version: 66.08
glider: 169
mission: 2
dive: 436
start: 11 6 110 21 17 28
data:
$ID,169
$MISSION,2
$DIVE,436
$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,-7293.6108
$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
$GPS1,061110,210807,2147.191,12551.280,25,1.6,25,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-67.4
$GPS2,061110,211701,2147.113,12551.313,43,1.0,43,-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,171.2,50233,-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,-204.4,0.0,0.0,0,116,0.00,0.00,-97.85,0.000,2,0.000,0.000,139,1980,3099,0,0,0,0,0,0
$GC,119,-0.69,-204.4,3.4,-5.2,12,153,9.98,1.75,-14.93,0.000,4,0.238,0.068,2497,882,3927,0,0,0,0,0,0
$GC,208,-0.67,-204.4,36.1,-27.6,25,216,0.00,1.83,0.00,0.000,6,0.000,0.054,2497,2036,3928,0,0,0,0,0,0
$GC,574,-0.66,-204.4,144.7,-24.4,86,583,0.00,1.77,0.00,0.000,4,0.000,0.057,2497,3171,3929,0,0,0,0,0,0
$GC,659,-0.66,-204.4,160.8,-14.5,100,668,0.00,1.80,0.00,0.000,6,0.000,0.044,2497,2006,3929,0,0,0,0,0,0
$GC,1011,-0.66,-204.4,228.3,-15.9,161,1018,0.00,1.85,0.00,0.000,4,0.000,0.057,2497,3175,3930,0,0,0,0,0,0
$GC,1037,-0.66,-204.4,232.4,-15.6,165,1044,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,2002,3930,0,0,0,0,0,0
$GC,1385,-0.66,-204.4,286.0,-14.7,226,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2001,3930,0,0,0,0,0,0
$GC,1724,-0.67,-204.4,333.8,-13.0,265,1727,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3172,3929,0,0,0,0,0,0
$GC,1886,-0.68,-204.4,352.1,-11.2,279,1889,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,2001,3928,0,0,0,0,0,0
$GC,2217,-0.68,-204.4,393.4,-12.2,310,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2000,3926,0,0,0,0,0,0
$GC,2539,-0.69,-204.4,430.1,-11.1,340,2543,0.00,1.85,0.00,0.000,4,0.000,0.053,2497,3172,3924,0,0,0,0,0,0
$GC,2621,-0.71,-204.4,438.2,-9.1,347,2625,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1986,3924,0,0,0,0,0,0
$GC,2954,-0.71,-204.4,475.2,-11.9,378,2958,0.00,1.88,0.00,0.000,4,0.000,0.056,2497,3168,3921,0,0,0,0,0,0
$GC,2982,-0.73,-204.4,478.7,-11.6,380,2990,0.00,1.80,0.00,0.000,6,0.000,0.037,2498,1998,3921,0,0,0,0,0,0
$GC,3307,-0.74,-204.4,514.6,-10.6,411,3311,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3918,0,0,0,0,0,0
$GC,3358,-0.75,-204.4,519.7,-9.6,415,3366,0.00,1.77,0.00,0.000,6,0.000,0.038,2497,1998,3918,0,0,0,0,0,0
$GC,3683,-0.76,-204.4,551.2,-9.4,446,3687,0.00,1.85,0.00,0.000,4,0.000,0.054,2497,3175,3915,0,0,0,0,0,0
$GC,3730,-0.78,-204.4,555.2,-7.9,450,3733,0.00,1.83,0.00,0.000,6,0.000,0.041,2498,1998,3915,0,0,0,0,0,0
$GC,4061,-0.79,-204.4,586.7,-9.8,481,4064,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3171,3911,0,0,0,0,0,0
$GC,4078,-0.80,-204.4,588.5,-9.8,482,4084,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,1998,3911,0,0,0,0,0,0
$GC,4412,-0.81,-204.4,622.0,-10.2,504,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1997,3908,0,0,0,0,0,0
$GC,4717,-0.83,-204.4,651.0,-8.9,519,4720,0.00,1.88,0.00,0.000,4,0.000,0.056,2497,3171,3905,0,0,0,0,0,0
$GC,4751,-0.84,-204.4,653.9,-8.3,520,4755,0.12,1.77,0.00,0.000,6,0.106,0.041,2449,1999,3905,0,0,0,0,0,0
$GC,5074,-0.84,-204.4,693.3,-12.7,536,5077,0.00,1.85,0.00,0.000,4,0.000,0.058,2449,3173,3902,0,0,0,0,0,0
$GC,5102,-0.85,-204.4,697.3,-13.4,537,5105,0.00,1.80,0.00,0.000,6,0.000,0.044,2448,2004,3902,0,0,0,0,0,0
$GC,5429,-0.85,-204.4,740.4,-13.7,553,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2002,3899,0,0,0,0,0,0
$GC,5739,-0.86,-204.4,781.8,-13.5,568,5740,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2002,3897,0,0,0,0,0,0
$GC,6048,-0.86,-204.4,823.5,-13.3,583,6052,0.00,1.88,0.00,0.000,4,0.000,0.059,2448,3167,3895,0,0,0,0,0,0
$GC,6076,-0.87,-204.4,827.3,-12.8,584,6079,0.00,1.77,0.00,0.000,6,0.000,0.044,2449,2004,3895,0,0,0,0,0,0
$GC,6404,-0.87,-204.4,867.3,-11.8,600,6406,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2002,3893,0,0,0,0,0,0
$GC,6713,-0.88,-204.4,903.9,-11.6,615,6717,0.00,1.90,0.00,0.000,4,0.000,0.060,2448,3166,3890,0,0,0,0,0,0
$GC,6746,-0.88,-204.4,907.7,-11.1,616,6749,0.00,1.77,0.00,0.000,6,0.000,0.044,2448,2004,3890,0,0,0,0,0,0
$GC,7069,-0.89,-204.4,942.6,-10.9,632,7070,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2002,3888,0,0,0,0,0,0
$GC,7377,-0.90,-204.4,976.7,-11.0,647,7381,0.00,1.88,0.00,0.000,4,0.000,0.060,2448,3166,3886,0,0,0,0,0,0
$GC,7423,-0.90,-204.4,981.4,-10.0,649,7427,0.00,1.77,0.00,0.000,6,0.000,0.045,2449,2004,3886,0,0,0,0,0,0
$STATE,7589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7589,begin apogee
$GC,7594,-0.18,0.0,1000.5,11.6,657,7774,0.70,0.10,174.02,1.275,6,0.143,0.091,2666,2085,3091,0,0,0,0,0,0
$STATE,7775,end apogee,CONTROL_FINISHED_OK
$STATE,7775,begin climb
$GC,7777,0.69,204.4,1010.3,0.0,665,7980,0.80,2.03,195.73,1.256,4,0.067,0.044,2950,3274,2256,0,0,0,0,0,0
$GC,8109,0.67,204.4,982.7,16.3,681,8113,0.00,1.85,0.00,0.000,6,0.000,0.034,2960,2084,2244,0,0,0,0,0,0
$GC,8437,0.66,204.4,932.3,15.9,697,8438,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2082,2240,0,0,0,0,0,0
$GC,8747,0.64,204.4,883.1,16.2,712,8750,0.00,1.85,0.00,0.000,4,0.000,0.046,2957,3276,2238,0,0,0,0,0,0
$GC,8815,0.63,204.4,871.1,17.2,715,8819,0.12,1.77,0.00,0.000,6,0.187,0.035,2934,2086,2237,0,0,0,0,0,0
$GC,9148,0.62,204.4,819.7,15.5,731,9151,0.00,1.65,0.00,0.000,4,0.000,0.046,2943,969,2235,0,0,0,0,0,0
$GC,9202,0.61,204.4,810.9,15.9,733,9207,0.00,1.80,0.00,0.000,6,0.000,0.038,2938,2150,2235,0,0,0,0,0,0
$GC,9525,0.60,204.4,763.0,14.8,749,9529,0.00,1.73,0.00,0.000,4,0.000,0.047,2938,3278,2234,0,0,0,0,0,0
$GC,9587,0.59,204.4,752.9,16.1,751,9595,0.00,1.80,0.00,0.000,6,0.000,0.035,2946,2086,2233,0,0,0,0,0,0
$GC,9904,0.58,204.4,706.3,14.5,767,9908,0.00,1.70,0.00,0.000,4,0.000,0.046,2955,972,2233,0,0,0,0,0,0
$GC,9937,0.57,204.4,701.1,15.3,768,9941,0.10,1.80,0.00,0.000,6,0.155,0.038,2922,2155,2232,0,0,0,0,0,0
$GC,10259,0.60,233.3,659.9,12.6,784,10287,0.00,1.73,23.95,1.041,4,0.000,0.044,2922,3275,2140,0,0,0,0,0,0
$GC,10317,0.60,233.3,652.1,14.3,787,10321,0.00,1.80,0.00,0.000,6,0.000,0.034,2931,2077,2136,0,0,0,0,0,0
$GC,10650,0.61,252.1,607.2,13.0,803,10674,0.00,1.77,17.83,0.985,4,0.000,0.047,2938,960,2062,0,0,0,0,0,0
$GC,10699,0.65,285.1,601.1,12.4,805,10734,0.00,1.80,31.08,1.001,6,0.000,0.037,2937,2158,1928,0,0,0,0,0,0
$GC,11062,0.66,296.7,551.1,13.4,838,11077,0.00,1.88,10.30,0.884,4,0.000,0.046,2945,969,1881,0,0,0,0,0,0
$GC,11099,0.66,296.7,545.6,14.1,841,11107,0.00,1.80,0.00,0.000,6,0.000,0.037,2945,2140,1879,0,0,0,0,0,0
$GC,11425,0.66,296.7,498.6,14.4,872,11429,0.00,1.73,0.00,0.000,4,0.000,0.046,2945,3271,1875,0,0,0,0,0,0
$GC,11495,0.66,296.7,488.4,15.0,878,11498,0.00,1.77,0.00,0.000,6,0.000,0.034,2954,2072,1874,0,0,0,0,0,0
$GC,11828,0.65,296.7,441.0,14.2,909,11832,0.00,1.67,0.00,0.000,4,0.000,0.045,2963,969,1872,0,0,0,0,0,0
$GC,11898,0.69,322.8,431.7,12.7,915,11926,0.00,1.75,23.95,0.887,6,0.000,0.037,2962,2154,1774,0,0,0,0,0,0
$GC,12255,0.68,322.8,379.0,15.3,948,12258,0.00,1.70,0.00,0.000,4,0.000,0.045,2962,3270,1766,0,0,0,0,0,0
$GC,12315,0.68,322.8,368.6,15.5,953,12322,0.00,1.80,0.00,0.000,6,0.000,0.034,2971,2083,1765,0,0,0,0,0,0
$GC,12641,0.68,322.8,320.3,14.6,984,12645,0.00,1.67,0.00,0.000,4,0.000,0.044,2980,962,1764,0,0,0,0,0,0
$GC,12691,0.68,327.3,312.9,13.7,988,12700,0.00,1.80,0.00,0.000,6,0.000,0.036,2978,2153,1764,0,0,0,0,0,0
$GC,13035,0.68,327.3,261.2,15.3,1041,13041,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2153,1764,0,0,0,0,0,0
$GC,13381,0.67,327.3,208.7,14.7,1102,13390,0.12,0.00,0.00,0.000,6,0.166,0.000,2944,2154,1764,0,0,0,0,0,0
$GC,13736,0.83,445.0,174.4,8.5,1163,13851,0.15,1.90,101.72,0.689,4,0.074,0.042,3028,970,1274,0,0,0,0,0,0
$GC,13899,0.83,445.0,150.3,15.8,1187,13907,0.12,1.77,0.00,0.000,6,0.156,0.032,2994,2165,1271,0,0,0,0,0,0
$GC,14263,0.93,519.6,105.3,10.5,1248,14330,0.10,1.92,60.83,0.624,4,0.101,0.041,3056,964,971,0,0,0,0,0,0
$GC,14410,0.95,531.4,83.5,13.4,1269,14427,0.00,1.80,10.68,0.535,6,0.000,0.031,3055,2155,923,0,0,0,0,0,0
$GC,14779,0.95,531.4,28.1,15.4,1331,14789,0.00,1.80,0.00,0.000,4,0.000,0.040,3062,969,921,0,0,0,0,0,0
$GC,14857,0.96,531.4,16.3,14.1,1343,14867,0.00,1.75,0.00,0.000,6,0.000,0.030,3062,2150,921,0,0,0,0,0,0
$STATE,14942,end climb,SURFACE_DEPTH_REACHED
$STATE,14942,begin surface coast
$FINISH,0.4,1.022413
$STATE,14963,end surface coast,CONTROL_FINISHED_OK
$STATE,14963,begin surface
$SM_CCo,14980,74.30,0.058,0,0,481,640.23
$SM_GC,0.99,0.00,0.00,74.30,0.000,0.000,0.058,148,1980,481,-8.07,-1.27,640.23
$IRIDIUM_FIX,2143.45,12554.13,061110,161647
$TT8_MAMPS,0.026964
$HUMID,45.55
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.3,68.891
$10V_AH,9.8,55.776
$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,20.750,104.975,650.075,74.300,0.000,62.664,26.842,210.332,0.000,0.000,44.111,3367.080,7430.636,735.279,3721.857,321.805,0.000,2066.905,0.000,3408.118,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,91.035,1275.255,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,922.507,0.000,1840.187,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333620
$DATA_FILE_SIZE,80272,1360
$CAP_FILE_SIZE,164905,0
$CFSIZE,260165632,228052992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014,295.4,1
$GPS,071110,012931,2144.776,12551.504,37,1.6,37,-3.0