204.4,984.7,-11.2,643,7330,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3161,3890,0,0,0,0,0,0
$GC,7373,-0.94,-204.4,989.7,-10.4,645,7377,0.00,1.83,0.00,0.000,6,0.000,0.045,2450,2001,3890,0,0,0,0,0,0
$STATE,7476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7476,begin apogee
$GC,7482,-0.18,0.0,1001.2,10.9,650,7663,0.70,0.08,173.65,1.278,6,0.148,0.106,2665,2093,3091,0,0,0,0,0,0
$STATE,7664,end apogee,CONTROL_FINISHED_OK
$STATE,7664,begin climb
$GC,7667,0.69,204.4,1009.6,0.0,658,7870,0.80,2.08,194.60,1.248,4,0.059,0.044,2954,3273,2256,0,0,0,0,0,0
$GC,7998,0.67,204.4,976.2,17.3,674,8002,0.00,1.85,0.00,0.000,6,0.000,0.034,2963,2093,2245,0,0,0,0,0,0
$GC,8326,0.66,204.4,921.7,16.5,690,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2091,2240,0,0,0,0,0,0
$GC,8636,0.64,204.4,870.9,16.2,705,8639,0.00,1.83,0.00,0.000,4,0.000,0.046,2961,3271,2239,0,0,0,0,0,0
$GC,8713,0.63,204.4,857.8,17.2,708,8717,0.10,1.80,0.00,0.000,6,0.171,0.035,2939,2099,2237,0,0,0,0,0,0
$GC,9034,0.62,204.4,812.4,14.4,724,9038,0.00,1.67,0.00,0.000,4,0.000,0.047,2947,969,2236,0,0,0,0,0,0
$GC,9084,0.61,204.4,804.8,14.3,726,9088,0.00,1.80,0.00,0.000,6,0.000,0.038,2947,2154,2235,0,0,0,0,0,0
$GC,9412,0.60,204.4,756.9,14.3,742,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2154,2234,0,0,0,0,0,0
$GC,9722,0.59,204.9,713.2,13.9,757,9725,0.00,1.80,0.00,0.000,4,0.000,0.045,2956,964,2233,0,0,0,0,0,0
$GC,9771,0.59,204.9,705.9,14.1,759,9775,0.08,1.80,0.00,0.000,6,0.166,0.038,2928,2157,2233,0,0,0,0,0,0
$GC,10100,0.60,219.4,663.7,13.2,775,10115,0.00,1.73,11.15,0.972,4,0.000,0.044,2925,3273,2195,0,0,0,0,0,0
$GC,10154,0.59,219.4,655.1,14.2,776,10161,0.00,1.83,0.00,0.000,6,0.000,0.034,2934,2089,2193,0,0,0,0,0,0
$GC,10471,0.59,219.4,611.4,13.9,792,10475,0.00,1.83,0.00,0.000,4,0.000,0.046,2934,3269,2190,0,0,0,0,0,0
$GC,10510,0.59,224.7,605.7,13.6,793,10520,0.00,1.80,6.18,0.819,6,0.000,0.034,2943,2055,2174,0,0,0,0,0,0
$GC,10841,0.60,242.0,560.3,13.1,823,10865,0.00,1.73,17.40,0.962,4,0.000,0.046,2951,961,2104,0,0,0,0,0,0
$GC,10922,0.60,242.0,549.6,14.0,830,10925,0.00,1.77,0.00,0.000,6,0.000,0.038,2948,2148,2100,0,0,0,0,0,0
$GC,11253,0.61,255.9,504.2,13.3,861,11273,0.00,0.00,13.23,0.897,6,0.000,0.000,2948,2149,2046,0,0,0,0,0,0
$GC,11593,0.61,262.8,458.3,13.6,893,11607,0.00,1.80,6.85,0.763,4,0.000,0.048,2948,3278,2019,0,0,0,0,0,0
$GC,11635,0.61,262.8,451.6,15.0,896,11644,0.00,1.83,0.00,0.000,6,0.000,0.034,2957,2091,2017,0,0,0,0,0,0
$GC,11963,0.60,262.8,404.7,14.2,927,11967,0.12,1.70,0.00,0.000,4,0.187,0.045,2933,967,2015,0,0,0,0,0,0
$GC,12104,0.66,307.1,387.6,11.9,939,12153,0.00,1.75,40.22,0.870,6,0.000,0.037,2933,2150,1836,0,0,0,0,0,0
$GC,12470,0.74,369.9,343.4,11.0,973,12531,0.10,1.85,52.65,0.830,4,0.099,0.042,2993,967,1584,0,0,0,0,0,0
$GC,12577,0.74,369.9,326.7,15.0,982,12581,0.00,1.80,0.00,0.000,6,0.000,0.037,2990,2155,1580,0,0,0,0,0,0
$GC,12920,0.74,369.9,271.8,16.3,1027,12927,0.00,1.67,0.00,0.000,4,0.000,0.044,2990,3272,1574,0,0,0,0,0,0
$GC,12948,0.74,369.9,267.3,16.0,1031,12955,0.12,1.75,0.00,0.000,6,0.177,0.032,2966,2084,1574,0,0,0,0,0,0
$GC,13309,0.77,394.0,216.6,12.8,1092,13338,0.00,1.73,20.60,0.706,4,0.000,0.043,2973,970,1483,0,0,0,0,0,0
$GC,13395,0.81,427.9,205.6,12.3,1105,13430,0.00,1.77,29.73,0.702,6,0.000,0.034,2973,2155,1345,0,0,0,0,0,0
$GC,13780,0.87,465.1,155.4,12.2,1170,13819,0.10,1.88,31.73,0.660,4,0.096,0.041,3039,966,1193,0,0,0,0,0,0
$GC,13977,0.87,465.1,121.8,16.6,1201,13985,0.00,1.80,0.00,0.000,6,0.000,0.033,3039,2157,1190,0,0,0,0,0,0
$GC,14345,0.97,540.3,64.3,10.5,1262,14411,0.00,1.90,61.03,0.595,4,0.000,0.040,3042,961,887,0,0,0,0,0,0
$GC,14522,1.14,669.3,45.6,8.0,1288,14620,0.12,1.80,88.30,0.571,6,0.044,0.032,3119,2151,433,0,0,0,0,0,0
$STATE,14738,end climb,SURFACE_DEPTH_REACHED
$STATE,14739,begin surface coast
$FINISH,0.1,0.998520
$STATE,14758,end surface coast,CONTROL_FINISHED_OK
$STATE,14758,begin surface
$SM_CCo,14835,0.00,0.000,0,0,430,652.74
$SM_GC,0.94,8.48,0.00,0.00,0.084,0.000,0.000,151,1976,430,-8.04,-1.39,652.74
$IRIDIUM_FIX,2246.36,12555.11,301010,000002
$TT8_MAMPS,0.026215
$HUMID,47.04
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,22.4,59.531
$10V_AH,9.9,49.161
$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,21.150,112.175,747.300,0.000,0.000,25.501,14.869,198.145,0.000,0.000,21.513,3260.240,7346.082,716.027,3579.849,299.455,0.000,2073.219,0.000,3347.520,0.000,0.543,0.000
$DEVICE_MAMPS,250.155,106.335,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.005,0.000,1760.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333636
$DATA_FILE_SIZE,80369,1323
$CAP_FILE_SIZE,165913,0
$CFSIZE,260165632,231571456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,326.6,1
$GPS,301010,090607,2252.616,12551.265,32,1.2,32,-3.3