version: 66.08
glider: 169
mission: 2
dive: 430
start: 11 5 110 19 26 24
data:
$ID,169
$MISSION,2
$DIVE,430
$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,-7282.7861
$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
$GPS1,051110,191930,2201.224,12547.683,39,1.2,39,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.6
$GPS2,051110,192556,2201.223,12547.699,12,1.4,12,-3.1
$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,180.3,76988,-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,-204.4,0.0,0.0,0,117,0.00,0.00,-99.53,0.000,2,0.000,0.000,152,1994,3201,0,0,0,0,0,0
$GC,120,-0.69,-204.4,4.5,-8.2,12,147,9.80,1.80,-11.95,0.000,4,0.234,0.067,2500,871,3927,0,0,0,0,0,0
$GC,249,-0.68,-204.4,49.9,-22.9,32,258,0.00,1.85,0.00,0.000,6,0.000,0.052,2499,2041,3928,0,0,0,0,0,0
$GC,615,-0.67,-204.4,142.0,-22.2,93,623,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2041,3929,0,0,0,0,0,0
$GC,973,-0.67,-204.4,210.2,-17.2,154,982,0.00,1.77,0.00,0.000,4,0.000,0.059,2500,3168,3930,0,0,0,0,0,0
$GC,1055,-0.67,-204.4,223.5,-15.7,167,1062,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,2001,3930,0,0,0,0,0,0
$GC,1410,-0.67,-204.4,280.8,-16.2,228,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2000,3930,0,0,0,0,0,0
$GC,1755,-0.67,-204.4,332.7,-13.9,269,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1999,3929,0,0,0,0,0,0
$GC,2075,-0.68,-204.4,372.9,-12.4,299,2079,0.00,1.88,0.00,0.000,4,0.000,0.055,2500,3168,3928,0,0,0,0,0,0
$GC,2147,-0.69,-204.4,381.5,-11.2,305,2150,0.00,1.77,0.00,0.000,6,0.000,0.037,2499,1993,3928,0,0,0,0,0,0
$GC,2478,-0.70,-204.4,423.2,-11.7,336,2482,0.00,1.88,0.00,0.000,4,0.000,0.054,2500,3177,3926,0,0,0,0,0,0
$GC,2563,-0.71,-204.4,432.4,-10.5,343,2570,0.00,1.77,0.00,0.000,6,0.000,0.040,2500,2000,3926,0,0,0,0,0,0
$GC,2889,-0.72,-204.4,468.5,-11.0,374,2893,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3924,0,0,0,0,0,0
$GC,2926,-0.74,-204.4,472.1,-9.8,377,2930,0.00,1.80,0.00,0.000,6,0.000,0.038,2500,1997,3923,0,0,0,0,0,0
$GC,3258,-0.74,-204.4,506.3,-10.8,408,3261,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3177,3921,0,0,0,0,0,0
$GC,3285,-0.76,-204.4,509.3,-10.4,410,3293,0.00,1.80,0.00,0.000,6,0.000,0.040,2500,1998,3921,0,0,0,0,0,0
$GC,3611,-0.77,-204.4,542.6,-10.2,441,3614,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3168,3918,0,0,0,0,0,0
$GC,3680,-0.79,-204.4,549.1,-8.5,447,3684,0.00,1.80,0.00,0.000,6,0.000,0.038,2500,1996,3918,0,0,0,0,0,0
$GC,4012,-0.80,-204.4,580.5,-9.2,478,4015,0.00,1.88,0.00,0.000,4,0.000,0.055,2499,3175,3915,0,0,0,0,0,0
$GC,4061,-0.82,-204.4,584.9,-7.4,482,4069,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,1998,3914,0,0,0,0,0,0
$GC,4386,-0.83,-204.4,614.4,-9.1,506,4390,0.12,1.85,0.00,0.000,4,0.119,0.057,2454,3168,3912,0,0,0,0,0,0
$GC,4418,-0.84,-204.4,618.5,-11.6,507,4421,0.00,1.77,0.00,0.000,6,0.000,0.043,2454,1999,3912,0,0,0,0,0,0
$GC,4740,-0.84,-204.4,662.3,-13.7,523,4744,0.00,1.88,0.00,0.000,4,0.000,0.059,2453,3167,3909,0,0,0,0,0,0
$GC,4787,-0.85,-204.4,668.3,-12.6,525,4791,0.00,1.80,0.00,0.000,6,0.000,0.044,2453,2005,3909,0,0,0,0,0,0
$GC,5120,-0.85,-204.4,713.0,-13.3,541,5124,0.00,1.88,0.00,0.000,4,0.000,0.060,2453,3167,3906,0,0,0,0,0,0
$GC,5148,-0.86,-204.4,716.8,-12.8,542,5152,0.00,1.77,0.00,0.000,6,0.000,0.044,2453,2003,3905,0,0,0,0,0,0
$GC,5476,-0.86,-204.4,759.3,-12.8,558,5480,0.00,1.85,0.00,0.000,4,0.000,0.059,2454,3167,3903,0,0,0,0,0,0
$GC,5545,-0.87,-204.4,767.3,-11.1,561,5549,0.00,1.77,0.00,0.000,6,0.000,0.044,2453,2001,3903,0,0,0,0,0,0
$GC,5878,-0.88,-204.4,806.4,-11.6,577,5882,0.00,1.85,0.00,0.000,4,0.000,0.060,2453,3168,3900,0,0,0,0,0,0
$GC,5958,-0.89,-204.4,815.2,-10.3,580,5962,0.00,1.77,0.00,0.000,6,0.000,0.045,2454,2004,3899,0,0,0,0,0,0
$GC,6280,-0.89,-204.4,852.1,-11.4,596,6284,0.00,1.88,0.00,0.000,4,0.000,0.060,2454,3162,3897,0,0,0,0,0,0
$GC,6350,-0.90,-204.4,859.4,-9.5,599,6354,0.00,1.77,0.00,0.000,6,0.000,0.045,2453,2003,3897,0,0,0,0,0,0
$GC,6684,-0.91,-204.4,897.2,-11.5,615,6688,0.00,1.88,0.00,0.000,4,0.000,0.060,2453,3173,3895,0,0,0,0,0,0
$GC,6740,-0.92,-204.4,903.6,-10.4,617,6743,0.00,1.80,0.00,0.000,6,0.000,0.047,2453,2002,3895,0,0,0,0,0,0
$GC,7062,-0.93,-204.4,940.6,-11.8,633,7066,0.00,1.88,0.00,0.000,4,0.000,0.061,2454,3168,3892,0,0,0,0,0,0
$GC,7125,-0.94,-204.4,947.6,-10.1,635,7132,0.00,1.83,0.00,0.000,6,0.000,0.047,2454,1998,3892,0,0,0,0,0,0
$GC,7442,-0.95,-204.4,986.0,-12.4,651,7446,0.00,1.90,0.00,0.000,4,0.000,0.061,2453,3167,3891,0,0,0,0,0,0
$GC,7515,-0.96,-204.4,994.4,-10.9,654,7518,0.00,1.80,0.00,0.000,6,0.000,0.047,2454,1999,3889,0,0,0,0,0,0
$STATE,7571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7571,begin apogee
$GC,7576,-0.18,0.0,1001.2,11.6,657,7760,0.68,0.08,175.88,1.271,6,0.145,0.104,2663,2094,3091,0,0,0,0,0,0
$STATE,7761,end apogee,CONTROL_FINISHED_OK
$STATE,7761,begin climb
$GC,7763,0.69,204.4,1012.3,0.0,665,7967,0.80,2.00,195.90,1.248,4,0.063,0.044,2951,3269,2257,0,0,0,0,0,0
$GC,8175,0.67,204.4,969.6,18.0,684,8181,0.00,1.83,0.00,0.000,6,0.000,0.037,2960,2081,2243,0,0,0,0,0,0
$GC,8491,0.66,204.4,918.4,16.5,700,8494,0.00,1.67,0.00,0.000,4,0.000,0.048,2968,959,2240,0,0,0,0,0,0
$GC,8523,0.64,204.4,912.9,15.8,701,8527,0.00,1.83,0.00,0.000,6,0.000,0.040,2963,2151,2240,0,0,0,0,0,0
$GC,8845,0.63,204.4,861.2,16.2,717,8849,0.00,1.80,0.00,0.000,4,0.000,0.047,2971,960,2238,0,0,0,0,0,0
$GC,8901,0.62,204.4,851.8,16.0,719,8905,0.10,1.83,0.00,0.000,6,0.163,0.041,2935,2155,2238,0,0,0,0,0,0
$GC,9223,0.61,209.6,807.5,13.7,735,9224,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2155,2236,0,0,0,0,0,0
$GC,9532,0.63,230.7,766.5,12.9,750,9556,0.00,0.00,22.73,1.092,6,0.000,0.000,2935,2155,2150,0,0,0,0,0,0
$GC,9861,0.62,232.1,722.2,13.8,766,9862,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2155,2142,0,0,0,0,0,0
$GC,10170,0.62,232.1,678.4,14.4,781,10173,0.00,1.83,0.00,0.000,4,0.000,0.047,2944,959,2140,0,0,0,0,0,0
$GC,10242,0.61,232.1,667.7,14.3,784,10246,0.00,1.80,0.00,0.000,6,0.000,0.041,2944,2140,2140,0,0,0,0,0,0
$GC,10570,0.61,236.5,620.9,13.7,800,10580,0.00,1.83,4.95,0.744,4,0.000,0.047,2952,976,2126,0,0,0,0,0,0
$GC,10625,0.63,253.3,613.2,13.1,802,10647,0.00,1.77,17.52,0.985,6,0.000,0.041,2952,2151,2058,0,0,0,0,0,0
$GC,10970,0.62,253.4,565.3,13.9,830,10974,0.00,1.80,0.00,0.000,4,0.000,0.047,2961,962,2050,0,0,0,0,0,0
$GC,11008,0.61,253.4,559.5,14.5,833,11016,0.08,1.83,0.00,0.000,6,0.150,0.041,2935,2151,2049,0,0,0,0,0,0
$GC,11334,0.66,296.7,520.6,11.9,864,11380,0.00,1.85,38.90,0.961,4,0.000,0.045,2943,967,1880,0,0,0,0,0,0
$GC,11407,0.70,327.0,511.3,12.5,870,11440,0.00,1.85,28.15,0.927,6,0.000,0.040,2943,2150,1758,0,0,0,0,0,0
$GC,11768,0.71,334.5,462.8,13.5,904,11782,0.00,1.83,6.95,0.753,4,0.000,0.045,2950,969,1725,0,0,0,0,0,0
$GC,11878,0.74,353.6,447.8,13.0,913,11904,0.00,1.77,18.12,0.865,6,0.000,0.041,2950,2152,1648,0,0,0,0,0,0
$GC,12221,0.74,353.7,398.0,13.9,945,12224,0.00,1.83,0.00,0.000,4,0.000,0.047,2959,975,1642,0,0,0,0,0,0
$GC,12295,0.76,373.3,387.6,13.0,951,12318,0.00,1.75,17.60,0.825,6,0.000,0.038,2959,2152,1568,0,0,0,0,0,0
$GC,12644,0.76,373.3,335.9,14.6,984,12648,0.00,1.83,0.00,0.000,4,0.000,0.046,2967,972,1562,0,0,0,0,0,0
$GC,12681,0.77,373.3,330.7,14.1,987,12685,0.00,1.75,0.00,0.000,6,0.000,0.040,2968,2148,1562,0,0,0,0,0,0
$GC,13019,0.77,373.3,280.2,15.0,1029,13026,0.00,1.83,0.00,0.000,4,0.000,0.046,2973,964,1561,0,0,0,0,0,0
$GC,13153,0.77,373.3,261.9,13.9,1051,13159,0.00,1.77,0.00,0.000,6,0.000,0.037,2974,2153,1561,0,0,0,0,0,0
$GC,13511,0.77,373.3,209.1,15.0,1112,13520,0.00,1.83,0.00,0.000,4,0.000,0.043,2983,960,1561,0,0,0,0,0,0
$GC,13582,0.82,416.1,200.1,11.9,1123,13625,0.00,1.77,37.10,0.702,6,0.000,0.037,2983,2155,1393,0,0,0,0,0,0
$GC,13978,0.85,437.5,144.6,12.9,1189,14004,0.00,1.83,18.80,0.633,4,0.000,0.042,2986,967,1306,0,0,0,0,0,0
$GC,14084,0.92,482.2,132.2,11.8,1205,14135,0.08,1.80,38.42,0.640,6,0.051,0.034,3045,2154,1123,0,0,0,0,0,0
$GC,14493,0.92,482.2,66.0,14.8,1271,14501,0.00,1.83,0.00,0.000,4,0.000,0.043,3052,966,1118,0,0,0,0,0,0
$GC,14523,0.97,519.6,62.5,12.2,1275,14564,0.00,1.77,31.30,0.581,6,0.000,0.033,3052,2152,970,0,0,0,0,0,0
$GC,14921,1.07,598.6,10.4,10.3,1340,14995,0.00,1.90,63.20,0.544,4,0.000,0.048,3052,970,648,0,0,0,0,0,0
$STATE,15002,end climb,SURFACE_DEPTH_REACHED
$STATE,15002,begin surface coast
$FINISH,0.3,1.007800
$STATE,15034,end surface coast,CONTROL_FINISHED_OK
$STATE,15034,begin surface
$SM_CCo,15052,33.17,0.367,1,0,480,640.23
$SM_GC,0.94,0.00,0.00,33.17,0.000,0.000,0.367,149,2045,480,-8.07,0.59,640.23
$IRIDIUM_FIX,2150.42,12146.04,051110,151506
$TT8_MAMPS,0.026215
$HUMID,45.43
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,22.2,67.593
$10V_AH,9.8,54.858
$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,19.925,116.575,715.525,33.175,0.000,28.204,20.564,199.711,0.000,0.000,13.224,3362.926,7324.122,738.622,3721.490,318.094,0.000,2127.181,0.000,3484.199,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,104.040,1271.430,367.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,918.438,0.000,1840.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80362,1355
$CAP_FILE_SIZE,169564,0
$CFSIZE,260165632,228540416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.013, 30.1,1
$GPS,051110,233901,2158.910,12547.405,37,1.6,37,-3.0