version: 66.08
glider: 169
mission: 2
dive: 431
start: 11 5 110 23 46 30
data:
$ID,169
$MISSION,2
$DIVE,431
$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,-7284.0425
$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
$GPS1,051110,233901,2158.910,12547.405,37,1.6,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.3
$GPS2,051110,234602,2158.866,12547.439,12,1.5,12,-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,165.8,72984,-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,16,-0.69,-204.4,0.0,0.0,0,114,0.00,0.00,-96.10,0.000,2,0.000,0.000,149,2046,3051,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.3,-4.4,12,151,10.25,1.85,-16.08,0.000,4,0.249,0.066,2496,867,3926,0,0,0,0,0,0
$GC,183,-0.67,-204.4,27.8,-31.9,21,193,0.00,1.88,0.00,0.000,6,0.000,0.055,2496,2041,3927,0,0,0,0,0,0
$GC,550,-0.66,-204.4,129.1,-22.1,82,559,0.00,1.77,0.00,0.000,4,0.000,0.061,2496,3160,3928,0,0,0,0,0,0
$GC,614,-0.66,-204.4,142.0,-16.6,92,623,0.00,1.80,0.00,0.000,6,0.000,0.044,2496,2005,3929,0,0,0,0,0,0
$GC,966,-0.66,-204.4,212.1,-19.6,153,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2003,3930,0,0,0,0,0,0
$GC,1312,-0.66,-204.4,269.7,-15.3,214,1320,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3164,3929,0,0,0,0,0,0
$GC,1346,-0.66,-204.4,274.3,-14.6,219,1352,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,2001,3930,0,0,0,0,0,0
$GC,1685,-0.66,-204.4,322.2,-14.0,265,1688,0.00,1.70,0.00,0.000,4,0.000,0.049,2496,874,3929,0,0,0,0,0,0
$GC,1734,-0.67,-204.4,328.2,-11.5,269,1737,0.00,1.75,0.00,0.000,6,0.000,0.047,2496,2042,3929,0,0,0,0,0,0
$GC,2065,-0.68,-204.4,369.1,-12.7,300,2068,0.00,1.73,0.00,0.000,4,0.000,0.056,2496,3168,3928,0,0,0,0,0,0
$GC,2160,-0.69,-204.4,380.2,-11.0,308,2168,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,1998,3927,0,0,0,0,0,0
$GC,2487,-0.70,-204.4,420.2,-12.7,339,2491,0.00,1.88,0.00,0.000,4,0.000,0.056,2496,3168,3925,0,0,0,0,0,0
$GC,2514,-0.71,-204.4,423.3,-12.6,341,2517,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,1999,3925,0,0,0,0,0,0
$GC,2845,-0.72,-204.4,460.8,-10.0,372,2848,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3170,3924,0,0,0,0,0,0
$GC,2870,-0.73,-204.4,463.2,-10.4,374,2874,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,2000,3923,0,0,0,0,0,0
$GC,3204,-0.74,-204.4,496.7,-10.9,405,3207,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3168,3921,0,0,0,0,0,0
$GC,3239,-0.75,-204.4,500.6,-10.6,408,3242,0.00,1.75,0.00,0.000,6,0.000,0.040,2496,1998,3921,0,0,0,0,0,0
$GC,3570,-0.76,-204.4,538.1,-11.6,439,3573,0.00,1.73,0.00,0.000,4,0.000,0.050,2496,864,3918,0,0,0,0,0,0
$GC,3616,-0.78,-204.4,543.3,-11.4,443,3620,0.00,1.77,0.00,0.000,6,0.000,0.045,2496,2044,3917,0,0,0,0,0,0
$GC,3948,-0.79,-204.4,579.4,-11.1,474,3951,0.00,1.73,0.00,0.000,4,0.000,0.056,2496,3173,3915,0,0,0,0,0,0
$GC,4031,-0.80,-204.4,587.5,-9.3,481,4039,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,1998,3914,0,0,0,0,0,0
$GC,4365,-0.82,-204.4,621.9,-10.5,503,4368,0.00,1.83,0.00,0.000,4,0.000,0.056,2496,3168,3912,0,0,0,0,0,0
$GC,4415,-0.83,-204.4,627.4,-9.6,505,4420,0.10,1.77,0.00,0.000,6,0.121,0.041,2457,2001,3911,0,0,0,0,0,0
$GC,4742,-0.84,-204.4,672.7,-14.1,521,4746,0.00,1.83,0.00,0.000,4,0.000,0.057,2457,3167,3908,0,0,0,0,0,0
$GC,4767,-0.84,-204.4,675.7,-13.2,522,4770,0.00,1.77,0.00,0.000,6,0.000,0.043,2457,1996,3908,0,0,0,0,0,0
$GC,5101,-0.85,-204.4,721.2,-13.7,538,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1995,3905,0,0,0,0,0,0
$GC,5409,-0.85,-204.4,761.0,-12.5,553,5413,0.00,1.90,0.00,0.000,4,0.000,0.060,2457,3167,3903,0,0,0,0,0,0
$GC,5455,-0.86,-204.4,766.3,-10.9,555,5459,0.00,1.83,0.00,0.000,6,0.000,0.044,2457,2001,3903,0,0,0,0,0,0
$GC,5789,-0.87,-204.4,805.9,-11.8,571,5792,0.00,1.88,0.00,0.000,4,0.000,0.059,2457,3164,3900,0,0,0,0,0,0
$GC,5839,-0.88,-204.4,811.7,-10.7,573,5843,0.00,1.77,0.00,0.000,6,0.000,0.045,2457,2003,3899,0,0,0,0,0,0
$GC,6167,-0.89,-204.4,850.1,-11.7,589,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2001,3897,0,0,0,0,0,0
$GC,6476,-0.89,-204.4,886.2,-11.7,604,6479,0.00,1.88,0.00,0.000,4,0.000,0.060,2457,3172,3894,0,0,0,0,0,0
$GC,6509,-0.90,-204.4,890.1,-10.7,605,6513,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,2003,3895,0,0,0,0,0,0
$GC,6831,-0.91,-204.4,925.4,-11.0,621,6832,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2001,3893,0,0,0,0,0,0
$GC,7141,-0.92,-204.4,958.1,-10.6,636,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,2001,3892,0,0,0,0,0,0
$GC,7450,-0.93,-204.4,990.3,-10.5,651,7454,0.00,1.88,0.00,0.000,4,0.000,0.061,2457,3172,3889,0,0,0,0,0,0
$GC,7513,-0.94,-204.4,996.4,-8.9,653,7521,0.00,1.80,0.00,0.000,6,0.000,0.047,2457,2004,3889,0,0,0,0,0,0
$STATE,7559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7559,begin apogee
$GC,7564,-0.18,0.0,1001.2,10.0,656,7748,0.68,0.08,176.10,1.274,6,0.142,0.107,2669,2095,3091,0,0,0,0,0,0
$STATE,7749,end apogee,CONTROL_FINISHED_OK
$STATE,7749,begin climb
$GC,7751,0.69,204.4,1009.7,0.0,664,7955,0.77,0.00,198.30,1.245,6,0.054,0.000,2956,2095,2257,0,0,0,0,0,0
$GC,8253,0.67,204.4,950.6,16.4,689,8257,0.00,1.85,0.00,0.000,4,0.000,0.050,2958,3272,2242,0,0,0,0,0,0
$GC,8286,0.66,204.4,944.5,17.9,690,8290,0.00,1.80,0.00,0.000,6,0.000,0.037,2967,2095,2240,0,0,0,0,0,0
$GC,8608,0.64,204.4,890.1,17.1,706,8611,0.00,1.70,0.00,0.000,4,0.000,0.048,2975,958,2238,0,0,0,0,0,0
$GC,8669,0.63,204.4,879.7,17.4,708,8676,0.15,1.80,0.00,0.000,6,0.179,0.042,2935,2147,2238,0,0,0,0,0,0
$GC,8985,0.62,204.4,833.5,14.5,724,8986,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2147,2236,0,0,0,0,0,0
$GC,9295,0.62,213.0,790.2,13.5,739,9305,0.00,1.73,5.45,0.844,4,0.000,0.047,2935,3273,2221,0,0,0,0,0,0
$GC,9361,0.61,213.0,780.3,15.2,742,9365,0.00,1.80,0.00,0.000,6,0.000,0.036,2943,2082,2220,0,0,0,0,0,0
$GC,9688,0.60,213.0,732.0,14.9,758,9692,0.00,1.85,0.00,0.000,4,0.000,0.047,2943,3272,2218,0,0,0,0,0,0
$GC,9722,0.59,213.0,726.6,15.3,759,9726,0.08,1.83,0.00,0.000,6,0.165,0.036,2927,2083,2218,0,0,0,0,0,0
$GC,10043,0.58,213.5,682.2,13.9,775,10044,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2081,2217,0,0,0,0,0,0
$GC,10353,0.61,244.3,641.9,12.5,790,10389,0.00,1.92,30.48,1.037,4,0.000,0.047,2925,3268,2094,0,0,0,0,0,0
$GC,10469,0.62,255.6,626.6,13.4,795,10487,0.00,1.80,11.23,0.933,6,0.000,0.035,2934,2086,2048,0,0,0,0,0,0
$GC,10800,0.67,293.0,585.3,12.2,816,10839,0.00,1.88,34.15,0.998,4,0.000,0.044,2934,3268,1895,0,0,0,0,0,0
$GC,10878,0.69,308.4,574.6,13.2,822,10898,0.00,1.85,15.18,0.929,6,0.000,0.036,2941,2082,1833,0,0,0,0,0,0
$GC,11215,0.69,308.4,527.7,14.2,854,11219,0.00,1.67,0.00,0.000,4,0.000,0.047,2947,969,1823,0,0,0,0,0,0
$GC,11242,0.69,308.4,523.8,13.9,856,11249,0.00,1.80,0.00,0.000,6,0.000,0.038,2947,2147,1823,0,0,0,0,0,0
$GC,11570,0.69,308.4,477.6,14.5,887,11573,0.00,1.73,0.00,0.000,4,0.000,0.048,2947,3277,1821,0,0,0,0,0,0
$GC,11618,0.69,308.4,470.4,15.2,891,11621,0.00,1.77,0.00,0.000,6,0.000,0.034,2956,2083,1820,0,0,0,0,0,0
$GC,11949,0.68,308.4,422.5,14.0,922,11952,0.00,1.70,0.00,0.000,4,0.000,0.047,2964,970,1819,0,0,0,0,0,0
$GC,11976,0.69,310.6,418.3,13.8,924,11985,0.00,1.80,0.00,0.000,6,0.000,0.039,2964,2148,1819,0,0,0,0,0,0
$GC,12305,0.68,310.6,371.2,14.3,955,12309,0.00,1.73,0.00,0.000,4,0.000,0.047,2964,3268,1818,0,0,0,0,0,0
$GC,12343,0.68,310.6,365.2,14.7,958,12352,0.00,1.80,0.00,0.000,6,0.000,0.034,2973,2087,1818,0,0,0,0,0,0
$GC,12670,0.68,310.6,318.3,14.0,989,12676,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2085,1818,0,0,0,0,0,0
$GC,13013,0.67,311.9,268.9,13.8,1038,13023,0.00,1.70,0.00,0.000,4,0.000,0.044,2981,970,1818,0,0,0,0,0,0
$GC,13096,0.70,329.9,257.6,13.1,1051,13125,0.00,1.77,18.12,0.724,6,0.000,0.037,2980,2153,1744,0,0,0,0,0,0
$GC,13478,0.72,347.7,205.5,13.1,1115,13500,0.00,1.88,16.38,0.669,4,0.000,0.043,2989,964,1672,0,0,0,0,0,0
$GC,13544,0.73,359.2,196.6,13.4,1125,13560,0.00,1.77,11.38,0.637,6,0.000,0.037,2989,2149,1626,0,0,0,0,0,0
$GC,13912,0.74,363.1,145.7,13.7,1187,13922,0.00,1.85,4.28,0.444,4,0.000,0.041,2997,964,1610,0,0,0,0,0,0
$GC,14014,0.78,397.2,132.4,12.3,1203,14055,0.00,1.80,30.55,0.637,6,0.000,0.036,2998,2155,1470,0,0,0,0,0,0
$GC,14409,0.96,529.8,85.6,7.8,1268,14523,0.10,1.92,108.03,0.609,4,0.096,0.044,3056,969,930,0,0,0,0,0,0
$GC,14565,0.98,543.6,65.2,13.3,1288,14582,0.00,1.80,12.55,0.538,6,0.000,0.033,3056,2149,873,0,0,0,0,0,0
$GC,14935,0.98,543.6,14.4,15.1,1350,14944,0.00,1.83,0.00,0.000,4,0.000,0.041,3059,959,870,0,0,0,0,0,0
$STATE,15010,end climb,SURFACE_DEPTH_REACHED
$STATE,15010,begin surface coast
$FINISH,0.2,1.007598
$STATE,15035,end surface coast,CONTROL_FINISHED_OK
$STATE,15035,begin surface
$SM_CCo,15054,66.97,0.058,0,0,481,640.23
$SM_GC,1.02,0.00,0.00,66.97,0.000,0.000,0.058,149,2052,481,-8.07,0.76,640.23
$IRIDIUM_FIX,2152.74,12550.36,051110,191937
$TT8_MAMPS,0.026215
$HUMID,45.51
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.2,67.804
$10V_AH,9.8,55.013
$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,20.400,111.800,672.150,66.975,0.000,27.630,42.591,206.579,0.000,0.000,12.984,3371.425,7419.471,758.223,3673.062,308.381,0.000,2082.383,0.000,3404.123,0.000,0.543,0.000
$DEVICE_MAMPS,248.625,107.100,1273.725,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,925.961,0.000,1891.389,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80195,1366
$CAP_FILE_SIZE,165185,0
$CFSIZE,260165632,228462592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 65.6,1
$GPS,061110,035936,2156.773,12548.683,36,1.1,36,-3.0