version: 66.08
glider: 169
mission: 2
dive: 441
start: 11 7 110 18 46 48
data:
$ID,169
$MISSION,2
$DIVE,441
$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,-7302.0894
$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
$GPS1,071110,183736,2134.544,12555.028,40,1.2,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.1
$GPS2,071110,184620,2134.370,12555.118,12,2.0,12,-2.9
$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,176.9,25873,-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,-204.4,0.0,0.0,0,112,0.00,0.00,-94.22,0.000,2,0.000,0.000,152,1986,2991,0,0,0,0,0,0
$GC,115,-0.69,-204.4,3.2,-4.8,12,150,10.12,1.80,-17.90,0.000,4,0.243,0.072,2498,879,3928,0,0,0,0,0,0
$GC,270,-0.68,-204.4,47.7,-24.0,36,278,0.00,1.83,0.00,0.000,6,0.000,0.054,2499,2034,3928,0,0,0,0,0,0
$GC,632,-0.67,-204.4,146.9,-22.1,97,640,0.00,1.77,0.00,0.000,4,0.000,0.058,2498,3167,3930,0,0,0,0,0,0
$GC,766,-0.67,-204.4,169.3,-16.2,119,773,0.00,1.75,0.00,0.000,6,0.000,0.041,2499,2002,3930,0,0,0,0,0,0
$GC,1121,-0.67,-204.4,229.5,-17.5,180,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2000,3931,0,0,0,0,0,0
$GC,1482,-0.67,-204.4,287.8,-14.8,241,1489,0.00,1.85,0.00,0.000,4,0.000,0.055,2498,3164,3931,0,0,0,0,0,0
$GC,1591,-0.68,-204.4,303.1,-13.2,257,1595,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,1994,3931,0,0,0,0,0,0
$GC,1924,-0.68,-204.4,346.8,-11.7,288,1928,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3168,3929,0,0,0,0,0,0
$GC,1972,-0.69,-204.4,352.2,-10.2,292,1975,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,1997,3929,0,0,0,0,0,0
$GC,2305,-0.70,-204.4,390.5,-11.3,323,2309,0.00,1.88,0.00,0.000,4,0.000,0.056,2499,3167,3928,0,0,0,0,0,0
$GC,2368,-0.71,-204.4,397.2,-9.8,328,2376,0.00,1.80,0.00,0.000,6,0.000,0.038,2499,1996,3927,0,0,0,0,0,0
$GC,2696,-0.72,-204.4,432.3,-11.3,359,2700,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3167,3925,0,0,0,0,0,0
$GC,2769,-0.73,-204.4,440.1,-9.6,365,2776,0.00,1.77,0.00,0.000,6,0.000,0.038,2499,1993,3925,0,0,0,0,0,0
$GC,3095,-0.74,-204.4,474.4,-10.6,396,3098,0.00,1.88,0.00,0.000,4,0.000,0.055,2499,3173,3922,0,0,0,0,0,0
$GC,3179,-0.76,-204.4,482.8,-9.7,403,3182,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,1993,3922,0,0,0,0,0,0
$GC,3510,-0.77,-204.4,519.5,-10.5,434,3514,0.00,1.88,0.00,0.000,4,0.000,0.055,2499,3173,3918,0,0,0,0,0,0
$GC,3572,-0.78,-204.4,525.7,-8.8,439,3578,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,1988,3918,0,0,0,0,0,0
$GC,3897,-0.80,-204.4,558.1,-10.0,470,3901,0.00,1.88,0.00,0.000,4,0.000,0.056,2499,3168,3916,0,0,0,0,0,0
$GC,3925,-0.81,-204.4,560.8,-9.4,472,3931,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2000,3916,0,0,0,0,0,0
$GC,4251,-0.82,-204.4,593.8,-10.6,503,4255,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3170,3913,0,0,0,0,0,0
$GC,4324,-0.84,-204.4,601.2,-9.7,509,4328,0.08,1.80,0.00,0.000,6,0.078,0.039,2459,2002,3912,0,0,0,0,0,0
$GC,4652,-0.84,-204.4,645.1,-13.5,525,4656,0.00,1.88,0.00,0.000,4,0.000,0.057,2459,3166,3909,0,0,0,0,0,0
$GC,4692,-0.85,-204.4,650.6,-12.6,526,4700,0.00,1.80,0.00,0.000,6,0.000,0.041,2459,2003,3908,0,0,0,0,0,0
$GC,5008,-0.85,-204.4,692.5,-13.2,542,5011,0.00,1.83,0.00,0.000,4,0.000,0.057,2459,3168,3906,0,0,0,0,0,0
$GC,5054,-0.86,-204.4,698.6,-12.4,544,5058,0.00,1.77,0.00,0.000,6,0.000,0.041,2459,2002,3905,0,0,0,0,0,0
$GC,5388,-0.87,-204.4,740.9,-12.3,560,5391,0.00,1.83,0.00,0.000,4,0.000,0.057,2459,3167,3902,0,0,0,0,0,0
$GC,5470,-0.88,-204.4,750.4,-10.8,563,5477,0.00,1.77,0.00,0.000,6,0.000,0.041,2459,1989,3902,0,0,0,0,0,0
$GC,5788,-0.88,-204.4,787.8,-12.2,579,5791,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3168,3900,0,0,0,0,0,0
$GC,5821,-0.89,-204.4,792.0,-11.6,580,5825,0.00,1.77,0.00,0.000,6,0.000,0.042,2459,1995,3899,0,0,0,0,0,0
$GC,6143,-0.90,-204.4,828.5,-11.1,596,6147,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3168,3897,0,0,0,0,0,0
$GC,6177,-0.91,-204.4,832.3,-11.4,597,6180,0.00,1.77,0.00,0.000,6,0.000,0.043,2459,2001,3897,0,0,0,0,0,0
$GC,6499,-0.92,-204.4,866.7,-10.6,613,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1999,3895,0,0,0,0,0,0
$GC,6808,-0.92,-204.4,900.0,-10.8,628,6812,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3168,3892,0,0,0,0,0,0
$GC,6892,-0.94,-204.4,909.0,-9.9,631,6899,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2003,3892,0,0,0,0,0,0
$GC,7210,-0.94,-204.4,944.4,-11.4,647,7213,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3172,3890,0,0,0,0,0,0
$GC,7265,-0.96,-204.4,950.7,-10.7,649,7269,0.12,1.80,0.00,0.000,6,0.109,0.045,2411,1998,3889,0,0,0,0,0,0
$GC,7586,-0.96,-204.4,997.7,-14.8,665,7590,0.00,1.85,0.00,0.000,4,0.000,0.062,2410,3167,3888,0,0,0,0,0,0
$STATE,7602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7602,begin apogee
$GC,7609,-0.18,0.0,1000.3,15.1,665,7791,0.82,0.05,176.93,1.280,6,0.151,0.073,2661,2135,3091,0,0,0,0,0,0
$STATE,7792,end apogee,CONTROL_FINISHED_OK
$STATE,7792,begin climb
$GC,7795,0.69,204.4,1010.0,0.0,674,8003,0.77,2.00,197.73,1.258,4,0.054,0.044,2959,973,2255,0,0,0,0,0,0
$GC,8039,0.67,204.4,994.3,16.0,686,8042,0.00,1.88,0.00,0.000,6,0.000,0.037,2957,2156,2250,0,0,0,0,0,0
$GC,8372,0.66,204.4,938.2,16.5,702,8375,0.00,1.67,0.00,0.000,4,0.000,0.046,2957,3273,2241,0,0,0,0,0,0
$GC,8410,0.65,204.4,931.1,17.4,703,8418,0.00,1.80,0.00,0.000,6,0.000,0.034,2966,2087,2240,0,0,0,0,0,0
$GC,8727,0.63,204.4,880.1,15.6,719,8731,0.12,1.80,0.00,0.000,4,0.195,0.044,2934,3271,2238,0,0,0,0,0,0
$GC,8758,0.62,204.4,875.2,14.4,720,8762,0.00,1.80,0.00,0.000,6,0.000,0.034,2943,2086,2237,0,0,0,0,0,0
$GC,9082,0.64,230.4,834.0,12.7,736,9111,0.00,1.77,22.75,1.124,4,0.000,0.045,2952,968,2150,0,0,0,0,0,0
$GC,9180,0.64,231.1,819.9,13.9,740,9184,0.00,1.77,0.00,0.000,6,0.000,0.038,2952,2152,2146,0,0,0,0,0,0
$GC,9503,0.63,231.1,769.2,16.1,756,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2152,2142,0,0,0,0,0,0
$GC,9811,0.62,231.1,718.9,16.2,771,9814,0.00,1.80,0.00,0.000,4,0.000,0.045,2960,959,2140,0,0,0,0,0,0
$GC,9844,0.61,231.1,713.3,16.6,772,9848,0.08,1.83,0.00,0.000,6,0.158,0.038,2920,2155,2140,0,0,0,0,0,0
$GC,10166,0.64,257.5,671.5,12.7,788,10196,0.00,1.88,24.60,1.047,4,0.000,0.046,2929,973,2040,0,0,0,0,0,0
$GC,10241,0.65,263.0,661.2,13.6,791,10255,0.00,1.80,6.32,0.825,6,0.000,0.037,2929,2140,2017,0,0,0,0,0,0
$GC,10563,0.66,276.4,617.9,13.3,807,10586,0.00,1.88,13.02,0.955,4,0.000,0.046,2935,965,1963,0,0,0,0,0,0
$GC,10665,0.70,301.2,604.4,12.8,811,10699,0.00,1.77,23.98,0.993,6,0.000,0.037,2934,2154,1860,0,0,0,0,0,0
$GC,11016,0.70,301.2,556.1,14.3,842,11018,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2154,1853,0,0,0,0,0,0
$GC,11337,0.71,311.5,512.2,13.4,872,11352,0.00,1.88,8.93,0.843,4,0.000,0.046,2943,969,1821,0,0,0,0,0,0
$GC,11452,0.76,352.1,497.6,12.0,882,11494,0.00,1.75,37.62,0.942,6,0.000,0.038,2943,2149,1655,0,0,0,0,0,0
$GC,11816,0.76,352.1,447.7,14.6,915,11820,0.00,1.83,0.00,0.000,4,0.000,0.047,2949,965,1645,0,0,0,0,0,0
$GC,11850,0.77,352.1,442.5,14.4,918,11854,0.00,1.80,0.00,0.000,6,0.000,0.037,2948,2145,1644,0,0,0,0,0,0
$GC,12183,0.77,354.7,394.6,13.8,949,12187,0.00,1.77,0.00,0.000,4,0.000,0.046,2957,966,1643,0,0,0,0,0,0
$GC,12219,0.79,368.7,389.6,13.2,952,12237,0.00,1.80,13.90,0.818,6,0.000,0.038,2957,2151,1588,0,0,0,0,0,0
$GC,12558,0.80,376.7,342.0,13.5,983,12572,0.00,1.88,7.95,0.706,4,0.000,0.046,2963,966,1554,0,0,0,0,0,0
$GC,12722,0.82,386.7,320.6,13.4,997,12738,0.00,1.75,10.25,0.731,6,0.000,0.037,2962,2150,1514,0,0,0,0,0,0
$GC,13070,0.82,386.7,271.4,14.3,1046,13079,0.00,1.83,0.00,0.000,4,0.000,0.044,2971,963,1509,0,0,0,0,0,0
$GC,13155,0.91,453.6,261.0,10.8,1060,13221,0.10,1.80,58.15,0.759,6,0.044,0.037,3039,2146,1240,0,0,0,0,0,0
$GC,13562,0.90,453.6,179.6,20.7,1129,13568,0.00,1.83,0.00,0.000,4,0.000,0.044,3044,969,1235,0,0,0,0,0,0
$GC,13701,0.90,453.6,153.5,17.3,1153,13708,0.00,1.77,0.00,0.000,6,0.000,0.034,3044,2162,1234,0,0,0,0,0,0
$GC,14064,0.90,453.6,98.3,14.1,1214,14073,0.00,1.83,0.00,0.000,4,0.000,0.041,3052,967,1234,0,0,0,0,0,0
$GC,14174,0.94,482.7,84.5,12.6,1232,14207,0.00,1.77,24.02,0.595,6,0.000,0.034,3052,2150,1123,0,0,0,0,0,0
$GC,14560,0.99,515.8,32.6,12.4,1296,14594,0.00,1.85,28.30,0.555,4,0.000,0.039,3056,965,987,0,0,0,0,0,0
$GC,14693,1.05,557.8,15.8,12.0,1316,14735,0.00,1.77,34.92,0.541,6,0.000,0.033,3056,2149,815,0,0,0,0,0,0
$STATE,14795,end climb,SURFACE_DEPTH_REACHED
$STATE,14795,begin surface coast
$FINISH,0.3,0.998152
$STATE,14822,end surface coast,CONTROL_FINISHED_OK
$STATE,14822,begin surface
$SM_CCo,14840,58.05,0.057,0,0,481,640.23
$SM_GC,1.07,0.00,0.00,58.05,0.000,0.000,0.057,150,1985,481,-8.06,-1.13,640.23
$IRIDIUM_FIX,2127.21,12551.93,071110,141419
$TT8_MAMPS,0.026215
$HUMID,45.82
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.3,70.002
$10V_AH,9.9,56.545
$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,20.625,119.825,689.375,58.050,0.000,28.562,16.785,296.055,0.000,0.000,13.410,3327.256,7211.854,768.391,3735.093,351.110,0.000,2109.508,0.000,3412.442,0.000,0.544,0.000
$DEVICE_MAMPS,242.505,72.675,1279.845,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.672,0.000,1836.994,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333632
$DATA_FILE_SIZE,80347,1335
$CAP_FILE_SIZE,169620,0
$CFSIZE,260165632,227639296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,158.4,1
$GPS,071110,225606,2131.384,12554.800,31,1.2,31,-2.9