version: 66.08
glider: 169
mission: 2
dive: 440
start: 11 7 110 14 29 34
data:
$ID,169
$MISSION,2
$DIVE,440
$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,-7300.832
$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
$GPS1,071110,142000,2137.424,12553.671,36,1.1,41,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.3
$GPS2,071110,142907,2137.277,12553.729,10,1.5,15,-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,162.1,31765,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-95.60,0.000,2,0.000,0.000,147,1986,3025,0,0,0,0,0,0
$GC,116,-0.69,-204.4,3.1,-4.0,12,151,9.98,1.73,-16.73,0.000,4,0.252,0.068,2496,881,3926,0,0,0,0,0,0
$GC,253,-0.68,-204.4,47.1,-26.1,33,261,0.00,1.83,0.00,0.000,6,0.000,0.054,2496,2036,3927,0,0,0,0,0,0
$GC,619,-0.67,-204.4,150.4,-23.3,94,628,0.00,1.75,0.00,0.000,4,0.000,0.057,2496,3161,3928,0,0,0,0,0,0
$GC,788,-0.67,-204.4,180.9,-15.8,122,798,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,2001,3929,0,0,0,0,0,0
$GC,1150,-0.66,-204.4,244.6,-17.9,183,1157,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3174,3929,0,0,0,0,0,0
$GC,1259,-0.67,-204.4,261.4,-14.1,201,1266,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,1997,3929,0,0,0,0,0,0
$GC,1607,-0.67,-204.4,312.2,-14.1,254,1611,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3168,3929,0,0,0,0,0,0
$GC,1670,-0.68,-204.4,319.5,-12.6,259,1674,0.00,1.77,0.00,0.000,6,0.000,0.039,2497,1992,3929,0,0,0,0,0,0
$GC,2001,-0.68,-204.4,364.2,-13.9,290,2005,0.00,1.88,0.00,0.000,4,0.000,0.055,2496,3177,3927,0,0,0,0,0,0
$GC,2085,-0.69,-204.4,374.1,-11.1,297,2089,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,1994,3927,0,0,0,0,0,0
$GC,2418,-0.70,-204.4,414.0,-11.7,328,2421,0.00,1.88,0.00,0.000,4,0.000,0.055,2497,3176,3925,0,0,0,0,0,0
$GC,2525,-0.71,-204.4,425.1,-9.8,337,2528,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,1999,3924,0,0,0,0,0,0
$GC,2857,-0.72,-204.4,462.2,-11.3,368,2861,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3168,3922,0,0,0,0,0,0
$GC,2882,-0.73,-204.4,465.0,-10.9,370,2885,0.00,1.75,0.00,0.000,6,0.000,0.038,2497,2000,3922,0,0,0,0,0,0
$GC,3215,-0.74,-204.4,500.9,-10.8,401,3219,0.00,1.85,0.00,0.000,4,0.000,0.054,2497,3164,3920,0,0,0,0,0,0
$GC,3287,-0.75,-204.4,508.2,-8.4,407,3294,0.00,1.77,0.00,0.000,6,0.000,0.039,2497,2000,3919,0,0,0,0,0,0
$GC,3613,-0.76,-204.4,541.7,-10.9,438,3617,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3170,3916,0,0,0,0,0,0
$GC,3708,-0.78,-204.4,551.3,-8.6,446,3716,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,2000,3916,0,0,0,0,0,0
$GC,4034,-0.79,-204.4,585.7,-10.1,477,4037,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3171,3913,0,0,0,0,0,0
$GC,4084,-0.81,-204.4,590.8,-9.2,481,4091,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,2002,3912,0,0,0,0,0,0
$GC,4416,-0.82,-204.4,623.0,-9.6,502,4420,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3171,3910,0,0,0,0,0,0
$GC,4485,-0.84,-204.4,629.2,-8.2,505,4489,0.10,1.77,0.00,0.000,6,0.122,0.041,2458,2001,3909,0,0,0,0,0,0
$GC,4819,-0.84,-204.4,670.5,-12.7,521,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2000,3906,0,0,0,0,0,0
$GC,5127,-0.84,-204.4,710.1,-12.7,536,5131,0.00,1.85,0.00,0.000,4,0.000,0.057,2458,3173,3903,0,0,0,0,0,0
$GC,5210,-0.85,-204.4,720.1,-11.3,539,5217,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2003,3903,0,0,0,0,0,0
$GC,5527,-0.86,-204.4,760.8,-13.1,555,5531,0.00,1.83,0.00,0.000,4,0.000,0.058,2458,3167,3900,0,0,0,0,0,0
$GC,5567,-0.87,-204.4,766.1,-12.3,556,5574,0.00,1.80,0.00,0.000,6,0.000,0.044,2457,1999,3900,0,0,0,0,0,0
$GC,5883,-0.87,-204.4,807.5,-13.1,572,5887,0.00,1.88,0.00,0.000,4,0.000,0.058,2458,3165,3897,0,0,0,0,0,0
$GC,5912,-0.88,-204.4,811.4,-12.8,573,5915,0.00,1.80,0.00,0.000,6,0.000,0.044,2458,1999,3897,0,0,0,0,0,0
$GC,6239,-0.89,-204.4,853.1,-12.8,589,6243,0.00,1.85,0.00,0.000,4,0.000,0.059,2457,3175,3895,0,0,0,0,0,0
$GC,6272,-0.90,-204.4,857.2,-12.3,590,6276,0.00,1.83,0.00,0.000,6,0.000,0.046,2458,1999,3895,0,0,0,0,0,0
$GC,6595,-0.90,-204.4,894.4,-11.4,606,6599,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3170,3892,0,0,0,0,0,0
$GC,6656,-0.92,-204.4,900.7,-8.9,608,6663,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2003,3891,0,0,0,0,0,0
$GC,6973,-0.92,-204.4,933.8,-10.6,624,6977,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3164,3889,0,0,0,0,0,0
$GC,7023,-0.94,-204.4,939.1,-10.0,626,7027,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2003,3889,0,0,0,0,0,0
$GC,7351,-0.94,-204.4,974.4,-11.0,642,7355,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3170,3887,0,0,0,0,0,0
$GC,7419,-0.95,-204.4,981.6,-10.1,645,7424,0.10,1.83,0.00,0.000,6,0.125,0.047,2422,1996,3887,0,0,0,0,0,0
$STATE,7564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7564,begin apogee
$GC,7570,-0.18,0.0,1001.7,14.4,652,7753,0.80,0.05,177.12,1.272,6,0.155,0.070,2663,2093,3090,0,0,0,0,0,0
$STATE,7754,end apogee,CONTROL_FINISHED_OK
$STATE,7754,begin climb
$GC,7756,0.69,204.4,1012.0,0.0,660,7959,0.80,1.92,195.07,1.249,4,0.065,0.045,2959,973,2256,0,0,0,0,0,0
$GC,8185,0.67,204.4,969.3,14.9,680,8189,0.00,1.77,0.00,0.000,6,0.000,0.040,2958,2154,2243,0,0,0,0,0,0
$GC,8506,0.66,204.4,918.1,16.0,696,8510,0.00,1.70,0.00,0.000,4,0.000,0.047,2958,3273,2239,0,0,0,0,0,0
$GC,8534,0.65,204.4,913.1,17.6,697,8538,0.00,1.80,0.00,0.000,6,0.000,0.035,2966,2090,2238,0,0,0,0,0,0
$GC,8861,0.63,204.4,859.4,16.0,713,8866,0.12,1.73,0.00,0.000,4,0.196,0.046,2943,962,2236,0,0,0,0,0,0
$GC,8884,0.62,204.4,855.9,14.9,714,8888,0.00,1.77,0.00,0.000,6,0.000,0.040,2943,2156,2236,0,0,0,0,0,0
$GC,9218,0.61,204.4,808.4,14.8,730,9221,0.00,1.83,0.00,0.000,4,0.000,0.046,2951,971,2235,0,0,0,0,0,0
$GC,9308,0.60,204.4,794.6,14.8,734,9312,0.00,1.75,0.00,0.000,6,0.000,0.040,2950,2149,2234,0,0,0,0,0,0
$GC,9642,0.59,204.4,743.0,15.1,750,9645,0.00,1.73,0.00,0.000,4,0.000,0.048,2950,3279,2234,0,0,0,0,0,0
$GC,9680,0.58,204.4,736.5,16.1,751,9688,0.12,1.83,0.00,0.000,6,0.159,0.034,2920,2079,2233,0,0,0,0,0,0
$GC,9998,0.62,245.9,697.3,12.0,767,10037,0.00,0.00,35.70,1.073,6,0.000,0.000,2920,2078,2088,0,0,0,0,0,0
$GC,10346,0.65,267.9,653.0,12.9,784,10371,0.00,1.75,20.00,1.012,4,0.000,0.047,2928,974,1998,0,0,0,0,0,0
$GC,10435,0.69,297.4,641.8,12.5,788,10470,0.00,1.80,27.92,1.015,6,0.000,0.038,2928,2155,1877,0,0,0,0,0,0
$GC,10788,0.72,321.3,595.3,12.8,806,10811,0.00,0.00,21.60,0.978,6,0.000,0.000,2928,2155,1780,0,0,0,0,0,0
$GC,11126,0.74,343.1,551.3,12.9,838,11152,0.12,1.85,19.70,0.946,4,0.087,0.046,3003,965,1691,0,0,0,0,0,0
$GC,11248,0.74,343.1,529.6,18.6,848,11256,0.12,1.77,0.00,0.000,6,0.172,0.039,2970,2147,1687,0,0,0,0,0,0
$GC,11576,0.73,343.1,473.7,17.6,879,11580,0.00,1.70,0.00,0.000,4,0.000,0.047,2970,3275,1684,0,0,0,0,0,0
$GC,11602,0.73,343.1,469.3,17.6,881,11605,0.00,1.77,0.00,0.000,6,0.000,0.033,2978,2072,1683,0,0,0,0,0,0
$GC,11932,0.72,343.1,413.6,16.7,912,11936,0.00,1.67,0.00,0.000,4,0.000,0.045,2987,969,1682,0,0,0,0,0,0
$GC,12039,0.72,343.1,397.2,15.3,921,12043,0.00,1.77,0.00,0.000,6,0.000,0.038,2987,2154,1682,0,0,0,0,0,0
$GC,12370,0.71,343.1,340.0,17.3,952,12374,0.00,1.80,0.00,0.000,4,0.000,0.043,2996,961,1681,0,0,0,0,0,0
$GC,12440,0.71,343.1,328.3,16.2,958,12444,0.12,1.75,0.00,0.000,6,0.162,0.037,2962,2149,1681,0,0,0,0,0,0
$GC,12775,0.75,375.9,281.8,12.4,1000,12812,0.00,1.85,28.12,0.769,4,0.000,0.043,2971,969,1556,0,0,0,0,0,0
$GC,12827,0.77,394.0,275.4,13.1,1007,12857,0.00,1.77,17.25,0.732,6,0.000,0.037,2970,2156,1481,0,0,0,0,0,0
$GC,13209,0.80,414.7,223.2,12.9,1071,13239,0.00,1.88,18.08,0.697,4,0.000,0.044,2977,963,1399,0,0,0,0,0,0
$GC,13336,0.85,446.8,206.8,12.4,1091,13372,0.00,1.77,28.62,0.697,6,0.000,0.035,2977,2152,1268,0,0,0,0,0,0
$GC,13724,0.87,460.7,155.3,13.3,1156,13747,0.00,1.83,12.32,0.615,4,0.000,0.042,2983,972,1212,0,0,0,0,0,0
$GC,13780,0.95,517.3,148.6,11.3,1164,13839,0.12,1.77,48.30,0.656,6,0.047,0.034,3057,2150,981,0,0,0,0,0,0
$GC,14191,0.96,517.3,79.9,15.2,1231,14200,0.00,1.80,0.00,0.000,4,0.000,0.041,3066,967,977,0,0,0,0,0,0
$GC,14325,0.99,540.4,61.3,12.8,1253,14351,0.00,1.77,19.62,0.563,6,0.000,0.031,3065,2153,886,0,0,0,0,0,0
$STATE,14702,end climb,SURFACE_DEPTH_REACHED
$STATE,14702,begin surface coast
$FINISH,0.1,1.009287
$STATE,14727,end surface coast,CONTROL_FINISHED_OK
$STATE,14727,begin surface
$SM_CCo,14744,68.22,0.057,0,0,481,640.23
$SM_GC,1.12,0.00,0.00,68.22,0.000,0.000,0.057,152,1985,481,-8.06,-1.10,640.23
$IRIDIUM_FIX,2131.85,12553.29,071110,141404
$TT8_MAMPS,0.026215
$HUMID,46.57
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.20
$XPDR_PINGS,6
$24V_AH,22.4,69.776
$10V_AH,9.8,56.390
$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,20.925,115.675,669.450,68.225,0.000,53.804,84.481,204.075,1.500,0.000,16.340,3297.381,7252.939,748.343,3726.376,322.979,0.000,2094.477,0.000,3391.432,0.000,0.544,0.000
$DEVICE_MAMPS,252.450,77.265,1272.195,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.912,0.000,1773.024,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333684
$DATA_FILE_SIZE,76981,1320
$CAP_FILE_SIZE,167470,1
$CFSIZE,260165632,227729408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.146,111.2,1
$GPS,071110,183736,2134.544,12555.028,40,1.2,40,-2.9