version: 66.08
glider: 169
mission: 2
dive: 397
start: 10 30 110 22 4 12
data:
$ID,169
$MISSION,2
$DIVE,397
$N_DIVES,410
$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,-7219.9644
$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
$GPS1,301010,215653,2249.592,12550.741,24,1.4,40,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.0
$GPS2,301010,220344,2249.607,12550.704,13,1.6,13,-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,182.2,163990,-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,-204.4,0.0,0.0,0,109,0.00,0.00,-91.35,0.000,2,0.000,0.000,150,1997,2953,0,0,0,0,0,0
$GC,112,-0.69,-204.4,3.3,-5.2,11,147,10.15,1.80,-17.65,0.000,4,0.247,0.065,2496,864,3930,0,0,0,0,0,0
$GC,267,-0.68,-204.4,50.6,-22.6,35,276,0.00,1.85,0.00,0.000,6,0.000,0.051,2496,2038,3931,0,0,0,0,0,0
$GC,633,-0.67,-204.4,151.1,-20.6,96,642,0.00,1.75,0.00,0.000,4,0.000,0.057,2496,3164,3932,0,0,0,0,0,0
$GC,669,-0.67,-204.4,157.7,-18.6,101,675,0.00,1.75,0.00,0.000,6,0.000,0.042,2496,2002,3933,0,0,0,0,0,0
$GC,1024,-0.66,-204.4,222.5,-17.9,162,1034,0.00,1.85,0.00,0.000,4,0.000,0.056,2495,3167,3934,0,0,0,0,0,0
$GC,1088,-0.67,-204.4,232.6,-15.2,172,1096,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,1998,3934,0,0,0,0,0,0
$GC,1447,-0.67,-204.4,291.7,-16.2,233,1454,0.00,1.88,0.00,0.000,4,0.000,0.056,2496,3171,3933,0,0,0,0,0,0
$GC,1498,-0.67,-204.4,299.6,-15.0,241,1504,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,2002,3933,0,0,0,0,0,0
$GC,1823,-0.67,-204.4,344.9,-13.2,272,1827,0.00,1.83,0.00,0.000,4,0.000,0.055,2496,3177,3932,0,0,0,0,0,0
$GC,1862,-0.68,-204.4,349.4,-12.8,275,1866,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,1984,3932,0,0,0,0,0,0
$GC,2193,-0.69,-204.4,394.1,-13.8,306,2197,0.00,1.88,0.00,0.000,4,0.000,0.057,2496,3172,3931,0,0,0,0,0,0
$GC,2256,-0.70,-204.4,402.1,-11.3,311,2263,0.00,1.75,0.00,0.000,6,0.000,0.039,2496,1999,3930,0,0,0,0,0,0
$GC,2582,-0.70,-204.4,442.3,-11.9,342,2585,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3174,3928,0,0,0,0,0,0
$GC,2610,-0.71,-204.4,445.9,-12.3,344,2619,0.00,1.80,0.00,0.000,6,0.000,0.039,2496,2000,3928,0,0,0,0,0,0
$GC,2938,-0.72,-204.4,482.5,-11.4,375,2942,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3164,3926,0,0,0,0,0,0
$GC,2965,-0.73,-204.4,486.0,-11.2,377,2972,0.00,1.75,0.00,0.000,6,0.000,0.038,2496,1991,3925,0,0,0,0,0,0
$GC,3291,-0.74,-204.4,523.9,-11.8,408,3295,0.00,1.88,0.00,0.000,4,0.000,0.055,2496,3167,3923,0,0,0,0,0,0
$GC,3388,-0.76,-204.4,534.4,-10.5,416,3394,0.00,1.77,0.00,0.000,6,0.000,0.038,2496,1993,3922,0,0,0,0,0,0
$GC,3714,-0.77,-204.4,567.0,-9.2,447,3717,0.00,1.88,0.00,0.000,4,0.000,0.055,2496,3168,3919,0,0,0,0,0,0
$GC,3774,-0.78,-204.4,572.5,-8.7,452,3781,0.00,1.75,0.00,0.000,6,0.000,0.041,2496,1999,3919,0,0,0,0,0,0
$GC,4109,-0.79,-204.4,604.9,-10.0,482,4113,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3165,3916,0,0,0,0,0,0
$GC,4159,-0.81,-204.4,609.8,-8.9,484,4162,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,2000,3915,0,0,0,0,0,0
$GC,4487,-0.82,-204.4,641.5,-9.4,500,4490,0.00,1.83,0.00,0.000,4,0.000,0.055,2496,3174,3912,0,0,0,0,0,0
$GC,4510,-0.83,-204.4,643.8,-9.7,501,4515,0.10,1.77,0.00,0.000,6,0.119,0.041,2457,1989,3913,0,0,0,0,0,0
$GC,4845,-0.84,-204.4,683.5,-12.2,517,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1987,3909,0,0,0,0,0,0
$GC,5153,-0.84,-204.4,721.7,-12.6,532,5157,0.00,1.88,0.00,0.000,4,0.000,0.060,2457,3167,3907,0,0,0,0,0,0
$GC,5225,-0.85,-204.4,730.3,-11.1,535,5229,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,1998,3906,0,0,0,0,0,0
$GC,5554,-0.86,-204.4,768.3,-11.7,551,5558,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3167,3904,0,0,0,0,0,0
$GC,5581,-0.86,-204.4,771.9,-11.3,552,5585,0.00,1.83,0.00,0.000,6,0.000,0.044,2457,2001,3903,0,0,0,0,0,0
$GC,5909,-0.87,-204.4,811.8,-12.6,568,5910,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1999,3901,0,0,0,0,0,0
$GC,6219,-0.88,-204.4,850.2,-12.4,583,6223,0.00,1.83,0.00,0.000,4,0.000,0.060,2457,3167,3898,0,0,0,0,0,0
$GC,6281,-0.89,-204.4,857.8,-11.2,585,6287,0.00,1.77,0.00,0.000,6,0.000,0.044,2457,2001,3898,0,0,0,0,0,0
$GC,6597,-0.89,-204.4,897.7,-12.8,601,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2000,3896,0,0,0,0,0,0
$GC,6906,-0.90,-204.4,937.4,-12.5,616,6910,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3171,3895,0,0,0,0,0,0
$GC,6979,-0.91,-204.4,945.9,-10.9,619,6982,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,1999,3894,0,0,0,0,0,0
$GC,7307,-0.92,-204.4,986.4,-12.7,635,7311,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3169,3892,0,0,0,0,0,0
$GC,7342,-0.93,-204.4,990.8,-12.7,636,7345,0.00,1.77,0.00,0.000,6,0.000,0.046,2457,2003,3891,0,0,0,0,0,0
$STATE,7434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7434,begin apogee
$GC,7440,-0.18,0.0,1002.1,12.2,641,7619,0.65,0.10,173.73,1.281,6,0.140,0.090,2661,2084,3091,0,0,0,0,0,0
$STATE,7620,end apogee,CONTROL_FINISHED_OK
$STATE,7620,begin climb
$GC,7622,0.69,204.4,1013.3,0.0,649,7825,0.80,0.00,196.98,1.248,6,0.057,0.000,2952,2084,2257,0,0,0,0,0,0
$GC,8123,0.67,204.4,956.5,16.1,674,8124,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2084,2242,0,0,0,0,0,0
$GC,8433,0.66,204.4,906.3,16.2,689,8434,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2084,2240,0,0,0,0,0,0
$GC,8742,0.65,204.4,859.6,14.7,704,8746,0.00,1.70,0.00,0.000,4,0.000,0.047,2961,967,2237,0,0,0,0,0,0
$GC,8770,0.64,204.4,855.3,15.2,705,8773,0.00,1.77,0.00,0.000,6,0.000,0.041,2960,2157,2237,0,0,0,0,0,0
$GC,9097,0.62,204.4,803.4,15.9,721,9098,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2157,2235,0,0,0,0,0,0
$GC,9406,0.61,204.4,754.6,15.6,736,9410,0.12,1.83,0.00,0.000,4,0.191,0.047,2938,962,2235,0,0,0,0,0,0
$GC,9475,0.63,226.6,745.3,12.9,739,9498,0.00,1.80,18.15,1.063,6,0.000,0.041,2935,2155,2167,0,0,0,0,0,0
$GC,9808,0.63,232.2,699.1,13.6,755,9818,0.00,1.80,6.10,0.844,4,0.000,0.044,2944,969,2143,0,0,0,0,0,0
$GC,9835,0.63,232.2,694.6,15.4,756,9839,0.00,1.77,0.00,0.000,6,0.000,0.041,2941,2154,2143,0,0,0,0,0,0
$GC,10157,0.62,232.2,648.2,14.6,772,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2154,2141,0,0,0,0,0,0
$GC,10469,0.62,233.3,605.2,13.8,787,10472,0.00,1.77,0.00,0.000,4,0.000,0.047,2950,969,2138,0,0,0,0,0,0
$GC,10515,0.62,237.1,598.5,13.7,789,10527,0.00,1.75,5.20,0.758,6,0.000,0.041,2948,2151,2124,0,0,0,0,0,0
$GC,10845,0.61,237.1,552.3,14.1,820,10849,0.00,1.77,0.00,0.000,4,0.000,0.045,2957,963,2122,0,0,0,0,0,0
$GC,10914,0.63,256.5,543.0,13.0,826,10938,0.00,1.77,19.40,0.953,6,0.000,0.040,2950,2155,2044,0,0,0,0,0,0
$GC,11257,0.63,259.6,496.0,13.7,858,11261,0.00,1.73,0.00,0.000,4,0.000,0.048,2949,3268,2037,0,0,0,0,0,0
$GC,11303,0.62,259.6,489.3,14.6,862,11306,0.00,1.75,0.00,0.000,6,0.000,0.034,2958,2087,2036,0,0,0,0,0,0
$GC,11636,0.62,259.6,442.5,13.9,893,11640,0.00,1.67,0.00,0.000,4,0.000,0.044,2967,966,2035,0,0,0,0,0,0
$GC,11732,0.63,270.8,430.0,13.4,901,11757,0.00,1.75,12.90,0.838,6,0.000,0.039,2961,2149,1985,0,0,0,0,0,0
$GC,12074,0.65,292.9,383.0,12.9,933,12101,0.00,1.88,20.73,0.833,4,0.000,0.044,2970,964,1895,0,0,0,0,0,0
$GC,12181,0.65,292.9,368.3,14.1,942,12185,0.12,1.77,0.00,0.000,6,0.162,0.038,2936,2151,1892,0,0,0,0,0,0
$GC,12513,0.70,335.7,328.3,11.9,973,12562,0.00,1.90,37.55,0.807,4,0.000,0.044,2945,962,1721,0,0,0,0,0,0
$GC,12599,0.74,363.1,317.4,12.6,980,12628,0.00,1.80,24.50,0.774,6,0.000,0.037,2945,2160,1610,0,0,0,0,0,0
$GC,12969,0.80,409.1,270.7,11.8,1032,13021,0.12,1.90,38.92,0.752,4,0.083,0.043,3023,968,1421,0,0,0,0,0,0
$GC,13097,0.80,409.1,248.1,17.6,1052,13106,0.08,1.83,0.00,0.000,6,0.149,0.037,2993,2155,1418,0,0,0,0,0,0
$GC,13458,0.80,409.1,189.7,14.4,1113,13464,0.00,1.67,0.00,0.000,4,0.000,0.042,2993,3274,1415,0,0,0,0,0,0
$GC,13497,0.80,409.1,183.6,14.5,1119,13504,0.00,1.80,0.00,0.000,6,0.000,0.031,3002,2080,1414,0,0,0,0,0,0
$GC,13857,0.80,409.1,127.9,15.3,1180,13866,0.00,1.67,0.00,0.000,4,0.000,0.041,3011,966,1414,0,0,0,0,0,0
$GC,14070,0.87,462.6,101.8,11.4,1215,14120,0.00,1.77,44.33,0.620,6,0.000,0.034,3011,2155,1205,0,0,0,0,0,0
$GC,14478,0.99,553.1,62.4,9.8,1281,14561,0.10,1.85,73.32,0.584,4,0.095,0.037,3081,969,834,0,0,0,0,0,0
$GC,14695,1.01,562.4,32.6,13.5,1313,14713,0.00,1.77,8.52,0.479,6,0.000,0.033,3081,2152,797,0,0,0,0,0,0
$STATE,14878,end climb,SURFACE_DEPTH_REACHED
$STATE,14878,begin surface coast
$FINISH,0.3,1.007265
$STATE,14897,end surface coast,CONTROL_FINISHED_OK
$STATE,14897,begin surface
$SM_CCo,14914,58.12,0.057,0,0,480,640.23
$SM_GC,1.10,0.00,0.00,58.12,0.000,0.000,0.057,151,1998,480,-8.06,-0.76,640.23
$IRIDIUM_FIX,2239.35,12327.13,301010,171714
$TT8_MAMPS,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.4,60.414
$10V_AH,10.0,49.773
$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,20.600,108.425,680.325,58.125,0.000,25.888,51.435,194.831,0.000,0.000,15.422,3328.479,7352.980,762.594,3633.103,296.289,0.000,2065.408,0.000,3368.813,0.000,0.544,0.000
$DEVICE_MAMPS,247.095,90.270,1281.375,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.844,0.000,1865.783,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,80200,1346
$CAP_FILE_SIZE,163897,0
$CFSIZE,260165632,231243776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,348.4,1
$GPS,311010,021455,2247.942,12550.083,42,1.1,42,-3.3