version: 66.08
glider: 169
mission: 2
dive: 432
start: 11 6 110 4 6 42
data:
$ID,169
$MISSION,2
$DIVE,432
$N_DIVES,434
$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,-7285.3013
$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
$GPS1,061110,035936,2156.773,12548.683,36,1.1,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.9
$GPS2,061110,040614,2156.722,12548.722,12,1.6,12,-3.0
$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,177.3,68515,-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,-204.4,0.0,0.0,0,115,0.00,0.00,-97.70,0.000,2,0.000,0.000,148,2052,3112,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.8,-6.1,12,152,10.00,1.88,-14.50,0.000,4,0.238,0.067,2500,886,3929,0,0,0,0,0,0
$GC,250,-0.68,-204.4,45.6,-25.3,32,259,0.00,1.83,0.00,0.000,6,0.000,0.053,2500,2037,3929,0,0,0,0,0,0
$GC,617,-0.67,-204.4,142.3,-18.9,93,626,0.00,1.77,0.00,0.000,4,0.000,0.057,2500,3165,3930,0,0,0,0,0,0
$GC,635,-0.66,-204.4,145.8,-19.7,95,644,0.00,1.80,0.00,0.000,6,0.000,0.043,2500,2005,3931,0,0,0,0,0,0
$GC,993,-0.66,-204.4,213.4,-17.5,156,1002,0.00,1.75,0.00,0.000,4,0.000,0.051,2500,871,3931,0,0,0,0,0,0
$GC,1052,-0.66,-204.4,222.3,-14.6,165,1059,0.00,1.77,0.00,0.000,6,0.000,0.048,2500,2049,3931,0,0,0,0,0,0
$GC,1409,-0.66,-204.4,278.5,-15.6,226,1418,0.00,1.75,0.00,0.000,4,0.000,0.057,2500,3161,3931,0,0,0,0,0,0
$GC,1472,-0.67,-204.4,287.1,-12.2,236,1481,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,2004,3931,0,0,0,0,0,0
$GC,1817,-0.67,-204.4,334.1,-13.0,275,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2004,3930,0,0,0,0,0,0
$GC,2144,-0.68,-204.4,375.9,-12.4,306,2147,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3172,3929,0,0,0,0,0,0
$GC,2230,-0.69,-204.4,385.9,-10.6,313,2236,0.00,1.77,0.00,0.000,6,0.000,0.040,2500,1993,3929,0,0,0,0,0,0
$GC,2555,-0.70,-204.4,424.5,-11.2,344,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1992,3927,0,0,0,0,0,0
$GC,2876,-0.71,-204.4,459.6,-10.4,374,2877,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1992,3926,0,0,0,0,0,0
$GC,3194,-0.72,-204.4,492.7,-11.0,404,3197,0.00,1.88,0.00,0.000,4,0.000,0.056,2500,3168,3923,0,0,0,0,0,0
$GC,3254,-0.74,-204.4,499.0,-10.3,409,3258,0.00,1.75,0.00,0.000,6,0.000,0.039,2500,2001,3923,0,0,0,0,0,0
$GC,3586,-0.75,-204.4,534.9,-10.3,440,3587,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2001,3921,0,0,0,0,0,0
$GC,3907,-0.76,-204.4,566.5,-9.7,470,3910,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3918,0,0,0,0,0,0
$GC,3957,-0.77,-204.4,571.3,-8.1,474,3965,0.00,1.75,0.00,0.000,6,0.000,0.039,2500,2002,3917,0,0,0,0,0,0
$GC,4285,-0.79,-204.4,602.3,-9.8,504,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2002,3915,0,0,0,0,0,0
$GC,4593,-0.80,-204.4,632.2,-9.6,519,4596,0.00,1.83,0.00,0.000,4,0.000,0.055,2500,3168,3912,0,0,0,0,0,0
$GC,4676,-0.82,-204.4,639.6,-8.0,522,4684,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,2001,3911,0,0,0,0,0,0
$GC,4993,-0.83,-204.4,668.5,-9.4,538,4995,0.12,0.00,0.00,0.000,6,0.117,0.000,2454,2000,3909,0,0,0,0,0,0
$GC,5302,-0.83,-204.4,708.9,-13.3,553,5306,0.00,1.88,0.00,0.000,4,0.000,0.059,2454,3162,3907,0,0,0,0,0,0
$GC,5380,-0.84,-204.4,718.3,-11.7,556,5384,0.00,1.77,0.00,0.000,6,0.000,0.044,2454,1998,3906,0,0,0,0,0,0
$GC,5702,-0.85,-204.4,758.7,-12.9,572,5706,0.00,1.70,0.00,0.000,4,0.000,0.054,2453,880,3903,0,0,0,0,0,0
$GC,5736,-0.85,-204.4,763.2,-12.5,573,5739,0.00,1.77,0.00,0.000,6,0.000,0.050,2454,2038,3903,0,0,0,0,0,0
$GC,6058,-0.86,-204.4,804.0,-13.2,589,6062,0.00,1.75,0.00,0.000,4,0.000,0.060,2453,3168,3901,0,0,0,0,0,0
$GC,6130,-0.87,-204.4,813.4,-11.4,592,6134,0.00,1.83,0.00,0.000,6,0.000,0.045,2453,2003,3901,0,0,0,0,0,0
$GC,6458,-0.88,-204.4,855.6,-12.8,608,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2002,3898,0,0,0,0,0,0
$GC,6768,-0.88,-204.4,894.7,-12.5,623,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2002,3896,0,0,0,0,0,0
$GC,7077,-0.89,-204.4,932.2,-11.9,638,7080,0.00,1.90,0.00,0.000,4,0.000,0.060,2453,3170,3895,0,0,0,0,0,0
$GC,7105,-0.90,-204.4,935.6,-11.8,639,7109,0.00,1.85,0.00,0.000,6,0.000,0.046,2454,2001,3894,0,0,0,0,0,0
$GC,7433,-0.90,-204.4,971.5,-11.0,655,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1999,3892,0,0,0,0,0,0
$STATE,7697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7698,begin apogee
$GC,7703,-0.18,0.0,1001.0,11.3,668,7887,0.68,0.08,178.45,1.274,6,0.145,0.103,2664,2093,3091,0,0,0,0,0,0
$STATE,7888,end apogee,CONTROL_FINISHED_OK
$STATE,7888,begin climb
$GC,7890,0.69,204.4,1010.4,0.0,676,8097,0.80,1.90,198.62,1.254,4,0.065,0.045,2957,963,2256,0,0,0,0,0,0
$GC,8306,0.68,204.4,969.4,15.8,696,8310,0.00,1.80,0.00,0.000,6,0.000,0.041,2957,2155,2244,0,0,0,0,0,0
$GC,8639,0.66,204.4,917.5,15.6,712,8642,0.00,1.70,0.00,0.000,4,0.000,0.048,2956,3280,2240,0,0,0,0,0,0
$GC,8672,0.65,204.4,911.9,16.3,713,8676,0.00,1.80,0.00,0.000,6,0.000,0.037,2965,2082,2239,0,0,0,0,0,0
$GC,8994,0.63,204.4,860.5,16.3,729,8998,0.12,1.67,0.00,0.000,4,0.194,0.048,2942,962,2237,0,0,0,0,0,0
$GC,9031,0.63,204.4,854.6,14.6,730,9039,0.00,1.83,0.00,0.000,6,0.000,0.040,2938,2154,2237,0,0,0,0,0,0
$GC,9348,0.62,204.4,809.0,14.3,746,9352,0.00,1.67,0.00,0.000,4,0.000,0.047,2938,3271,2236,0,0,0,0,0,0
$GC,9375,0.61,204.4,804.6,14.5,747,9379,0.00,1.80,0.00,0.000,6,0.000,0.036,2946,2076,2235,0,0,0,0,0,0
$GC,9703,0.60,204.4,757.4,14.5,763,9707,0.00,1.85,0.00,0.000,4,0.000,0.047,2947,3271,2235,0,0,0,0,0,0
$GC,9781,0.59,204.4,745.3,14.7,766,9786,0.10,1.80,0.00,0.000,6,0.164,0.037,2924,2092,2234,0,0,0,0,0,0
$GC,10104,0.63,244.1,706.4,12.1,782,10146,0.00,1.75,34.95,1.084,4,0.000,0.047,2933,960,2093,0,0,0,0,0,0
$GC,10157,0.67,283.4,699.6,12.1,784,10198,0.00,1.83,36.60,1.060,6,0.000,0.040,2933,2156,1935,0,0,0,0,0,0
$GC,10514,0.67,283.4,649.0,14.2,802,10518,0.00,1.73,0.00,0.000,4,0.000,0.048,2933,3278,1923,0,0,0,0,0,0
$GC,10576,0.67,283.4,640.1,14.6,804,10583,0.00,1.83,0.00,0.000,6,0.000,0.037,2941,2079,1921,0,0,0,0,0,0
$GC,10893,0.67,287.9,597.1,13.7,821,10896,0.00,1.85,0.00,0.000,4,0.000,0.048,2939,3272,1920,0,0,0,0,0,0
$GC,10920,0.67,287.9,592.9,14.7,823,10927,0.00,1.77,0.00,0.000,6,0.000,0.035,2947,2079,1919,0,0,0,0,0,0
$GC,11246,0.67,290.9,548.1,13.8,854,11259,0.00,1.67,5.43,0.744,4,0.000,0.045,2956,969,1904,0,0,0,0,0,0
$GC,11283,0.67,290.9,542.8,13.9,857,11287,0.00,1.75,0.00,0.000,6,0.000,0.039,2956,2149,1903,0,0,0,0,0,0
$GC,11614,0.67,290.9,492.5,15.1,888,11618,0.00,1.73,0.00,0.000,4,0.000,0.047,2956,3267,1901,0,0,0,0,0,0
$GC,11673,0.66,290.9,483.5,16.7,893,11677,0.00,1.75,0.00,0.000,6,0.000,0.035,2965,2089,1901,0,0,0,0,0,0
$GC,12006,0.66,290.9,432.1,15.1,924,12009,0.00,1.67,0.00,0.000,4,0.000,0.046,2973,961,1900,0,0,0,0,0,0
$GC,12045,0.65,290.9,425.9,14.7,927,12052,0.12,1.80,0.00,0.000,6,0.165,0.040,2940,2160,1900,0,0,0,0,0,0
$GC,12370,0.72,345.1,385.8,11.4,958,12428,0.00,1.88,48.92,0.863,4,0.000,0.044,2947,966,1681,0,0,0,0,0,0
$GC,12445,0.79,399.8,377.0,11.4,964,12503,0.08,1.83,47.65,0.838,6,0.049,0.037,3005,2142,1460,0,0,0,0,0,0
$GC,12821,0.78,399.8,305.2,19.6,999,12825,0.00,1.73,0.00,0.000,4,0.000,0.044,3005,3265,1452,0,0,0,0,0,0
$GC,12933,0.78,399.8,284.0,17.1,1015,12940,0.12,1.75,0.00,0.000,6,0.174,0.035,2981,2088,1450,0,0,0,0,0,0
$GC,13293,0.78,399.8,228.3,15.1,1076,13302,0.00,1.70,0.00,0.000,4,0.000,0.044,2989,969,1449,0,0,0,0,0,0
$GC,13352,0.78,399.8,219.6,14.6,1085,13359,0.00,1.75,0.00,0.000,6,0.000,0.036,2987,2163,1449,0,0,0,0,0,0
$GC,13710,0.79,402.3,167.2,13.8,1146,13719,0.00,1.83,0.00,0.000,4,0.000,0.044,2996,969,1449,0,0,0,0,0,0
$GC,13787,0.85,453.2,157.9,11.6,1158,13839,0.00,1.77,44.53,0.666,6,0.000,0.036,2996,2151,1242,0,0,0,0,0,0
$GC,14198,0.97,537.8,103.2,10.0,1225,14272,0.12,0.00,69.55,0.622,6,0.083,0.000,3068,2151,897,0,0,0,0,0,0
$GC,14630,0.97,537.8,33.2,18.1,1294,14639,0.00,1.80,0.00,0.000,4,0.000,0.041,3078,970,893,0,0,0,0,0,0
$GC,14690,0.97,537.8,23.4,16.1,1303,14699,0.08,1.77,0.00,0.000,6,0.135,0.034,3050,2159,892,0,0,0,0,0,0
$STATE,14825,end climb,SURFACE_DEPTH_REACHED
$STATE,14825,begin surface coast
$FINISH,0.4,1.022462
$STATE,14851,end surface coast,CONTROL_FINISHED_OK
$STATE,14851,begin surface
$SM_CCo,14869,70.75,0.057,0,0,481,640.23
$SM_GC,0.97,0.00,0.00,70.75,0.000,0.000,0.057,149,1987,481,-8.06,-1.05,640.23
$IRIDIUM_FIX,2148.09,12545.76,051110,232308
$TT8_MAMPS,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.2,68.020
$10V_AH,9.9,55.164
$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,20.575,100.475,664.700,70.750,0.000,28.947,24.976,204.570,0.000,0.000,13.551,3283.643,7389.787,749.793,3591.420,311.529,0.000,2067.116,0.000,3353.017,0.000,0.543,0.000
$DEVICE_MAMPS,237.915,103.275,1273.725,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,900.929,0.000,1785.785,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333660
$DATA_FILE_SIZE,80286,1329
$CAP_FILE_SIZE,161080,0
$CFSIZE,260165632,228384768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,109.2,1
$GPS,061110,081636,2154.302,12549.198,25,1.8,25,-3.0