version: 66.08
glider: 169
mission: 2
dive: 435
start: 11 6 110 16 56 36
data:
$ID,169
$MISSION,2
$DIVE,435
$N_DIVES,446
$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,-7292.354
$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
$GPS1,061110,164837,2149.898,12550.986,37,1.0,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-68.3
$GPS2,061110,165608,2149.869,12551.082,15,1.0,15,-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,181.4,55187,-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,-204.4,0.0,0.0,0,120,0.00,0.00,-102.82,0.000,2,0.000,0.000,150,1981,3221,0,0,0,0,0,0
$GC,123,-0.69,-204.4,4.1,-6.7,13,150,9.75,1.80,-12.12,0.000,4,0.232,0.072,2499,873,3927,0,0,0,0,0,0
$GC,201,-0.67,-204.4,36.6,-33.2,24,210,0.00,1.85,0.00,0.000,6,0.000,0.054,2499,2038,3928,0,0,0,0,0,0
$GC,567,-0.66,-204.4,144.9,-21.7,85,576,0.00,1.77,0.00,0.000,4,0.000,0.058,2499,3168,3930,0,0,0,0,0,0
$GC,676,-0.66,-204.4,165.0,-18.3,103,684,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,2002,3930,0,0,0,0,0,0
$GC,1023,-0.66,-204.4,228.5,-16.0,164,1031,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3165,3931,0,0,0,0,0,0
$GC,1046,-0.66,-204.4,231.7,-15.1,167,1054,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,1999,3931,0,0,0,0,0,0
$GC,1394,-0.66,-204.4,288.1,-16.3,228,1403,0.00,1.73,0.00,0.000,4,0.000,0.047,2499,869,3931,0,0,0,0,0,0
$GC,1451,-0.66,-204.4,296.1,-13.0,237,1458,0.00,1.77,0.00,0.000,6,0.000,0.046,2499,2052,3930,0,0,0,0,0,0
$GC,1780,-0.67,-204.4,340.3,-13.1,270,1783,0.00,1.75,0.00,0.000,4,0.000,0.055,2499,3169,3930,0,0,0,0,0,0
$GC,1863,-0.68,-204.4,350.2,-11.6,277,1867,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,2000,3929,0,0,0,0,0,0
$GC,2195,-0.68,-204.4,393.3,-12.8,308,2199,0.00,1.67,0.00,0.000,4,0.000,0.048,2500,874,3928,0,0,0,0,0,0
$GC,2223,-0.69,-204.4,397.2,-12.7,310,2231,0.00,1.80,0.00,0.000,6,0.000,0.046,2499,2037,3928,0,0,0,0,0,0
$GC,2551,-0.70,-204.4,435.8,-11.0,341,2555,0.00,1.75,0.00,0.000,4,0.000,0.054,2500,3163,3926,0,0,0,0,0,0
$GC,2612,-0.72,-204.4,442.4,-9.6,346,2620,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,2003,3926,0,0,0,0,0,0
$GC,2939,-0.72,-204.4,478.5,-11.3,377,2943,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3171,3923,0,0,0,0,0,0
$GC,3023,-0.74,-204.4,487.4,-9.6,384,3031,0.00,1.80,0.00,0.000,6,0.000,0.041,2499,2003,3923,0,0,0,0,0,0
$GC,3348,-0.75,-204.4,521.4,-11.2,415,3352,0.00,1.83,0.00,0.000,4,0.000,0.055,2499,3168,3921,0,0,0,0,0,0
$GC,3383,-0.76,-204.4,525.2,-10.7,418,3387,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2000,3921,0,0,0,0,0,0
$GC,3714,-0.77,-204.4,559.1,-10.1,449,3718,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3168,3918,0,0,0,0,0,0
$GC,3772,-0.79,-204.4,564.2,-8.3,454,3775,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2000,3917,0,0,0,0,0,0
$GC,4103,-0.80,-204.4,594.6,-9.0,485,4107,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3914,0,0,0,0,0,0
$GC,4131,-0.82,-204.4,597.2,-8.7,487,4138,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,2001,3914,0,0,0,0,0,0
$GC,4458,-0.83,-204.4,627.6,-9.5,505,4462,0.12,1.88,0.00,0.000,4,0.119,0.057,2452,3168,3911,0,0,0,0,0,0
$GC,4514,-0.84,-204.4,634.1,-11.3,507,4517,0.00,1.77,0.00,0.000,6,0.000,0.044,2453,2003,3911,0,0,0,0,0,0
$GC,4836,-0.84,-204.4,676.6,-13.3,523,4839,0.00,1.85,0.00,0.000,4,0.000,0.058,2452,3166,3909,0,0,0,0,0,0
$GC,4869,-0.84,-204.4,681.0,-12.3,524,4873,0.00,1.77,0.00,0.000,6,0.000,0.043,2452,1996,3908,0,0,0,0,0,0
$GC,5192,-0.85,-204.4,721.1,-12.8,540,5195,0.00,1.85,0.00,0.000,4,0.000,0.059,2452,3167,3905,0,0,0,0,0,0
$GC,5219,-0.85,-204.4,724.9,-12.5,541,5223,0.00,1.77,0.00,0.000,6,0.000,0.044,2452,2004,3905,0,0,0,0,0,0
$GC,5547,-0.86,-204.4,765.8,-12.8,557,5551,0.00,1.88,0.00,0.000,4,0.000,0.060,2452,3173,3902,0,0,0,0,0,0
$GC,5575,-0.86,-204.4,769.5,-12.3,558,5579,0.00,1.83,0.00,0.000,6,0.000,0.047,2452,2002,3902,0,0,0,0,0,0
$GC,5903,-0.87,-204.4,812.4,-13.6,574,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2002,3900,0,0,0,0,0,0
$GC,6212,-0.87,-204.4,852.9,-12.9,589,6216,0.00,1.88,0.00,0.000,4,0.000,0.060,2452,3166,3897,0,0,0,0,0,0
$GC,6262,-0.88,-204.4,859.1,-11.2,591,6266,0.00,1.77,0.00,0.000,6,0.000,0.045,2452,2004,3897,0,0,0,0,0,0
$GC,6590,-0.89,-204.4,899.5,-12.6,607,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2003,3895,0,0,0,0,0,0
$GC,6899,-0.89,-204.4,937.6,-12.5,622,6902,0.00,1.85,0.00,0.000,4,0.000,0.060,2452,3167,3893,0,0,0,0,0,0
$GC,6949,-0.90,-204.4,943.5,-10.9,624,6953,0.00,1.77,0.00,0.000,6,0.000,0.045,2452,2004,3893,0,0,0,0,0,0
$GC,7277,-0.91,-204.4,981.4,-11.2,640,7281,0.00,1.85,0.00,0.000,4,0.000,0.060,2452,3170,3890,0,0,0,0,0,0
$GC,7317,-0.92,-204.4,985.8,-10.3,641,7323,0.00,1.80,0.00,0.000,6,0.000,0.047,2452,1999,3890,0,0,0,0,0,0
$STATE,7445,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7446,begin apogee
$GC,7451,-0.18,0.0,1000.5,11.5,648,7633,0.68,0.08,175.12,1.272,6,0.145,0.105,2662,2093,3090,0,0,0,0,0,0
$STATE,7634,end apogee,CONTROL_FINISHED_OK
$STATE,7634,begin climb
$GC,7637,0.69,204.4,1009.1,0.0,656,7842,0.80,2.08,195.27,1.249,4,0.060,0.045,2954,3268,2255,0,0,0,0,0,0
$GC,7903,0.67,204.4,988.6,17.3,669,7907,0.00,1.88,0.00,0.000,6,0.000,0.036,2963,2098,2246,0,0,0,0,0,0
$GC,8231,0.66,204.4,934.2,16.0,685,8234,0.00,1.73,0.00,0.000,4,0.000,0.047,2971,960,2240,0,0,0,0,0,0
$GC,8258,0.64,204.4,929.1,16.6,686,8262,0.00,1.77,0.00,0.000,6,0.000,0.041,2967,2150,2240,0,0,0,0,0,0
$GC,8585,0.63,204.4,874.4,16.6,702,8587,0.12,0.00,0.00,0.000,6,0.191,0.000,2935,2152,2237,0,0,0,0,0,0
$GC,8896,0.63,213.3,830.6,13.5,717,8903,0.00,0.00,5.70,0.872,6,0.000,0.000,2935,2152,2221,0,0,0,0,0,0
$GC,9204,0.63,222.2,789.2,13.5,732,9219,0.00,1.83,10.10,1.012,4,0.000,0.046,2944,968,2185,0,0,0,0,0,0
$GC,9280,0.63,222.2,778.5,14.2,735,9284,0.00,1.77,0.00,0.000,6,0.000,0.039,2941,2154,2183,0,0,0,0,0,0
$GC,9602,0.62,222.2,732.6,14.5,751,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2154,2180,0,0,0,0,0,0
$GC,9911,0.61,222.2,688.3,14.2,766,9915,0.00,1.80,0.00,0.000,4,0.000,0.047,2950,968,2178,0,0,0,0,0,0
$GC,9974,0.61,222.7,679.6,13.9,768,9982,0.00,1.77,0.00,0.000,6,0.000,0.039,2948,2161,2179,0,0,0,0,0,0
$GC,10290,0.60,222.7,634.0,14.6,784,10294,0.00,1.70,0.00,0.000,4,0.000,0.047,2948,3265,2178,0,0,0,0,0,0
$GC,10329,0.59,222.7,627.9,15.2,785,10336,0.12,1.77,0.00,0.000,6,0.181,0.036,2924,2082,2177,0,0,0,0,0,0
$GC,10651,0.61,246.6,588.3,12.8,805,10678,0.00,1.77,23.15,0.992,4,0.000,0.047,2932,966,2085,0,0,0,0,0,0
$GC,10717,0.64,265.7,579.0,13.0,810,10747,0.00,1.77,18.85,0.959,6,0.000,0.039,2932,2149,2005,0,0,0,0,0,0
$GC,11064,0.65,272.9,530.3,13.6,843,11077,0.00,1.88,6.57,0.785,4,0.000,0.046,2940,967,1977,0,0,0,0,0,0
$GC,11116,0.66,285.0,522.9,13.3,847,11135,0.00,1.77,12.93,0.894,6,0.000,0.039,2940,2155,1928,0,0,0,0,0,0
$GC,11454,0.69,305.7,478.3,12.9,879,11480,0.00,1.90,19.30,0.903,4,0.000,0.047,2948,969,1843,0,0,0,0,0,0
$GC,11530,0.70,317.3,468.2,13.4,885,11546,0.00,1.77,11.77,0.845,6,0.000,0.039,2948,2152,1797,0,0,0,0,0,0
$GC,11866,0.70,317.3,418.5,15.0,916,11870,0.00,1.83,0.00,0.000,4,0.000,0.046,2956,971,1790,0,0,0,0,0,0
$GC,11916,0.71,317.3,411.0,14.7,920,11925,0.00,1.80,0.00,0.000,6,0.000,0.040,2956,2142,1789,0,0,0,0,0,0
$GC,12243,0.71,320.7,365.3,13.7,951,12246,0.00,1.77,0.00,0.000,4,0.000,0.045,2964,968,1788,0,0,0,0,0,0
$GC,12339,0.73,338.4,352.0,13.1,959,12363,0.00,1.80,18.62,0.811,6,0.000,0.038,2964,2152,1710,0,0,0,0,0,0
$GC,12689,0.73,338.4,301.5,14.0,992,12693,0.00,1.73,0.00,0.000,4,0.000,0.045,2963,3270,1705,0,0,0,0,0,0
$GC,12733,0.74,343.5,295.3,13.7,998,12742,0.00,1.80,5.22,0.589,6,0.000,0.034,2972,2090,1690,0,0,0,0,0,0
$GC,13094,0.74,343.5,242.3,14.6,1059,13101,0.00,1.65,0.00,0.000,4,0.000,0.044,2982,966,1688,0,0,0,0,0,0
$GC,13204,0.75,351.0,227.0,13.5,1077,13219,0.00,1.75,8.20,0.633,6,0.000,0.037,2980,2157,1659,0,0,0,0,0,0
$GC,13570,0.81,402.3,177.9,11.5,1139,13619,0.00,0.00,44.60,0.689,6,0.000,0.000,2980,2157,1450,0,0,0,0,0,0
$GC,13976,0.90,462.6,127.8,11.1,1206,14035,0.10,1.85,50.50,0.641,4,0.099,0.041,3042,969,1203,0,0,0,0,0,0
$GC,14088,0.92,475.7,112.2,13.3,1221,14105,0.00,1.80,12.05,0.575,6,0.000,0.031,3042,2159,1150,0,0,0,0,0,0
$GC,14461,0.92,475.7,60.4,14.1,1283,14469,0.00,1.83,0.00,0.000,4,0.000,0.042,3043,966,1146,0,0,0,0,0,0
$GC,14607,1.01,546.8,42.1,10.6,1307,14672,0.00,1.75,58.08,0.568,6,0.000,0.030,3043,2153,859,0,0,0,0,0,0
$STATE,14918,end climb,SURFACE_DEPTH_REACHED
$STATE,14918,begin surface coast
$FINISH,0.3,1.003458
$STATE,14946,end surface coast,CONTROL_FINISHED_OK
$STATE,14946,begin surface
$SM_CCo,14963,68.43,0.459,1,0,480,640.23
$SM_GC,1.09,0.00,0.00,68.43,0.000,0.000,0.459,146,1980,480,-8.07,-1.27,640.23
$IRIDIUM_FIX,2143.45,12547.64,061110,121211
$TT8_MAMPS,0.026215
$HUMID,45.15
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.70
$XPDR_PINGS,0
$24V_AH,22.3,68.681
$10V_AH,9.8,55.621
$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,19.900,115.600,676.050,68.425,0.000,30.140,72.494,199.912,0.000,0.000,17.448,3367.871,7307.241,751.618,3732.900,317.511,0.000,2106.771,0.000,3435.244,0.000,0.543,0.000
$DEVICE_MAMPS,231.795,104.805,1272.195,459.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,921.749,0.000,1872.184,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,80429,1361
$CAP_FILE_SIZE,168014,0
$CFSIZE,260165632,228130816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,113.6,1
$GPS,061110,210807,2147.191,12551.280,25,1.6,25,-3.0