version: 66.08
glider: 169
mission: 2
dive: 439
start: 11 7 110 10 15 48
data:
$ID,169
$MISSION,2
$DIVE,439
$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,-7299.5752
$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
$GPS1,071110,100837,2139.748,12552.944,32,0.9,32,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.4
$GPS2,071110,101520,2139.629,12553.007,12,1.2,12,-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,159.2,36257,-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,-204.4,0.0,0.0,0,115,0.00,0.00,-96.70,0.000,2,0.000,0.000,152,1986,3071,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.7,-5.7,12,152,10.48,1.77,-15.50,0.000,4,0.253,0.073,2496,884,3927,0,0,0,0,0,0
$GC,311,-0.68,-204.4,61.6,-24.3,43,320,0.00,1.83,0.00,0.000,6,0.000,0.051,2496,2044,3928,0,0,0,0,0,0
$GC,675,-0.67,-204.4,164.2,-19.7,104,684,0.00,1.77,0.00,0.000,4,0.000,0.060,2496,3165,3929,0,0,0,0,0,0
$GC,774,-0.67,-204.4,181.2,-14.9,120,782,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,2001,3929,0,0,0,0,0,0
$GC,1135,-0.66,-204.4,245.1,-17.6,181,1141,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3175,3930,0,0,0,0,0,0
$GC,1178,-0.66,-204.4,252.9,-15.9,188,1186,0.00,1.83,0.00,0.000,6,0.000,0.042,2497,1998,3930,0,0,0,0,0,0
$GC,1532,-0.66,-204.4,309.8,-15.0,243,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1997,3929,0,0,0,0,0,0
$GC,1860,-0.67,-204.4,357.0,-14.2,274,1864,0.00,1.70,0.00,0.000,4,0.000,0.050,2497,865,3928,0,0,0,0,0,0
$GC,1885,-0.67,-204.4,360.6,-13.4,276,1889,0.00,1.77,0.00,0.000,6,0.000,0.045,2496,2050,3928,0,0,0,0,0,0
$GC,2219,-0.68,-204.4,402.9,-12.8,307,2223,0.00,1.75,0.00,0.000,4,0.000,0.056,2497,3167,3927,0,0,0,0,0,0
$GC,2277,-0.69,-204.4,409.9,-10.8,312,2281,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,2000,3927,0,0,0,0,0,0
$GC,2611,-0.70,-204.4,450.2,-12.6,343,2615,0.00,1.73,0.00,0.000,4,0.000,0.048,2497,880,3925,0,0,0,0,0,0
$GC,2639,-0.70,-204.4,454.2,-12.9,345,2645,0.00,1.75,0.00,0.000,6,0.000,0.047,2497,2044,3925,0,0,0,0,0,0
$GC,2964,-0.71,-204.4,493.2,-12.4,376,2968,0.00,1.73,0.00,0.000,4,0.000,0.056,2496,3173,3922,0,0,0,0,0,0
$GC,3016,-0.72,-204.4,499.0,-10.6,380,3024,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,2003,3922,0,0,0,0,0,0
$GC,3342,-0.73,-204.4,535.0,-10.4,411,3346,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3171,3919,0,0,0,0,0,0
$GC,3411,-0.75,-204.4,541.4,-8.3,417,3415,0.00,1.77,0.00,0.000,6,0.000,0.042,2497,1996,3919,0,0,0,0,0,0
$GC,3743,-0.76,-204.4,574.7,-10.1,448,3746,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3916,0,0,0,0,0,0
$GC,3771,-0.77,-204.4,577.7,-9.5,450,3778,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,2001,3916,0,0,0,0,0,0
$GC,4105,-0.78,-204.4,611.2,-10.3,477,4109,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3913,0,0,0,0,0,0
$GC,4153,-0.80,-204.4,615.9,-9.9,479,4156,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,2002,3912,0,0,0,0,0,0
$GC,4486,-0.81,-204.4,649.7,-10.0,495,4490,0.00,1.83,0.00,0.000,4,0.000,0.056,2496,3168,3910,0,0,0,0,0,0
$GC,4555,-0.83,-204.4,655.6,-8.2,498,4559,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,1991,3909,0,0,0,0,0,0
$GC,4889,-0.84,-204.4,683.5,-8.1,514,4893,0.12,1.90,0.00,0.000,4,0.119,0.058,2451,3171,3906,0,0,0,0,0,0
$GC,4979,-0.85,-204.4,692.9,-10.7,518,4982,0.00,1.77,0.00,0.000,6,0.000,0.047,2450,2004,3904,0,0,0,0,0,0
$GC,5313,-0.85,-204.4,735.2,-13.2,534,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2002,3903,0,0,0,0,0,0
$GC,5621,-0.85,-204.4,776.8,-13.5,549,5625,0.00,1.90,0.00,0.000,4,0.000,0.060,2450,3167,3900,0,0,0,0,0,0
$GC,5661,-0.86,-204.4,782.0,-13.0,550,5669,0.00,1.83,0.00,0.000,6,0.000,0.044,2450,2002,3899,0,0,0,0,0,0
$GC,5977,-0.86,-204.4,823.5,-13.4,566,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2001,3897,0,0,0,0,0,0
$GC,6286,-0.87,-204.4,864.8,-13.3,581,6290,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3168,3895,0,0,0,0,0,0
$GC,6342,-0.88,-204.4,872.1,-11.9,583,6346,0.00,1.77,0.00,0.000,6,0.000,0.046,2451,2004,3895,0,0,0,0,0,0
$GC,6665,-0.88,-204.4,915.2,-13.9,599,6668,0.00,1.73,0.00,0.000,4,0.000,0.055,2450,873,3893,0,0,0,0,0,0
$GC,6693,-0.89,-204.4,919.3,-14.1,600,6696,0.00,1.80,0.00,0.000,6,0.000,0.051,2450,2038,3893,0,0,0,0,0,0
$GC,7020,-0.90,-204.4,960.8,-12.3,616,7024,0.00,1.77,0.00,0.000,4,0.000,0.060,2450,3168,3890,0,0,0,0,0,0
$GC,7070,-0.91,-204.4,966.7,-11.2,618,7074,0.00,1.80,0.00,0.000,6,0.000,0.047,2450,2004,3890,0,0,0,0,0,0
$STATE,7374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7374,begin apogee
$GC,7380,-0.18,0.0,1001.2,11.3,633,7562,0.70,0.05,175.60,1.271,6,0.145,0.072,2668,2099,3092,0,0,0,0,0,0
$STATE,7563,end apogee,CONTROL_FINISHED_OK
$STATE,7563,begin climb
$GC,7566,0.69,204.4,1010.2,0.0,641,7769,0.77,2.08,195.95,1.248,4,0.060,0.047,2951,3272,2256,0,0,0,0,0,0
$GC,7927,0.67,204.4,973.0,18.0,658,7931,0.00,1.80,0.00,0.000,6,0.000,0.037,2960,2093,2242,0,0,0,0,0,0
$GC,8249,0.66,204.4,918.7,16.5,674,8253,0.00,1.73,0.00,0.000,4,0.000,0.047,2968,971,2240,0,0,0,0,0,0
$GC,8288,0.64,204.4,912.0,15.8,675,8295,0.05,1.80,0.00,0.000,6,0.172,0.041,2947,2144,2239,0,0,0,0,0,0
$GC,8605,0.63,204.4,862.6,15.5,691,8609,0.00,1.77,0.00,0.000,4,0.000,0.046,2956,966,2237,0,0,0,0,0,0
$GC,8660,0.62,204.4,853.7,15.7,693,8664,0.00,1.80,0.00,0.000,6,0.000,0.041,2954,2141,2237,0,0,0,0,0,0
$GC,8982,0.61,204.4,804.4,15.2,709,8983,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2141,2235,0,0,0,0,0,0
$GC,9292,0.60,204.4,758.7,14.9,724,9296,0.10,1.75,0.00,0.000,4,0.199,0.044,2937,968,2234,0,0,0,0,0,0
$GC,9319,0.60,210.2,754.7,13.6,725,9322,0.00,1.77,0.00,0.000,6,0.000,0.041,2935,2158,2233,0,0,0,0,0,0
$GC,9646,0.64,247.3,712.8,12.2,741,9690,0.00,1.92,37.20,1.082,4,0.000,0.045,2944,969,2081,0,0,0,0,0,0
$GC,9724,0.63,247.3,702.2,14.0,744,9728,0.00,1.80,0.00,0.000,6,0.000,0.040,2944,2149,2077,0,0,0,0,0,0
$GC,10046,0.62,247.3,656.1,14.4,760,10049,0.00,1.73,0.00,0.000,4,0.000,0.048,2944,3271,2070,0,0,0,0,0,0
$GC,10079,0.62,247.3,650.6,15.8,761,10083,0.00,1.77,0.00,0.000,6,0.000,0.035,2953,2083,2068,0,0,0,0,0,0
$GC,10401,0.61,247.3,601.5,15.4,777,10402,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2082,2067,0,0,0,0,0,0
$GC,10720,0.60,247.3,553.5,15.0,806,10724,0.00,1.67,0.00,0.000,4,0.000,0.047,2962,969,2066,0,0,0,0,0,0
$GC,10799,0.60,247.3,541.5,15.2,813,10804,0.15,1.77,0.00,0.000,6,0.164,0.041,2920,2148,2065,0,0,0,0,0,0
$GC,11130,0.64,286.1,499.9,12.1,844,11170,0.00,0.00,33.90,0.942,6,0.000,0.000,2920,2148,1921,0,0,0,0,0,0
$GC,11490,0.68,318.4,456.1,12.4,878,11528,0.00,1.88,29.15,0.901,4,0.000,0.045,2927,972,1790,0,0,0,0,0,0
$GC,11603,0.76,376.4,442.8,11.2,887,11660,0.12,1.77,50.67,0.894,6,0.085,0.038,2993,2150,1555,0,0,0,0,0,0
$GC,11978,0.76,376.4,377.0,17.1,922,11981,0.00,1.83,0.00,0.000,4,0.000,0.045,3001,970,1545,0,0,0,0,0,0
$GC,12107,0.75,376.4,355.7,17.4,933,12110,0.00,1.75,0.00,0.000,6,0.000,0.038,3000,2149,1544,0,0,0,0,0,0
$GC,12433,0.75,376.4,296.9,18.7,964,12441,0.00,1.83,0.00,0.000,4,0.000,0.045,3009,963,1543,0,0,0,0,0,0
$GC,12553,0.74,376.4,277.1,16.4,984,12563,0.10,1.80,0.00,0.000,6,0.138,0.039,2972,2147,1543,0,0,0,0,0,0
$GC,12915,0.77,400.4,227.4,12.8,1045,12945,0.00,1.83,20.02,0.704,4,0.000,0.041,2981,973,1457,0,0,0,0,0,0
$GC,12984,0.81,431.0,218.1,12.5,1055,13019,0.00,1.80,27.33,0.704,6,0.000,0.035,2980,2156,1333,0,0,0,0,0,0
$GC,13369,0.88,480.8,165.8,11.6,1120,13421,0.10,1.77,42.10,0.669,4,0.098,0.038,3036,3278,1129,0,0,0,0,0,0
$GC,13495,0.89,480.8,146.4,14.7,1139,13504,0.00,1.83,0.00,0.000,6,0.000,0.033,3042,2093,1127,0,0,0,0,0,0
$GC,13864,0.89,480.8,92.4,14.0,1200,13873,0.00,1.73,0.00,0.000,4,0.000,0.044,3042,962,1125,0,0,0,0,0,0
$GC,13951,0.94,515.5,81.1,12.3,1214,13985,0.00,1.80,29.08,0.590,6,0.000,0.032,3042,2156,989,0,0,0,0,0,0
$GC,14338,0.95,516.8,27.0,13.8,1278,14347,0.00,1.83,0.00,0.000,4,0.000,0.041,3042,962,987,0,0,0,0,0,0
$GC,14437,1.09,620.6,15.9,9.1,1294,14521,0.08,1.77,78.32,0.544,2,0.057,0.033,3098,2154,591,0,0,0,0,0,0
$STATE,14522,end climb,SURFACE_DEPTH_REACHED
$STATE,14522,begin surface coast
$FINISH,0.3,1.022366
$STATE,14542,end surface coast,CONTROL_FINISHED_OK
$STATE,14542,begin surface
$SM_CCo,14559,21.85,0.058,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,21.85,0.000,0.000,0.058,148,1987,481,-8.07,-1.07,640.23
$IRIDIUM_FIX,2134.17,12551.41,071110,050529
$TT8_MAMPS,0.026215
$HUMID,45.58
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.60
$XPDR_PINGS,0
$24V_AH,22.3,69.556
$10V_AH,9.9,56.237
$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,21.275,108.275,719.325,21.850,0.000,23.090,39.076,201.670,0.000,0.000,14.490,3217.179,7157.486,718.440,3565.911,314.740,0.000,2057.602,0.000,3319.051,0.000,0.544,0.000
$DEVICE_MAMPS,253.215,74.970,1271.430,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.289,0.000,1779.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,76926,1307
$CAP_FILE_SIZE,161539,0
$CFSIZE,260165632,227815424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.019, 86.6,1
$GPS,071110,142000,2137.424,12553.671,36,1.1,41,-3.0