version: 66.08
glider: 169
mission: 2
dive: 394
start: 10 30 110 9 13 24
data:
$ID,169
$MISSION,2
$DIVE,394
$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,-7214.0581
$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
$GPS1,301010,090607,2252.616,12551.265,32,1.2,32,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-68.4
$GPS2,301010,091256,2252.659,12551.200,15,1.3,15,-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,165.5,169520,-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,-204.4,0.0,0.0,0,113,0.00,0.00,-95.65,0.000,2,0.000,0.000,150,1975,3018,0,0,0,0,0,0
$GC,116,-0.69,-204.4,3.9,-6.8,12,151,10.07,1.73,-16.05,0.000,4,0.245,0.063,2497,878,3928,0,0,0,0,0,0
$GC,260,-0.68,-204.4,53.0,-29.1,34,269,0.00,1.83,0.00,0.000,6,0.000,0.050,2497,2037,3929,0,0,0,0,0,0
$GC,626,-0.67,-204.4,149.5,-21.2,95,635,0.00,1.77,0.00,0.000,4,0.000,0.057,2497,3167,3931,0,0,0,0,0,0
$GC,722,-0.67,-204.4,166.7,-17.2,111,730,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,2002,3932,0,0,0,0,0,0
$GC,1069,-0.67,-204.4,228.1,-17.4,172,1078,0.00,1.73,0.00,0.000,4,0.000,0.046,2497,866,3933,0,0,0,0,0,0
$GC,1126,-0.67,-204.4,237.2,-14.9,181,1133,0.00,1.80,0.00,0.000,6,0.000,0.047,2497,2049,3933,0,0,0,0,0,0
$GC,1472,-0.67,-204.4,291.7,-15.8,242,1481,0.00,1.75,0.00,0.000,4,0.000,0.057,2497,3169,3932,0,0,0,0,0,0
$GC,1591,-0.68,-204.4,307.7,-13.1,257,1594,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,2000,3932,0,0,0,0,0,0
$GC,1922,-0.68,-204.4,352.0,-12.3,288,1926,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3172,3931,0,0,0,0,0,0
$GC,1959,-0.69,-204.4,356.4,-12.1,291,1963,0.00,1.80,0.00,0.000,6,0.000,0.040,2497,2001,3931,0,0,0,0,0,0
$GC,2291,-0.70,-204.4,396.7,-11.2,322,2294,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3172,3929,0,0,0,0,0,0
$GC,2363,-0.71,-204.4,404.4,-9.5,328,2372,0.00,1.80,0.00,0.000,6,0.000,0.040,2497,2002,3928,0,0,0,0,0,0
$GC,2691,-0.72,-204.4,440.9,-11.6,359,2695,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3162,3927,0,0,0,0,0,0
$GC,2738,-0.73,-204.4,446.1,-10.6,363,2742,0.00,1.77,0.00,0.000,6,0.000,0.038,2497,2003,3926,0,0,0,0,0,0
$GC,3070,-0.74,-204.4,483.1,-11.1,394,3074,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3924,0,0,0,0,0,0
$GC,3117,-0.76,-204.4,488.0,-10.1,398,3121,0.00,1.75,0.00,0.000,6,0.000,0.038,2497,1998,3924,0,0,0,0,0,0
$GC,3448,-0.77,-204.4,522.5,-10.3,429,3452,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3168,3921,0,0,0,0,0,0
$GC,3495,-0.78,-204.4,526.9,-9.2,433,3498,0.00,1.75,0.00,0.000,6,0.000,0.038,2497,1998,3920,0,0,0,0,0,0
$GC,3826,-0.79,-204.4,560.7,-10.1,464,3829,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3177,3917,0,0,0,0,0,0
$GC,3876,-0.81,-204.4,565.6,-8.9,468,3882,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,2000,3916,0,0,0,0,0,0
$GC,4201,-0.82,-204.4,598.7,-10.6,499,4205,0.00,1.85,0.00,0.000,4,0.000,0.056,2497,3168,3914,0,0,0,0,0,0
$GC,4239,-0.84,-204.4,602.6,-9.2,501,4248,0.10,1.75,0.00,0.000,6,0.118,0.040,2459,1996,3913,0,0,0,0,0,0
$GC,4556,-0.84,-204.4,645.3,-13.6,517,4560,0.00,1.85,0.00,0.000,4,0.000,0.059,2458,3170,3911,0,0,0,0,0,0
$GC,4595,-0.85,-204.4,650.5,-12.2,518,4601,0.00,1.77,0.00,0.000,6,0.000,0.043,2458,2000,3910,0,0,0,0,0,0
$GC,4912,-0.85,-204.4,689.2,-12.4,534,4916,0.00,1.88,0.00,0.000,4,0.000,0.060,2457,3162,3908,0,0,0,0,0,0
$GC,4945,-0.86,-204.4,693.6,-11.9,535,4948,0.00,1.75,0.00,0.000,6,0.000,0.043,2458,2003,3908,0,0,0,0,0,0
$GC,5267,-0.86,-204.4,733.0,-12.6,551,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2001,3905,0,0,0,0,0,0
$GC,5577,-0.87,-204.4,773.1,-12.9,566,5581,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3168,3902,0,0,0,0,0,0
$GC,5610,-0.88,-204.4,777.5,-11.3,567,5614,0.00,1.80,0.00,0.000,6,0.000,0.044,2458,1996,3902,0,0,0,0,0,0
$GC,5933,-0.88,-204.4,819.1,-13.3,583,5936,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3167,3900,0,0,0,0,0,0
$GC,5967,-0.89,-204.4,823.6,-12.8,584,5971,0.00,1.80,0.00,0.000,6,0.000,0.044,2457,2001,3900,0,0,0,0,0,0
$GC,6289,-0.90,-204.4,865.5,-12.9,600,6290,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1999,3897,0,0,0,0,0,0
$GC,6599,-0.91,-204.4,904.3,-12.8,615,6602,0.00,1.88,0.00,0.000,4,0.000,0.060,2457,3167,3895,0,0,0,0,0,0
$GC,6669,-0.92,-204.4,912.4,-10.8,618,6672,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2003,3894,0,0,0,0,0,0
$GC,7003,-0.92,-204.4,952.3,-11.9,634,7006,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3167,3893,0,0,0,0,0,0
$GC,7041,-0.93,-204.4,957.1,-10.5,635,7048,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2003,3893,0,0,0,0,0,0
$GC,7358,-0.94,-204.4,992.9,-11.3,651,7361,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3168,3891,0,0,0,0,0,0
$GC,7408,-0.96,-204.4,998.6,-10.4,653,7412,0.10,1.80,0.00,0.000,6,0.122,0.044,2421,2003,3890,0,0,0,0,0,0
$STATE,7424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7424,begin apogee
$GC,7429,-0.18,0.0,1000.5,11.5,654,7610,0.80,0.10,174.12,1.278,6,0.150,0.089,2664,2080,3091,0,0,0,0,0,0
$STATE,7610,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7612,0.69,204.4,1010.4,0.0,662,7818,0.80,2.10,195.75,1.250,4,0.064,0.044,2947,3270,2256,0,0,0,0,0,0
$GC,7935,0.67,204.4,982.5,16.7,677,7943,0.00,1.85,0.00,0.000,6,0.000,0.035,2956,2097,2245,0,0,0,0,0,0
$GC,8252,0.66,204.4,932.2,16.0,693,8255,0.00,1.67,0.00,0.000,4,0.000,0.046,2965,967,2240,0,0,0,0,0,0
$GC,8312,0.65,204.4,922.4,15.9,695,8319,0.00,1.80,0.00,0.000,6,0.000,0.038,2962,2151,2239,0,0,0,0,0,0
$GC,8629,0.64,204.4,872.5,15.6,711,8633,0.00,1.70,0.00,0.000,4,0.000,0.047,2962,3271,2237,0,0,0,0,0,0
$GC,8675,0.62,204.4,865.0,17.5,713,8679,0.15,1.77,0.00,0.000,6,0.187,0.035,2933,2076,2237,0,0,0,0,0,0
$GC,9009,0.62,206.4,819.6,13.8,729,9013,0.00,1.85,0.00,0.000,4,0.000,0.047,2932,3275,2236,0,0,0,0,0,0
$GC,9042,0.61,206.4,814.3,14.5,730,9045,0.00,1.77,0.00,0.000,6,0.000,0.035,2941,2082,2236,0,0,0,0,0,0
$GC,9364,0.60,206.4,768.1,14.2,746,9367,0.00,1.67,0.00,0.000,4,0.000,0.046,2949,958,2235,0,0,0,0,0,0
$GC,9433,0.59,206.4,758.5,14.1,749,9436,0.00,1.80,0.00,0.000,6,0.000,0.038,2948,2161,2234,0,0,0,0,0,0
$GC,9765,0.59,214.6,712.3,13.5,765,9774,0.00,0.00,6.47,0.882,6,0.000,0.000,2948,2161,2215,0,0,0,0,0,0
$GC,10098,0.58,214.6,666.8,14.0,781,10102,0.00,1.80,0.00,0.000,4,0.000,0.045,2957,959,2213,0,0,0,0,0,0
$GC,10144,0.61,242.6,660.8,12.6,783,10176,0.00,1.77,27.88,1.050,6,0.000,0.038,2957,2155,2101,0,0,0,0,0,0
$GC,10493,0.62,256.1,613.5,13.3,800,10515,0.00,1.90,12.20,0.951,4,0.000,0.046,2966,960,2045,0,0,0,0,0,0
$GC,10539,0.62,264.5,607.3,13.5,802,10554,0.12,1.80,9.10,0.890,6,0.171,0.038,2930,2160,2013,0,0,0,0,0,0
$GC,10879,0.63,267.9,564.4,13.7,831,10882,0.00,1.80,0.00,0.000,4,0.000,0.045,2939,965,2005,0,0,0,0,0,0
$GC,10914,0.63,268.3,559.7,13.9,834,10917,0.00,1.77,0.00,0.000,6,0.000,0.040,2938,2154,2005,0,0,0,0,0,0
$GC,11245,0.63,268.3,512.8,14.0,865,11246,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2154,2004,0,0,0,0,0,0
$GC,11566,0.65,285.8,469.7,13.1,895,11591,0.00,1.90,19.42,0.901,4,0.000,0.046,2947,962,1924,0,0,0,0,0,0
$GC,11630,0.66,298.8,460.5,13.3,900,11651,0.00,1.83,12.95,0.852,6,0.000,0.039,2947,2145,1871,0,0,0,0,0,0
$GC,11969,0.66,298.8,412.2,14.2,932,11973,0.00,1.77,0.00,0.000,4,0.000,0.044,2956,969,1864,0,0,0,0,0,0
$GC,11996,0.66,298.8,407.8,14.4,934,12005,0.00,1.80,0.00,0.000,6,0.000,0.039,2956,2145,1864,0,0,0,0,0,0
$GC,12324,0.69,325.5,363.3,12.7,965,12352,0.00,0.00,23.50,0.829,6,0.000,0.000,2956,2145,1764,0,0,0,0,0,0
$GC,12672,0.71,340.3,315.1,13.2,998,12690,0.00,1.80,13.93,0.758,4,0.000,0.042,2963,966,1702,0,0,0,0,0,0
$GC,12738,0.72,343.4,306.1,13.7,1003,12750,0.00,1.80,3.97,0.503,6,0.000,0.037,2964,2158,1690,0,0,0,0,0,0
$GC,13085,0.72,343.4,258.8,14.7,1060,13094,0.00,1.83,0.00,0.000,4,0.000,0.043,2972,966,1687,0,0,0,0,0,0
$GC,13152,0.77,380.5,250.3,12.2,1071,13195,0.00,1.75,32.45,0.747,6,0.000,0.036,2972,2155,1538,0,0,0,0,0,0
$GC,13538,0.77,380.5,195.0,14.8,1137,13545,0.00,1.80,0.00,0.000,4,0.000,0.042,2981,965,1533,0,0,0,0,0,0
$GC,13661,0.81,407.9,178.6,12.6,1158,13691,0.00,1.80,23.50,0.675,6,0.000,0.037,2981,2155,1428,0,0,0,0,0,0
$GC,14039,0.89,467.0,133.1,11.2,1222,14097,0.10,1.85,49.80,0.649,4,0.099,0.042,3043,964,1185,0,0,0,0,0,0
$GC,14182,0.89,467.0,110.2,16.3,1243,14191,0.00,1.80,0.00,0.000,6,0.000,0.034,3043,2153,1183,0,0,0,0,0,0
$GC,14547,1.01,557.4,57.2,9.8,1304,14628,0.00,1.88,72.57,0.588,4,0.000,0.040,3043,964,817,0,0,0,0,0,0
$GC,14728,1.13,647.7,40.7,9.8,1330,14809,0.10,1.80,71.93,0.565,6,0.045,0.031,3112,2164,448,0,0,0,0,0,0
$STATE,14940,end climb,SURFACE_DEPTH_REACHED
$STATE,14940,begin surface coast
$FINISH,0.2,1.010378
$STATE,14959,end surface coast,CONTROL_FINISHED_OK
$STATE,14959,begin surface
$SM_CCo,15036,0.00,0.000,0,0,443,649.55
$SM_GC,0.99,8.43,0.00,0.00,0.083,0.000,0.000,153,1995,443,-8.03,-0.85,649.55
$IRIDIUM_FIX,2246.36,12553.73,301010,040404
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.4,59.754
$10V_AH,9.8,49.316
$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,20.775,119.700,749.550,0.000,0.000,27.458,19.756,221.896,0.000,0.000,16.910,3368.915,7318.720,719.647,3717.364,307.723,0.000,2124.124,0.000,3456.160,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,88.740,1277.550,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,924.183,0.000,1862.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,80283,1365
$CAP_FILE_SIZE,170207,0
$CFSIZE,260165632,231485440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,330.9,1
$GPS,301010,132507,2251.661,12550.796,41,1.2,41,-3.3