version: 66.08
glider: 169
mission: 2
dive: 433
start: 11 6 110 8 24 1
data:
$ID,169
$MISSION,2
$DIVE,433
$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,-7287.645
$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
$GPS1,061110,081636,2154.302,12549.198,25,1.8,25,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.3
$GPS2,061110,082333,2154.292,12549.237,13,1.7,13,-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,169.8,63965,-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,-97.43,0.000,2,0.000,0.000,149,1988,3089,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.5,-6.0,12,152,9.90,1.77,-15.30,0.000,4,0.235,0.070,2499,882,3927,0,0,0,0,0,0
$GC,207,-0.67,-204.4,35.4,-27.4,25,216,0.00,1.83,0.00,0.000,6,0.000,0.054,2499,2034,3928,0,0,0,0,0,0
$GC,574,-0.66,-204.4,137.9,-22.2,86,583,0.00,1.77,0.00,0.000,4,0.000,0.058,2499,3165,3929,0,0,0,0,0,0
$GC,690,-0.66,-204.4,159.0,-16.0,105,697,0.00,1.75,0.00,0.000,6,0.000,0.041,2499,2003,3930,0,0,0,0,0,0
$GC,1046,-0.66,-204.4,225.0,-15.9,166,1055,0.00,1.73,0.00,0.000,4,0.000,0.049,2499,877,3931,0,0,0,0,0,0
$GC,1093,-0.67,-204.4,232.0,-15.1,173,1100,0.00,1.77,0.00,0.000,6,0.000,0.047,2499,2042,3931,0,0,0,0,0,0
$GC,1448,-0.67,-204.4,287.1,-15.1,234,1457,0.00,1.77,0.00,0.000,4,0.000,0.056,2499,3168,3931,0,0,0,0,0,0
$GC,1496,-0.67,-204.4,293.6,-13.5,241,1503,0.00,1.80,0.00,0.000,6,0.000,0.039,2499,1999,3931,0,0,0,0,0,0
$GC,1832,-0.68,-204.4,340.4,-12.7,276,1836,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3930,0,0,0,0,0,0
$GC,1856,-0.68,-204.4,343.3,-11.9,278,1859,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,1998,3930,0,0,0,0,0,0
$GC,2189,-0.69,-204.4,384.8,-12.9,309,2192,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3168,3928,0,0,0,0,0,0
$GC,2285,-0.70,-204.4,395.3,-9.9,317,2289,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2000,3928,0,0,0,0,0,0
$GC,2616,-0.71,-204.4,434.1,-12.1,348,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1999,3926,0,0,0,0,0,0
$GC,2936,-0.72,-204.4,469.3,-10.7,378,2940,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3924,0,0,0,0,0,0
$GC,2976,-0.73,-204.4,473.1,-10.3,381,2980,0.00,1.77,0.00,0.000,6,0.000,0.038,2499,1999,3924,0,0,0,0,0,0
$GC,3307,-0.74,-204.4,509.9,-10.9,412,3311,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3168,3921,0,0,0,0,0,0
$GC,3356,-0.76,-204.4,514.6,-9.2,416,3359,0.00,1.77,0.00,0.000,6,0.000,0.038,2499,1999,3921,0,0,0,0,0,0
$GC,3687,-0.77,-204.4,549.0,-10.2,447,3691,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3168,3918,0,0,0,0,0,0
$GC,3712,-0.78,-204.4,551.5,-10.2,449,3715,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,1999,3918,0,0,0,0,0,0
$GC,4043,-0.79,-204.4,584.0,-9.6,480,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1999,3916,0,0,0,0,0,0
$GC,4359,-0.81,-204.4,613.9,-9.4,503,4363,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3166,3913,0,0,0,0,0,0
$GC,4397,-0.82,-204.4,617.6,-8.3,504,4405,0.10,1.75,0.00,0.000,6,0.125,0.040,2460,2001,3912,0,0,0,0,0,0
$GC,4714,-0.83,-204.4,657.4,-12.9,520,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2000,3910,0,0,0,0,0,0
$GC,5024,-0.83,-204.4,697.1,-12.8,535,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2000,3908,0,0,0,0,0,0
$GC,5332,-0.84,-204.4,736.1,-12.4,550,5336,0.00,1.85,0.00,0.000,4,0.000,0.058,2460,3171,3905,0,0,0,0,0,0
$GC,5383,-0.85,-204.4,742.1,-11.4,552,5386,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2002,3904,0,0,0,0,0,0
$GC,5710,-0.85,-204.4,779.6,-11.3,568,5714,0.00,1.83,0.00,0.000,4,0.000,0.058,2460,3167,3902,0,0,0,0,0,0
$GC,5735,-0.86,-204.4,782.2,-11.4,569,5738,0.00,1.77,0.00,0.000,6,0.000,0.042,2460,1994,3902,0,0,0,0,0,0
$GC,6068,-0.87,-204.4,819.5,-11.3,585,6071,0.00,1.85,0.00,0.000,4,0.000,0.059,2460,3166,3899,0,0,0,0,0,0
$GC,6107,-0.88,-204.4,823.9,-10.6,586,6114,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2001,3898,0,0,0,0,0,0
$GC,6423,-0.89,-204.4,860.2,-11.7,602,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2000,3896,0,0,0,0,0,0
$GC,6732,-0.89,-204.4,898.0,-12.5,617,6736,0.00,1.90,0.00,0.000,4,0.000,0.060,2459,3167,3894,0,0,0,0,0,0
$GC,6756,-0.90,-204.4,900.9,-12.3,618,6760,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2002,3894,0,0,0,0,0,0
$GC,7090,-0.91,-204.4,942.2,-12.1,634,7091,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2001,3893,0,0,0,0,0,0
$GC,7399,-0.92,-204.4,978.5,-11.6,649,7403,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3167,3891,0,0,0,0,0,0
$GC,7438,-0.93,-204.4,983.2,-10.7,650,7446,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2003,3890,0,0,0,0,0,0
$STATE,7587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7587,begin apogee
$GC,7592,-0.18,0.0,1000.5,11.6,658,7776,0.65,0.10,176.10,1.272,6,0.135,0.090,2666,2084,3091,0,0,0,0,0,0
$STATE,7777,end apogee,CONTROL_FINISHED_OK
$STATE,7777,begin climb
$GC,7779,0.69,204.4,1010.9,0.0,666,7985,0.77,2.10,196.50,1.248,4,0.062,0.045,2947,3272,2255,0,0,0,0,0,0
$GC,8097,0.67,204.4,983.2,16.7,681,8101,0.00,1.85,0.00,0.000,6,0.000,0.035,2956,2095,2245,0,0,0,0,0,0
$GC,8419,0.66,204.4,930.6,16.4,697,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2093,2241,0,0,0,0,0,0
$GC,8728,0.65,204.4,878.5,16.9,712,8732,0.00,1.83,0.00,0.000,4,0.000,0.047,2957,3271,2238,0,0,0,0,0,0
$GC,8791,0.63,204.4,867.0,18.7,714,8799,0.12,1.77,0.00,0.000,6,0.190,0.036,2934,2085,2237,0,0,0,0,0,0
$GC,9107,0.62,204.4,818.7,14.8,730,9111,0.00,1.73,0.00,0.000,4,0.000,0.047,2942,962,2236,0,0,0,0,0,0
$GC,9145,0.62,204.4,812.8,14.1,731,9153,0.00,1.80,0.00,0.000,6,0.000,0.039,2938,2148,2235,0,0,0,0,0,0
$GC,9462,0.61,204.4,766.5,14.5,747,9465,0.00,1.73,0.00,0.000,4,0.000,0.047,2938,3278,2234,0,0,0,0,0,0
$GC,9530,0.60,204.4,756.1,14.6,750,9534,0.00,1.83,0.00,0.000,6,0.000,0.036,2946,2080,2233,0,0,0,0,0,0
$GC,9864,0.60,213.4,708.7,13.5,766,9871,0.00,0.00,5.05,0.785,6,0.000,0.000,2946,2078,2221,0,0,0,0,0,0
$GC,10173,0.59,216.7,666.6,13.7,781,10182,0.00,1.85,5.07,0.772,4,0.000,0.047,2946,3268,2207,0,0,0,0,0,0
$GC,10227,0.58,216.7,658.2,14.9,783,10231,0.10,1.83,0.00,0.000,6,0.160,0.036,2924,2079,2206,0,0,0,0,0,0
$GC,10550,0.65,273.3,621.4,11.3,799,10608,0.00,0.00,53.50,1.035,6,0.000,0.000,2923,2078,1975,0,0,0,0,0,0
$GC,10925,0.68,295.0,573.7,12.9,826,10946,0.00,0.00,19.17,0.956,6,0.000,0.000,2924,2078,1888,0,0,0,0,0,0
$GC,11262,0.71,325.4,529.2,12.5,858,11297,0.10,1.73,27.92,0.949,4,0.099,0.045,2988,962,1762,0,0,0,0,0,0
$GC,11321,0.71,325.4,519.6,18.1,863,11325,0.00,1.80,0.00,0.000,6,0.000,0.039,2987,2147,1760,0,0,0,0,0,0
$GC,11655,0.70,325.4,458.4,19.1,894,11659,0.12,1.73,0.00,0.000,4,0.181,0.045,2948,3274,1754,0,0,0,0,0,0
$GC,11735,0.70,325.4,445.1,14.9,901,11739,0.00,1.77,0.00,0.000,6,0.000,0.035,2956,2084,1753,0,0,0,0,0,0
$GC,12067,0.70,325.4,393.8,14.2,932,12071,0.00,1.70,0.00,0.000,4,0.000,0.047,2965,974,1752,0,0,0,0,0,0
$GC,12172,0.73,354.6,379.6,12.6,941,12202,0.00,1.75,24.98,0.848,6,0.000,0.037,2964,2157,1645,0,0,0,0,0,0
$GC,12523,0.73,354.6,329.2,15.0,973,12527,0.00,1.83,0.00,0.000,4,0.000,0.044,2973,974,1637,0,0,0,0,0,0
$GC,12557,0.73,354.6,324.0,15.4,976,12561,0.00,1.75,0.00,0.000,6,0.000,0.037,2973,2153,1637,0,0,0,0,0,0
$GC,12893,0.73,354.6,273.2,14.4,1022,12902,0.00,1.70,0.00,0.000,4,0.000,0.044,2973,3265,1636,0,0,0,0,0,0
$GC,12983,0.73,354.6,260.1,14.5,1037,12990,0.00,1.75,0.00,0.000,6,0.000,0.033,2982,2076,1635,0,0,0,0,0,0
$GC,13332,0.73,354.6,211.8,14.5,1098,13340,0.00,1.67,0.00,0.000,4,0.000,0.044,2990,969,1634,0,0,0,0,0,0
$GC,13435,0.78,395.8,198.7,12.0,1115,13479,0.00,1.77,34.80,0.703,6,0.000,0.035,2990,2151,1476,0,0,0,0,0,0
$GC,13823,0.82,426.6,144.3,12.5,1181,13857,0.00,1.73,27.23,0.650,4,0.000,0.040,2990,3274,1349,0,0,0,0,0,0
$GC,13901,0.86,450.1,134.6,12.8,1192,13927,0.00,1.83,20.75,0.626,6,0.000,0.033,2999,2084,1255,0,0,0,0,0,0
$GC,14284,1.01,559.6,90.8,8.9,1255,14383,0.15,1.75,88.88,0.614,4,0.070,0.039,3095,969,807,0,0,0,0,0,0
$GC,14451,1.01,559.6,63.0,17.0,1278,14460,0.10,1.80,0.00,0.000,6,0.138,0.032,3061,2161,806,0,0,0,0,0,0
$GC,14819,1.01,559.6,3.2,14.9,1339,14829,0.00,1.80,0.00,0.000,4,0.000,0.038,3069,964,805,0,0,0,0,0,0
$STATE,14835,end climb,SURFACE_DEPTH_REACHED
$STATE,14835,begin surface coast
$FINISH,0.2,0.997775
$STATE,14855,end surface coast,CONTROL_FINISHED_OK
$STATE,14855,begin surface
$SM_CCo,14874,58.40,0.058,0,0,481,640.23
$SM_GC,0.86,0.00,0.00,58.40,0.000,0.000,0.058,151,2058,481,-8.06,0.93,640.23
$IRIDIUM_FIX,2145.77,12547.64,061110,040449
$TT8_MAMPS,0.026215
$HUMID,46.06
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.2,68.236
$10V_AH,9.9,55.316
$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,20.450,104.225,679.950,58.400,0.000,26.181,41.967,209.566,0.000,0.000,15.161,3312.620,7364.592,744.128,3610.006,308.208,0.000,2055.816,0.000,3349.616,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,90.270,1272.195,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,911.086,0.000,1824.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80174,1344
$CAP_FILE_SIZE,161297,0
$CFSIZE,260165632,228302848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.009,303.1,1
$GPS,061110,123406,2151.955,12549.488,37,1.0,43,-3.0