version: 66.08
glider: 169
mission: 2
dive: 437
start: 11 7 110 1 36 48
data:
$ID,169
$MISSION,2
$DIVE,437
$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,-7295.959
$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
$GPS1,071110,012931,2144.776,12551.504,37,1.6,37,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.4
$GPS2,071110,013620,2144.786,12551.495,10,1.6,10,-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,160.1,46088,-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,-204.4,0.0,0.0,0,121,0.00,0.00,-102.57,0.000,2,0.000,0.000,148,1981,3272,0,0,0,0,0,0
$GC,124,-0.69,-204.4,4.4,-8.1,13,151,10.98,1.80,-10.85,0.000,4,0.265,0.070,2499,866,3928,0,0,0,0,0,0
$GC,167,-0.62,-204.4,26.1,-49.7,18,176,0.08,1.88,0.00,0.000,6,0.204,0.055,2519,2038,3929,0,0,0,0,0,0
$GC,530,-0.61,-204.4,122.7,-21.7,79,540,0.00,1.77,0.00,0.000,4,0.000,0.059,2519,3166,3930,0,0,0,0,0,0
$GC,583,-0.61,-204.4,133.2,-17.8,87,592,0.00,1.80,0.00,0.000,6,0.000,0.041,2520,2003,3930,0,0,0,0,0,0
$GC,935,-0.61,-204.4,194.5,-16.0,148,943,0.00,1.73,0.00,0.000,4,0.000,0.049,2520,876,3931,0,0,0,0,0,0
$GC,1003,-0.62,-204.4,203.6,-12.7,159,1011,0.00,1.75,0.00,0.000,6,0.000,0.046,2520,2046,3932,0,0,0,0,0,0
$GC,1349,-0.62,-204.4,250.1,-13.2,220,1358,0.00,1.75,0.00,0.000,4,0.000,0.057,2520,3166,3931,0,0,0,0,0,0
$GC,1430,-0.64,-204.4,259.1,-9.7,233,1437,0.00,1.77,0.00,0.000,6,0.000,0.038,2520,2003,3932,0,0,0,0,0,0
$GC,1774,-0.65,-204.4,298.8,-11.3,294,1782,0.00,1.85,0.00,0.000,4,0.000,0.054,2520,3162,3931,0,0,0,0,0,0
$GC,1825,-0.66,-204.4,304.1,-10.6,299,1829,0.00,1.77,0.00,0.000,6,0.000,0.038,2520,1985,3931,0,0,0,0,0,0
$GC,2157,-0.67,-204.4,343.2,-11.8,330,2160,0.00,1.65,0.00,0.000,4,0.000,0.049,2520,873,3929,0,0,0,0,0,0
$GC,2194,-0.68,-204.4,347.2,-11.0,333,2197,0.00,1.80,0.00,0.000,6,0.000,0.044,2519,2042,3929,0,0,0,0,0,0
$GC,2525,-0.70,-204.4,381.3,-9.8,364,2529,0.00,1.75,0.00,0.000,4,0.000,0.055,2519,3168,3928,0,0,0,0,0,0
$GC,2609,-0.71,-204.4,389.2,-8.8,371,2616,0.00,1.77,0.00,0.000,6,0.000,0.037,2520,1993,3928,0,0,0,0,0,0
$GC,2934,-0.73,-204.4,421.6,-10.5,402,2938,0.00,1.85,0.00,0.000,4,0.000,0.054,2520,3167,3926,0,0,0,0,0,0
$GC,3030,-0.75,-204.4,430.6,-8.5,410,3038,0.00,1.80,0.00,0.000,6,0.000,0.037,2520,1993,3925,0,0,0,0,0,0
$GC,3357,-0.76,-204.4,461.8,-9.0,441,3362,0.10,1.90,0.00,0.000,4,0.132,0.054,2483,3187,3922,0,0,0,0,0,0
$GC,3417,-0.77,-204.4,468.4,-10.1,446,3426,0.00,1.83,0.00,0.000,6,0.000,0.039,2484,2003,3922,0,0,0,0,0,0
$GC,3743,-0.78,-204.4,506.5,-11.7,477,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2002,3920,0,0,0,0,0,0
$GC,4063,-0.79,-204.4,542.6,-11.8,507,4067,0.00,1.83,0.00,0.000,4,0.000,0.055,2484,3168,3918,0,0,0,0,0,0
$GC,4147,-0.80,-204.4,551.8,-9.6,514,4153,0.00,1.77,0.00,0.000,6,0.000,0.040,2484,1986,3917,0,0,0,0,0,0
$GC,4472,-0.81,-204.4,589.2,-11.3,545,4476,0.00,1.88,0.00,0.000,4,0.000,0.056,2484,3173,3915,0,0,0,0,0,0
$GC,4518,-0.82,-204.4,594.0,-9.9,549,4522,0.00,1.77,0.00,0.000,6,0.000,0.041,2484,2000,3914,0,0,0,0,0,0
$GC,4853,-0.83,-204.4,630.7,-11.1,568,4857,0.00,1.88,0.00,0.000,4,0.000,0.055,2484,3167,3911,0,0,0,0,0,0
$GC,4921,-0.85,-204.4,638.1,-10.2,571,4925,0.00,1.75,0.00,0.000,6,0.000,0.039,2484,2001,3911,0,0,0,0,0,0
$GC,5255,-0.86,-204.4,676.0,-11.5,587,5258,0.00,1.83,0.00,0.000,4,0.000,0.055,2484,3168,3908,0,0,0,0,0,0
$GC,5305,-0.87,-204.4,681.7,-10.5,589,5309,0.10,1.77,0.00,0.000,6,0.123,0.040,2446,2002,3907,0,0,0,0,0,0
$GC,5633,-0.88,-204.4,725.5,-13.3,605,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2000,3905,0,0,0,0,0,0
$GC,5941,-0.88,-204.4,764.6,-12.2,620,5945,0.00,1.85,0.00,0.000,4,0.000,0.057,2446,3172,3903,0,0,0,0,0,0
$GC,6003,-0.89,-204.4,772.1,-11.3,622,6009,0.00,1.77,0.00,0.000,6,0.000,0.044,2446,2004,3902,0,0,0,0,0,0
$GC,6319,-0.89,-204.4,811.8,-13.0,638,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2002,3900,0,0,0,0,0,0
$GC,6628,-0.90,-204.4,852.0,-13.4,653,6632,0.00,1.88,0.00,0.000,4,0.000,0.059,2446,3168,3897,0,0,0,0,0,0
$GC,6702,-0.91,-204.4,861.5,-12.5,656,6705,0.00,1.80,0.00,0.000,6,0.000,0.044,2446,2003,3897,0,0,0,0,0,0
$GC,7030,-0.91,-204.4,906.3,-13.7,672,7033,0.00,1.73,0.00,0.000,4,0.000,0.054,2446,878,3895,0,0,0,0,0,0
$GC,7064,-0.92,-204.4,911.1,-13.4,673,7068,0.00,1.80,0.00,0.000,6,0.000,0.050,2446,2050,3894,0,0,0,0,0,0
$GC,7387,-0.92,-204.4,953.2,-13.0,689,7390,0.00,1.75,0.00,0.000,4,0.000,0.059,2446,3167,3893,0,0,0,0,0,0
$GC,7442,-0.93,-204.4,960.1,-11.1,691,7446,0.00,1.80,0.00,0.000,6,0.000,0.044,2446,2002,3892,0,0,0,0,0,0
$GC,7765,-0.94,-204.4,999.0,-12.0,707,7766,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2001,3891,0,0,0,0,0,0
$STATE,7783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7783,begin apogee
$GC,7788,-0.18,0.0,1001.4,11.9,708,7968,0.68,0.08,174.30,1.279,6,0.138,0.105,2659,2091,3091,0,0,0,0,0,0
$STATE,7969,end apogee,CONTROL_FINISHED_OK
$STATE,7969,begin climb
$GC,7972,0.69,204.4,1010.3,0.0,716,8177,0.80,2.08,195.18,1.255,4,0.056,0.044,2957,3271,2255,0,0,0,0,0,0
$GC,8194,0.67,204.4,996.6,16.5,727,8197,0.00,1.90,0.00,0.000,6,0.000,0.032,2965,2088,2251,0,0,0,0,0,0
$GC,8515,0.65,204.4,939.9,17.4,743,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2087,2241,0,0,0,0,0,0
$GC,8825,0.64,204.4,886.2,17.2,758,8829,0.00,1.88,0.00,0.000,4,0.000,0.045,2962,3275,2240,0,0,0,0,0,0
$GC,8857,0.62,204.4,879.9,17.5,759,8862,0.10,1.83,0.00,0.000,6,0.166,0.034,2939,2087,2238,0,0,0,0,0,0
$GC,9179,0.61,204.4,831.4,14.6,775,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2086,2237,0,0,0,0,0,0
$GC,9489,0.61,208.2,787.6,13.7,790,9492,0.00,1.83,0.00,0.000,4,0.000,0.045,2938,3270,2236,0,0,0,0,0,0
$GC,9572,0.60,208.2,774.7,15.3,793,9579,0.00,1.75,0.00,0.000,6,0.000,0.034,2947,2092,2234,0,0,0,0,0,0
$GC,9890,0.59,211.5,730.4,13.7,809,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2092,2234,0,0,0,0,0,0
$GC,10198,0.58,211.5,686.6,14.3,824,10199,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2091,2233,0,0,0,0,0,0
$GC,10507,0.57,211.5,642.7,14.3,839,10511,0.12,1.85,0.00,0.000,4,0.190,0.045,2909,3271,2233,0,0,0,0,0,0
$GC,10591,0.58,217.7,631.5,13.6,842,10606,0.00,1.77,9.38,0.928,6,0.000,0.034,2918,2074,2202,0,0,0,0,0,0
$GC,10922,0.64,268.8,590.9,11.6,862,10978,0.00,1.98,47.55,1.012,4,0.000,0.046,2918,3272,1994,0,0,0,0,0,0
$GC,11006,0.68,299.7,580.4,12.5,869,11039,0.00,1.80,28.50,0.973,6,0.000,0.034,2926,2084,1869,0,0,0,0,0,0
$GC,11359,0.68,306.1,534.5,13.6,902,11369,0.00,0.00,5.50,0.724,6,0.000,0.000,2926,2084,1843,0,0,0,0,0,0
$GC,11690,0.69,306.1,488.2,13.9,933,11694,0.00,1.70,0.00,0.000,4,0.000,0.047,2932,976,1839,0,0,0,0,0,0
$GC,11748,0.69,306.1,479.9,13.9,938,11752,0.00,1.77,0.00,0.000,6,0.000,0.037,2932,2162,1839,0,0,0,0,0,0
$GC,12081,0.72,329.6,435.8,12.8,969,12109,0.00,1.90,21.90,0.878,4,0.000,0.047,2934,965,1746,0,0,0,0,0,0
$GC,12178,0.82,401.8,424.6,10.6,977,12252,0.17,1.80,63.47,0.887,6,0.070,0.037,3013,2157,1451,0,0,0,0,0,0
$GC,12570,0.81,401.8,348.8,20.1,1013,12576,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2157,1442,0,0,0,0,0,0
$GC,12903,0.80,401.8,283.3,19.6,1051,12910,0.00,1.83,0.00,0.000,4,0.000,0.044,3022,959,1440,0,0,0,0,0,0
$GC,12990,0.80,401.8,267.5,17.3,1065,12997,0.12,1.80,0.00,0.000,6,0.162,0.037,2986,2158,1439,0,0,0,0,0,0
$GC,13350,0.80,401.8,209.8,14.7,1126,13358,0.00,1.70,0.00,0.000,4,0.000,0.042,2985,3271,1439,0,0,0,0,0,0
$GC,13408,0.80,401.8,200.9,15.0,1135,13414,0.00,1.77,0.00,0.000,6,0.000,0.032,2994,2079,1438,0,0,0,0,0,0
$GC,13769,0.80,401.8,149.0,14.3,1196,13778,0.00,1.70,0.00,0.000,4,0.000,0.043,3001,959,1438,0,0,0,0,0,0
$GC,13919,0.88,460.1,130.4,11.2,1220,13977,0.00,1.77,47.85,0.650,6,0.000,0.033,3001,2149,1214,0,0,0,0,0,0
$GC,14335,1.00,553.3,83.0,9.6,1287,14418,0.15,1.90,76.07,0.609,4,0.073,0.040,3092,963,833,0,0,0,0,0,0
$GC,14440,1.00,553.3,66.7,18.3,1300,14450,0.10,1.83,0.00,0.000,6,0.139,0.032,3058,2157,832,0,0,0,0,0,0
$GC,14809,1.00,553.3,7.7,16.2,1361,14817,0.00,1.80,0.00,0.000,4,0.000,0.038,3067,966,831,0,0,0,0,0,0
$STATE,14836,end climb,SURFACE_DEPTH_REACHED
$STATE,14836,begin surface coast
$FINISH,0.3,1.022365
$STATE,14856,end surface coast,CONTROL_FINISHED_OK
$STATE,14856,begin surface
$SM_CCo,14874,59.97,0.057,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,59.97,0.000,0.000,0.057,147,2050,481,-8.07,0.71,640.23
$IRIDIUM_FIX,2138.81,12529.56,061110,212158
$TT8_MAMPS,0.026215
$HUMID,46.22
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.3,69.106
$10V_AH,9.9,55.932
$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,21.875,104.950,669.700,59.975,0.000,27.367,39.438,202.397,0.000,0.000,14.588,3367.597,7198.718,768.346,3693.149,303.989,0.000,2088.967,0.000,3436.432,0.000,0.542,0.000
$DEVICE_MAMPS,264.690,104.805,1279.080,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,926.735,0.000,1901.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333652
$DATA_FILE_SIZE,80307,1368
$CAP_FILE_SIZE,163599,0
$CFSIZE,260165632,227975168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,121.3,1
$GPS,071110,054637,2142.298,12552.506,25,1.9,25,-3.0