version: 66.08
glider: 169
mission: 2
dive: 405
start: 11 1 110 8 34 57
data:
$ID,169
$MISSION,2
$DIVE,405
$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,-7235.3447
$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
$GPS1,011110,082737,2238.715,12547.390,36,1.2,36,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.9
$GPS2,011110,083428,2238.768,12547.315,16,2.2,35,-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,158.7,144907,-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,-204.4,0.0,0.0,0,115,0.00,0.00,-97.43,0.000,2,0.000,0.000,149,1984,3142,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.0,-6.9,12,152,9.93,1.75,-13.32,0.000,4,0.239,0.070,2497,885,3928,0,0,0,0,0,0
$GC,250,-0.68,-204.4,54.0,-26.9,32,258,0.00,1.83,0.00,0.000,6,0.000,0.051,2497,2045,3928,0,0,0,0,0,0
$GC,615,-0.67,-204.4,149.2,-22.6,93,624,0.00,1.77,0.00,0.000,4,0.000,0.060,2498,3166,3930,0,0,0,0,0,0
$GC,645,-0.66,-204.4,155.3,-20.3,97,652,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,2004,3930,0,0,0,0,0,0
$GC,1000,-0.66,-204.4,220.0,-16.6,158,1010,0.00,1.85,0.00,0.000,4,0.000,0.056,2497,3162,3931,0,0,0,0,0,0
$GC,1040,-0.67,-204.4,226.2,-15.8,164,1049,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2001,3931,0,0,0,0,0,0
$GC,1403,-0.67,-204.4,283.7,-15.3,225,1410,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3173,3930,0,0,0,0,0,0
$GC,1434,-0.67,-204.4,288.8,-15.0,230,1444,0.00,1.80,0.00,0.000,6,0.000,0.042,2498,2003,3931,0,0,0,0,0,0
$GC,1772,-0.67,-204.4,336.9,-14.1,267,1776,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3173,3930,0,0,0,0,0,0
$GC,1798,-0.68,-204.4,340.3,-12.5,269,1801,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,2002,3930,0,0,0,0,0,0
$GC,2131,-0.68,-204.4,381.9,-12.1,300,2134,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3177,3928,0,0,0,0,0,0
$GC,2191,-0.70,-204.4,388.7,-10.7,305,2194,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,1991,3927,0,0,0,0,0,0
$GC,2524,-0.70,-204.4,426.1,-11.9,336,2525,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1990,3926,0,0,0,0,0,0
$GC,2843,-0.71,-204.4,462.7,-11.6,366,2847,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3170,3923,0,0,0,0,0,0
$GC,2880,-0.73,-204.4,467.0,-10.8,369,2884,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3923,0,0,0,0,0,0
$GC,3211,-0.74,-204.4,505.0,-11.2,400,3215,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3173,3920,0,0,0,0,0,0
$GC,3239,-0.75,-204.4,508.4,-10.9,402,3247,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1994,3920,0,0,0,0,0,0
$GC,3565,-0.76,-204.4,544.1,-10.9,433,3566,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1992,3917,0,0,0,0,0,0
$GC,3886,-0.77,-204.4,577.1,-10.0,463,3889,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3168,3914,0,0,0,0,0,0
$GC,3954,-0.79,-204.4,583.2,-7.9,469,3957,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,1987,3913,0,0,0,0,0,0
$GC,4282,-0.80,-204.4,614.7,-9.9,493,4286,0.00,1.90,0.00,0.000,4,0.000,0.057,2498,3162,3910,0,0,0,0,0,0
$GC,4337,-0.81,-204.4,620.2,-9.6,495,4340,0.00,1.75,0.00,0.000,6,0.000,0.042,2497,2002,3910,0,0,0,0,0,0
$GC,4659,-0.83,-204.4,651.9,-9.8,511,4663,0.00,1.73,0.00,0.000,4,0.000,0.052,2498,873,3907,0,0,0,0,0,0
$GC,4683,-0.84,-204.4,654.3,-9.8,512,4687,0.12,1.77,0.00,0.000,6,0.111,0.047,2450,2044,3907,0,0,0,0,0,0
$GC,5016,-0.84,-204.4,700.5,-14.0,528,5019,0.00,1.75,0.00,0.000,4,0.000,0.060,2449,3168,3904,0,0,0,0,0,0
$GC,5066,-0.85,-204.4,707.3,-12.4,530,5070,0.00,1.80,0.00,0.000,6,0.000,0.044,2449,2002,3903,0,0,0,0,0,0
$GC,5394,-0.85,-204.4,750.5,-13.0,546,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2000,3901,0,0,0,0,0,0
$GC,5703,-0.86,-204.4,789.4,-12.4,561,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2000,3899,0,0,0,0,0,0
$GC,6013,-0.86,-204.4,828.3,-12.7,576,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2000,3896,0,0,0,0,0,0
$GC,6322,-0.86,-204.4,866.9,-11.9,591,6326,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3167,3894,0,0,0,0,0,0
$GC,6356,-0.87,-204.4,871.0,-12.1,592,6359,0.00,1.77,0.00,0.000,6,0.000,0.046,2449,2004,3894,0,0,0,0,0,0
$GC,6678,-0.88,-204.4,907.9,-11.3,608,6681,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3171,3892,0,0,0,0,0,0
$GC,6701,-0.88,-204.4,910.5,-11.5,609,6705,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,2000,3891,0,0,0,0,0,0
$GC,7035,-0.89,-204.4,947.4,-11.4,625,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1999,3889,0,0,0,0,0,0
$GC,7344,-0.89,-204.4,983.6,-11.8,640,7348,0.00,1.90,0.00,0.000,4,0.000,0.061,2449,3166,3887,0,0,0,0,0,0
$GC,7368,-0.90,-204.4,986.4,-12.0,641,7372,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,2004,3887,0,0,0,0,0,0
$STATE,7493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7493,begin apogee
$GC,7498,-0.18,0.0,1001.4,12.0,647,7678,0.70,0.08,174.02,1.274,6,0.148,0.107,2664,2094,3091,0,0,0,0,0,0
$STATE,7679,end apogee,CONTROL_FINISHED_OK
$STATE,7679,begin climb
$GC,7681,0.69,204.4,1011.0,0.0,655,7887,0.80,1.95,196.18,1.247,4,0.061,0.046,2958,970,2255,0,0,0,0,0,0
$GC,7976,0.68,204.4,988.3,14.7,669,7980,0.00,1.85,0.00,0.000,6,0.000,0.041,2957,2138,2246,0,0,0,0,0,0
$GC,8298,0.66,204.4,936.4,16.1,685,8302,0.00,1.77,0.00,0.000,4,0.000,0.045,2966,956,2240,0,0,0,0,0,0
$GC,8325,0.65,204.4,931.4,17.0,686,8329,0.00,1.83,0.00,0.000,6,0.000,0.041,2964,2148,2240,0,0,0,0,0,0
$GC,8653,0.64,204.4,878.0,16.0,702,8657,0.00,1.73,0.00,0.000,4,0.000,0.049,2964,3277,2238,0,0,0,0,0,0
$GC,8681,0.62,204.4,873.1,17.5,703,8685,0.15,1.77,0.00,0.000,6,0.188,0.035,2934,2080,2236,0,0,0,0,0,0
$GC,9008,0.61,204.4,826.1,14.4,719,9012,0.00,1.85,0.00,0.000,4,0.000,0.047,2934,3275,2235,0,0,0,0,0,0
$GC,9041,0.60,204.4,820.7,16.2,720,9045,0.00,1.80,0.00,0.000,6,0.000,0.034,2942,2091,2235,0,0,0,0,0,0
$GC,9363,0.59,204.4,772.4,15.1,736,9367,0.00,1.80,0.00,0.000,4,0.000,0.047,2942,3271,2235,0,0,0,0,0,0
$GC,9409,0.58,204.4,765.3,16.5,738,9413,0.12,1.75,0.00,0.000,6,0.189,0.035,2920,2085,2234,0,0,0,0,0,0
$GC,9743,0.63,246.1,724.0,12.0,754,9787,0.00,1.77,35.83,1.094,4,0.000,0.047,2928,972,2085,0,0,0,0,0,0
$GC,9826,0.67,283.0,713.4,12.2,757,9864,0.00,1.83,34.10,1.067,6,0.000,0.040,2925,2138,1936,0,0,0,0,0,0
$GC,10180,0.67,283.0,664.9,14.1,775,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2138,1925,0,0,0,0,0,0
$GC,10489,0.67,283.0,620.2,14.4,790,10493,0.00,1.77,0.00,0.000,4,0.000,0.046,2934,963,1922,0,0,0,0,0,0
$GC,10528,0.68,286.0,614.5,13.7,791,10535,0.00,1.83,0.00,0.000,6,0.000,0.041,2933,2150,1922,0,0,0,0,0,0
$GC,10852,0.69,301.3,569.9,13.2,817,10876,0.00,1.85,15.35,0.947,4,0.000,0.048,2938,964,1861,0,0,0,0,0,0
$GC,10892,0.71,316.6,564.0,13.2,820,10913,0.00,1.83,15.60,0.933,6,0.000,0.041,2938,2143,1799,0,0,0,0,0,0
$GC,11239,0.72,320.4,517.4,13.7,853,11243,0.00,1.77,0.00,0.000,4,0.000,0.045,2946,963,1791,0,0,0,0,0,0
$GC,11297,0.76,350.4,509.9,12.5,858,11332,0.00,1.83,30.00,0.946,6,0.000,0.040,2947,2150,1662,0,0,0,0,0,0
$GC,11652,0.76,350.4,458.2,14.9,891,11656,0.00,1.80,0.00,0.000,4,0.000,0.046,2956,961,1654,0,0,0,0,0,0
$GC,11704,0.76,352.0,451.3,13.8,895,11707,0.00,1.80,0.00,0.000,6,0.000,0.041,2955,2147,1653,0,0,0,0,0,0
$GC,12034,0.76,352.0,399.6,15.9,926,12038,0.00,1.70,0.00,0.000,4,0.000,0.047,2955,3268,1651,0,0,0,0,0,0
$GC,12058,0.76,352.0,395.9,15.2,928,12061,0.00,1.77,0.00,0.000,6,0.000,0.034,2964,2083,1651,0,0,0,0,0,0
$GC,12391,0.76,352.0,340.2,16.6,959,12395,0.00,1.65,0.00,0.000,4,0.000,0.046,2972,966,1651,0,0,0,0,0,0
$GC,12442,0.76,352.0,331.2,16.0,963,12449,0.00,1.80,0.00,0.000,6,0.000,0.039,2973,2147,1650,0,0,0,0,0,0
$GC,12781,0.76,352.0,278.7,15.0,1006,12790,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2147,1650,0,0,0,0,0,0
$GC,13143,0.76,352.0,223.2,14.6,1067,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2147,1649,0,0,0,0,0,0
$GC,13498,0.76,356.7,172.9,13.7,1128,13508,0.00,1.85,4.88,0.497,4,0.000,0.043,2981,966,1637,0,0,0,0,0,0
$GC,13644,0.86,427.5,154.9,10.7,1152,13712,0.00,1.80,60.92,0.669,6,0.000,0.037,2981,2156,1347,0,0,0,0,0,0
$GC,14065,1.00,537.4,105.7,8.9,1221,14163,0.20,1.90,89.30,0.622,4,0.064,0.041,3088,963,899,0,0,0,0,0,0
$GC,14286,1.00,537.4,66.0,16.4,1253,14295,0.10,1.80,0.00,0.000,6,0.135,0.035,3053,2151,895,0,0,0,0,0,0
$GC,14647,1.01,537.4,17.5,15.0,1314,14657,0.00,1.80,0.00,0.000,4,0.000,0.043,3056,969,894,0,0,0,0,0,0
$GC,14731,1.02,537.4,4.8,14.2,1327,14740,0.00,1.75,0.00,0.000,6,0.000,0.027,3055,2166,894,0,0,0,0,0,0
$STATE,14746,end climb,SURFACE_DEPTH_REACHED
$STATE,14747,begin surface coast
$FINISH,0.2,1.022191
$STATE,14772,end surface coast,CONTROL_FINISHED_OK
$STATE,14772,begin surface
$SM_CCo,14790,71.93,0.058,0,0,481,640.23
$SM_GC,1.04,0.00,0.00,71.93,0.000,0.000,0.058,147,1999,481,-8.07,-0.74,640.23
$IRIDIUM_FIX,2232.34,12551.00,011110,040403
$TT8_MAMPS,0.026964
$HUMID,45.74
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.3,62.142
$10V_AH,10.0,51.004
$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,20.450,108.700,656.175,71.925,0.000,30.069,20.808,200.619,0.000,0.000,38.080,3300.065,7346.269,725.955,3587.044,303.474,0.000,2038.728,0.000,3328.606,0.000,0.543,0.000
$DEVICE_MAMPS,239.445,107.100,1273.725,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.684,0.000,1811.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,80179,1333
$CAP_FILE_SIZE,162045,0
$CFSIZE,260165632,230592512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,332.8,1
$GPS,011110,124338,2237.645,12547.380,30,1.3,30,-3.2