version: 66.08
glider: 169
mission: 2
dive: 406
start: 11 1 110 12 50 18
data:
$ID,169
$MISSION,2
$DIVE,406
$N_DIVES,414
$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,-7237.6089
$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
$GPS1,011110,124338,2237.645,12547.380,30,1.3,30,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.9
$GPS2,011110,124949,2237.700,12547.300,13,1.4,13,-3.2
$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,164.1,142961,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,114,0.00,0.00,-97.30,0.000,2,0.000,0.000,144,2000,3142,0,0,0,0,0,0
$GC,117,-0.69,-204.4,4.2,-6.9,12,152,10.05,1.80,-13.50,0.000,4,0.240,0.069,2498,872,3928,0,0,0,0,0,0
$GC,243,-0.67,-204.4,49.7,-26.0,31,251,0.00,1.85,0.00,0.000,6,0.000,0.053,2498,2041,3929,0,0,0,0,0,0
$GC,609,-0.67,-204.4,143.2,-20.5,92,618,0.00,1.77,0.00,0.000,4,0.000,0.060,2498,3162,3931,0,0,0,0,0,0
$GC,650,-0.66,-204.4,151.0,-19.3,98,659,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2000,3931,0,0,0,0,0,0
$GC,1002,-0.66,-204.4,215.7,-16.9,159,1008,0.00,1.70,0.00,0.000,4,0.000,0.047,2498,867,3932,0,0,0,0,0,0
$GC,1062,-0.66,-204.4,224.8,-13.7,169,1070,0.00,1.77,0.00,0.000,6,0.000,0.047,2498,2050,3932,0,0,0,0,0,0
$GC,1408,-0.66,-204.4,278.7,-15.2,230,1416,0.00,1.75,0.00,0.000,4,0.000,0.057,2498,3167,3932,0,0,0,0,0,0
$GC,1476,-0.67,-204.4,287.9,-12.9,241,1483,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,1998,3931,0,0,0,0,0,0
$GC,1809,-0.68,-204.4,336.5,-14.7,279,1813,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3170,3931,0,0,0,0,0,0
$GC,1844,-0.68,-204.4,341.7,-14.4,282,1848,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2002,3931,0,0,0,0,0,0
$GC,2177,-0.69,-204.4,389.2,-14.2,313,2180,0.00,1.67,0.00,0.000,4,0.000,0.048,2498,874,3929,0,0,0,0,0,0
$GC,2225,-0.70,-204.4,395.4,-12.1,317,2228,0.00,1.75,0.00,0.000,6,0.000,0.046,2498,2045,3929,0,0,0,0,0,0
$GC,2556,-0.71,-204.4,435.7,-12.1,348,2560,0.00,1.73,0.00,0.000,4,0.000,0.056,2498,3168,3927,0,0,0,0,0,0
$GC,2625,-0.72,-204.4,443.7,-11.0,354,2629,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,1999,3927,0,0,0,0,0,0
$GC,2958,-0.73,-204.4,483.3,-12.1,385,2961,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3172,3924,0,0,0,0,0,0
$GC,3005,-0.74,-204.4,488.4,-9.6,389,3009,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2001,3924,0,0,0,0,0,0
$GC,3336,-0.75,-204.4,527.1,-12.1,420,3340,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3174,3921,0,0,0,0,0,0
$GC,3371,-0.77,-204.4,531.0,-11.0,423,3374,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,1988,3921,0,0,0,0,0,0
$GC,3702,-0.78,-204.4,570.1,-11.2,454,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1986,3918,0,0,0,0,0,0
$GC,4021,-0.79,-204.4,602.5,-9.7,483,4025,0.00,1.88,0.00,0.000,4,0.000,0.056,2498,3168,3915,0,0,0,0,0,0
$GC,4077,-0.81,-204.4,607.7,-8.0,485,4081,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2002,3915,0,0,0,0,0,0
$GC,4398,-0.82,-204.4,638.0,-10.1,501,4402,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3913,0,0,0,0,0,0
$GC,4437,-0.83,-204.4,642.1,-9.8,502,4444,0.12,1.77,0.00,0.000,6,0.108,0.040,2448,2001,3912,0,0,0,0,0,0
$GC,4754,-0.84,-204.4,688.4,-14.8,518,4758,0.00,1.73,0.00,0.000,4,0.000,0.053,2448,872,3910,0,0,0,0,0,0
$GC,4781,-0.84,-204.4,692.9,-15.1,519,4785,0.00,1.83,0.00,0.000,6,0.000,0.050,2448,2035,3909,0,0,0,0,0,0
$GC,5109,-0.84,-204.4,740.1,-13.9,535,5113,0.00,1.77,0.00,0.000,4,0.000,0.060,2448,3169,3906,0,0,0,0,0,0
$GC,5188,-0.85,-204.4,750.1,-11.7,538,5192,0.00,1.77,0.00,0.000,6,0.000,0.045,2448,2004,3906,0,0,0,0,0,0
$GC,5511,-0.86,-204.4,793.0,-13.3,554,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2002,3903,0,0,0,0,0,0
$GC,5819,-0.86,-204.4,833.8,-13.1,569,5823,0.00,1.85,0.00,0.000,4,0.000,0.060,2448,3170,3901,0,0,0,0,0,0
$GC,5853,-0.87,-204.4,838.3,-13.0,570,5856,0.00,1.77,0.00,0.000,6,0.000,0.046,2448,2004,3900,0,0,0,0,0,0
$GC,6176,-0.87,-204.4,878.4,-12.3,586,6179,0.00,1.88,0.00,0.000,4,0.000,0.061,2448,3171,3898,0,0,0,0,0,0
$GC,6209,-0.88,-204.4,882.6,-11.0,587,6212,0.00,1.80,0.00,0.000,6,0.000,0.047,2448,1997,3898,0,0,0,0,0,0
$GC,6531,-0.88,-204.4,921.4,-12.5,603,6535,0.00,1.85,0.00,0.000,4,0.000,0.060,2448,3167,3896,0,0,0,0,0,0
$GC,6554,-0.89,-204.4,924.3,-13.0,604,6558,0.00,1.77,0.00,0.000,6,0.000,0.047,2448,2004,3896,0,0,0,0,0,0
$GC,6887,-0.90,-204.4,965.3,-12.6,620,6889,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2003,3893,0,0,0,0,0,0
$STATE,7174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7174,begin apogee
$GC,7180,-0.18,0.0,1002.7,13.2,634,7359,0.70,0.08,173.57,1.274,6,0.144,0.107,2665,2094,3091,0,0,0,0,0,0
$STATE,7360,end apogee,CONTROL_FINISHED_OK
$STATE,7360,begin climb
$GC,7362,0.69,204.4,1013.8,0.0,642,7567,0.80,2.00,194.70,1.250,4,0.063,0.045,2950,3264,2254,0,0,0,0,0,0
$GC,7707,0.67,204.4,983.1,16.3,658,7711,0.00,1.83,0.00,0.000,6,0.000,0.035,2959,2098,2243,0,0,0,0,0,0
$GC,8035,0.66,204.4,931.0,16.0,674,8038,0.00,1.70,0.00,0.000,4,0.000,0.047,2967,968,2239,0,0,0,0,0,0
$GC,8098,0.65,204.4,921.0,15.6,676,8104,0.00,1.77,0.00,0.000,6,0.000,0.041,2968,2153,2238,0,0,0,0,0,0
$GC,8413,0.63,204.4,871.1,15.7,692,8418,0.12,1.73,0.00,0.000,4,0.190,0.048,2935,3266,2236,0,0,0,0,0,0
$GC,8446,0.62,204.4,865.9,14.7,693,8450,0.00,1.80,0.00,0.000,6,0.000,0.036,2943,2082,2235,0,0,0,0,0,0
$GC,8768,0.62,213.2,822.5,13.5,709,8775,0.00,0.00,5.30,0.838,6,0.000,0.000,2943,2081,2221,0,0,0,0,0,0
$GC,9078,0.61,213.2,778.7,14.5,724,9081,0.00,1.85,0.00,0.000,4,0.000,0.047,2939,3276,2218,0,0,0,0,0,0
$GC,9127,0.60,213.2,770.6,15.4,726,9130,0.00,1.83,0.00,0.000,6,0.000,0.036,2948,2084,2218,0,0,0,0,0,0
$GC,9455,0.59,213.2,720.4,14.7,742,9458,0.00,1.85,0.00,0.000,4,0.000,0.046,2948,3279,2217,0,0,0,0,0,0
$GC,9488,0.58,213.2,715.0,15.5,743,9492,0.15,1.77,0.00,0.000,6,0.181,0.035,2918,2084,2217,0,0,0,0,0,0
$GC,9809,0.65,268.1,676.8,11.4,759,9863,0.00,0.00,51.65,1.066,6,0.000,0.000,2918,2082,1997,0,0,0,0,0,0
$GC,10159,0.70,308.6,634.6,12.0,776,10203,0.10,1.73,35.95,1.020,4,0.097,0.044,2983,970,1831,0,0,0,0,0,0
$GC,10232,0.69,308.6,622.5,17.7,779,10236,0.00,1.80,0.00,0.000,6,0.000,0.041,2980,2146,1827,0,0,0,0,0,0
$GC,10556,0.68,308.6,563.7,18.4,803,10558,0.12,0.00,0.00,0.000,6,0.185,0.000,2948,2148,1822,0,0,0,0,0,0
$GC,10873,0.68,308.6,514.0,15.0,833,10876,0.00,1.77,0.00,0.000,4,0.000,0.045,2957,965,1819,0,0,0,0,0,0
$GC,10901,0.67,308.6,509.7,15.0,835,10907,0.00,1.77,0.00,0.000,6,0.000,0.040,2954,2154,1819,0,0,0,0,0,0
$GC,11227,0.68,317.9,462.7,13.5,866,11241,0.00,1.73,7.47,0.779,4,0.000,0.045,2955,3272,1794,0,0,0,0,0,0
$GC,11299,0.68,317.9,452.7,14.1,872,11302,0.00,1.80,0.00,0.000,6,0.000,0.035,2963,2095,1791,0,0,0,0,0,0
$GC,11631,0.68,317.9,400.6,16.9,903,11635,0.00,1.67,0.00,0.000,4,0.000,0.045,2972,965,1790,0,0,0,0,0,0
$GC,11704,0.68,317.9,387.7,16.5,909,11711,0.00,1.80,0.00,0.000,6,0.000,0.039,2967,2145,1791,0,0,0,0,0,0
$GC,12029,0.67,317.9,336.8,15.1,940,12033,0.00,1.77,0.00,0.000,4,0.000,0.044,2975,957,1790,0,0,0,0,0,0
$GC,12065,0.67,317.9,331.7,14.6,943,12069,0.00,1.77,0.00,0.000,6,0.000,0.037,2974,2156,1790,0,0,0,0,0,0
$GC,12397,0.67,317.9,282.5,14.3,984,12406,0.00,1.83,0.00,0.000,4,0.000,0.044,2983,967,1789,0,0,0,0,0,0
$GC,12465,0.67,317.9,273.0,14.0,995,12472,0.10,1.80,0.00,0.000,6,0.142,0.038,2950,2154,1789,0,0,0,0,0,0
$GC,12813,0.74,372.4,230.1,11.4,1056,12865,0.00,1.90,47.12,0.728,4,0.000,0.042,2959,962,1571,0,0,0,0,0,0
$GC,12962,0.83,437.9,213.3,10.9,1080,13027,0.08,1.83,55.80,0.709,6,0.049,0.035,3013,2156,1303,0,0,0,0,0,0
$GC,13373,0.83,437.9,142.5,18.1,1149,13383,0.00,1.83,0.00,0.000,4,0.000,0.041,3023,963,1297,0,0,0,0,0,0
$GC,13440,0.83,437.9,131.2,15.6,1159,13448,0.00,1.80,0.00,0.000,6,0.000,0.035,3022,2155,1296,0,0,0,0,0,0
$GC,13808,0.86,462.8,75.5,12.8,1220,13834,0.00,1.88,20.48,0.581,4,0.000,0.042,3026,958,1203,0,0,0,0,0,0
$GC,13944,0.99,557.9,59.6,9.5,1241,14027,0.00,1.80,77.22,0.589,6,0.000,0.032,3026,2162,815,0,0,0,0,0,0
$GC,14380,1.06,602.6,22.0,11.8,1311,14423,0.12,1.88,36.10,0.539,4,0.084,0.041,3102,966,633,0,0,0,0,0,0
$STATE,14484,end climb,SURFACE_DEPTH_REACHED
$STATE,14485,begin surface coast
$FINISH,0.7,1.022144
$STATE,14503,end surface coast,CONTROL_FINISHED_OK
$STATE,14503,begin surface
$SM_CCo,14522,28.75,0.058,0,0,481,640.23
$SM_GC,1.16,0.00,0.00,28.75,0.000,0.000,0.058,148,2055,481,-8.07,0.85,640.23
$IRIDIUM_FIX,2230.01,12549.63,011110,080846
$TT8_MAMPS,0.026964
$HUMID,45.62
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.3,62.358
$10V_AH,9.9,51.157
$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,21.000,111.525,705.375,28.750,0.000,24.620,15.681,196.135,0.000,0.000,14.977,3281.759,7008.899,720.814,3593.051,308.558,0.000,2038.504,0.000,3375.375,0.000,0.543,0.000
$DEVICE_MAMPS,240.210,107.100,1274.490,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.275,0.000,1875.347,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,77086,1329
$CAP_FILE_SIZE,161488,0
$CFSIZE,260165632,230514688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,347.3,1
$GPS,011110,165400,2236.631,12547.490,36,1.0,42,-3.2