version: 66.08
glider: 169
mission: 2
dive: 442
start: 11 7 110 23 3 12
data:
$ID,169
$MISSION,2
$DIVE,442
$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,-7304.4858
$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
$GPS1,071110,225606,2131.384,12554.800,31,1.2,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-67.9
$GPS2,071110,230244,2131.269,12554.745,15,1.6,15,-2.9
$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,148.2,21085,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.20,0.000,2,0.000,0.000,150,1985,3034,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.1,-3.7,12,151,10.02,1.73,-16.65,0.000,4,0.239,0.067,2498,882,3926,0,0,0,0,0,0
$GC,242,-0.68,-204.4,42.3,-24.4,31,250,0.00,1.83,0.00,0.000,6,0.000,0.053,2498,2037,3928,0,0,0,0,0,0
$GC,608,-0.67,-204.4,145.6,-22.7,92,617,0.00,1.80,0.00,0.000,4,0.000,0.049,2498,877,3928,0,0,0,0,0,0
$GC,666,-0.67,-204.4,157.4,-18.1,101,673,0.00,1.77,0.00,0.000,6,0.000,0.048,2498,2053,3929,0,0,0,0,0,0
$GC,1022,-0.67,-204.4,220.1,-16.5,162,1031,0.00,1.75,0.00,0.000,4,0.000,0.058,2498,3168,3930,0,0,0,0,0,0
$GC,1152,-0.67,-204.4,238.3,-13.0,183,1159,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2003,3930,0,0,0,0,0,0
$GC,1507,-0.67,-204.4,295.1,-14.3,244,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2001,3930,0,0,0,0,0,0
$GC,1844,-0.68,-204.4,338.8,-12.8,278,1848,0.00,1.85,0.00,0.000,4,0.000,0.054,2497,3172,3929,0,0,0,0,0,0
$GC,1930,-0.69,-204.4,349.5,-11.7,285,1937,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1998,3929,0,0,0,0,0,0
$GC,2258,-0.70,-204.4,390.8,-13.2,316,2261,0.00,1.85,0.00,0.000,4,0.000,0.056,2498,3168,3927,0,0,0,0,0,0
$GC,2296,-0.71,-204.4,395.5,-12.2,319,2299,0.00,1.80,0.00,0.000,6,0.000,0.039,2498,2000,3927,0,0,0,0,0,0
$GC,2627,-0.71,-204.4,436.1,-11.6,350,2630,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3171,3925,0,0,0,0,0,0
$GC,2667,-0.73,-204.4,440.1,-11.3,353,2670,0.00,1.75,0.00,0.000,6,0.000,0.040,2498,2001,3925,0,0,0,0,0,0
$GC,2998,-0.73,-204.4,477.8,-11.1,384,3001,0.00,1.83,0.00,0.000,4,0.000,0.053,2498,3172,3922,0,0,0,0,0,0
$GC,3083,-0.75,-204.4,486.0,-8.8,391,3086,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1992,3922,0,0,0,0,0,0
$GC,3415,-0.76,-204.4,521.6,-10.9,422,3416,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1991,3920,0,0,0,0,0,0
$GC,3734,-0.77,-204.4,555.0,-10.7,452,3738,0.00,1.85,0.00,0.000,4,0.000,0.056,2497,3167,3917,0,0,0,0,0,0
$GC,3817,-0.79,-204.4,563.5,-9.2,459,3824,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2002,3916,0,0,0,0,0,0
$GC,4143,-0.80,-204.4,596.6,-10.2,490,4146,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3913,0,0,0,0,0,0
$GC,4205,-0.82,-204.4,602.4,-8.8,494,4212,0.00,1.77,0.00,0.000,6,0.000,0.039,2498,2000,3912,0,0,0,0,0,0
$GC,4521,-0.83,-204.4,631.3,-9.1,510,4524,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3910,0,0,0,0,0,0
$GC,4582,-0.85,-204.4,636.6,-8.0,512,4590,0.08,1.80,0.00,0.000,6,0.076,0.041,2458,2003,3909,0,0,0,0,0,0
$GC,4899,-0.85,-204.4,675.1,-13.2,528,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2002,3907,0,0,0,0,0,0
$GC,5208,-0.86,-204.4,714.4,-12.6,543,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2002,3904,0,0,0,0,0,0
$GC,5518,-0.86,-204.4,751.9,-11.8,558,5521,0.00,1.85,0.00,0.000,4,0.000,0.059,2458,3168,3901,0,0,0,0,0,0
$GC,5557,-0.87,-204.4,756.8,-11.0,559,5564,0.00,1.80,0.00,0.000,6,0.000,0.044,2458,2000,3901,0,0,0,0,0,0
$GC,5874,-0.88,-204.4,794.4,-11.8,575,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1999,3898,0,0,0,0,0,0
$GC,6183,-0.89,-204.4,832.1,-12.2,590,6186,0.00,1.85,0.00,0.000,4,0.000,0.058,2458,3167,3896,0,0,0,0,0,0
$GC,6238,-0.90,-204.4,838.7,-11.3,592,6242,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2003,3895,0,0,0,0,0,0
$GC,6561,-0.90,-204.4,876.5,-11.8,608,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2002,3894,0,0,0,0,0,0
$GC,6870,-0.91,-204.4,912.4,-11.6,623,6874,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3167,3892,0,0,0,0,0,0
$GC,6920,-0.92,-204.4,918.2,-11.0,625,6924,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2003,3891,0,0,0,0,0,0
$GC,7248,-0.93,-204.4,955.2,-11.3,641,7249,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2002,3889,0,0,0,0,0,0
$GC,7557,-0.94,-204.4,989.7,-11.0,656,7561,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3167,3888,0,0,0,0,0,0
$GC,7627,-0.95,-204.4,996.9,-9.5,659,7631,0.10,1.80,0.00,0.000,6,0.119,0.045,2421,2003,3887,0,0,0,0,0,0
$STATE,7668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7668,begin apogee
$GC,7674,-0.18,0.0,1002.5,12.8,661,7856,0.80,0.05,174.57,1.275,6,0.150,0.067,2665,2098,3090,0,0,0,0,0,0
$STATE,7856,end apogee,CONTROL_FINISHED_OK
$STATE,7856,begin climb
$GC,7858,0.69,204.4,1012.6,0.0,669,8062,0.77,2.00,195.30,1.252,4,0.057,0.046,2951,3267,2255,0,0,0,0,0,0
$GC,8191,0.67,204.4,981.7,16.6,685,8194,0.00,1.83,0.00,0.000,6,0.000,0.035,2960,2093,2243,0,0,0,0,0,0
$GC,8519,0.66,204.4,929.2,15.8,701,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2092,2238,0,0,0,0,0,0
$GC,8828,0.64,204.4,880.6,15.5,716,8831,0.00,1.83,0.00,0.000,4,0.000,0.047,2959,3271,2236,0,0,0,0,0,0
$GC,8897,0.63,204.4,869.4,16.3,719,8901,0.12,1.77,0.00,0.000,6,0.191,0.035,2936,2093,2236,0,0,0,0,0,0
$GC,9230,0.62,204.4,822.6,14.0,735,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2091,2235,0,0,0,0,0,0
$GC,9539,0.61,204.4,779.2,14.3,750,9543,0.00,1.67,0.00,0.000,4,0.000,0.046,2945,962,2233,0,0,0,0,0,0
$GC,9589,0.60,204.4,771.7,14.2,752,9593,0.00,1.80,0.00,0.000,6,0.000,0.041,2944,2139,2233,0,0,0,0,0,0
$GC,9916,0.59,204.4,723.4,14.5,768,9920,0.00,1.73,0.00,0.000,4,0.000,0.048,2944,3272,2232,0,0,0,0,0,0
$GC,9950,0.58,204.4,718.0,15.4,769,9954,0.12,1.80,0.00,0.000,6,0.184,0.035,2922,2072,2232,0,0,0,0,0,0
$GC,10271,0.63,247.3,677.9,11.9,785,10316,0.00,1.70,36.80,1.065,4,0.000,0.044,2930,969,2080,0,0,0,0,0,0
$GC,10387,0.67,279.5,663.7,12.4,790,10423,0.00,1.77,29.73,1.034,6,0.000,0.040,2925,2146,1951,0,0,0,0,0,0
$GC,10740,0.71,318.3,618.7,12.1,807,10784,0.10,1.80,34.53,1.015,4,0.098,0.049,2980,3261,1792,0,0,0,0,0,0
$GC,10802,0.71,318.3,608.6,17.4,809,10809,0.12,1.83,0.00,0.000,6,0.180,0.036,2957,2073,1789,0,0,0,0,0,0
$GC,11125,0.70,318.3,562.3,14.2,837,11129,0.00,1.65,0.00,0.000,4,0.000,0.047,2965,966,1783,0,0,0,0,0,0
$GC,11163,0.70,318.3,556.5,14.9,840,11171,0.00,1.83,0.00,0.000,6,0.000,0.040,2962,2153,1783,0,0,0,0,0,0
$GC,11489,0.70,318.3,507.0,15.4,871,11493,0.00,1.77,0.00,0.000,4,0.000,0.045,2970,967,1780,0,0,0,0,0,0
$GC,11524,0.70,318.3,501.6,15.4,874,11528,0.00,1.77,0.00,0.000,6,0.000,0.040,2967,2147,1780,0,0,0,0,0,0
$GC,11857,0.69,318.3,447.2,16.3,905,11861,0.00,1.83,0.00,0.000,4,0.000,0.046,2976,963,1778,0,0,0,0,0,0
$GC,11892,0.69,318.3,441.5,16.8,908,11896,0.00,1.80,0.00,0.000,6,0.000,0.040,2974,2158,1778,0,0,0,0,0,0
$GC,12225,0.68,318.3,389.0,15.5,939,12229,0.00,1.73,0.00,0.000,4,0.000,0.047,2974,3273,1777,0,0,0,0,0,0
$GC,12261,0.68,318.3,383.4,14.9,942,12265,0.12,1.77,0.00,0.000,6,0.172,0.035,2949,2087,1777,0,0,0,0,0,0
$GC,12593,0.69,329.5,338.7,13.4,973,12606,0.00,1.75,8.80,0.724,4,0.000,0.044,2958,967,1746,0,0,0,0,0,0
$GC,12704,0.73,361.8,323.8,12.4,982,12738,0.00,1.80,29.48,0.804,6,0.000,0.038,2950,2149,1616,0,0,0,0,0,0
$GC,13068,0.76,381.4,277.0,13.0,1030,13092,0.00,1.73,17.52,0.740,4,0.000,0.042,2950,3272,1535,0,0,0,0,0,0
$GC,13119,0.79,402.5,270.7,12.9,1037,13148,0.00,1.80,19.35,0.734,6,0.000,0.033,2959,2079,1449,0,0,0,0,0,0
$GC,13501,0.85,443.3,221.1,12.0,1101,13546,0.12,1.73,35.38,0.717,4,0.081,0.042,3038,972,1283,0,0,0,0,0,0
$GC,13667,0.85,443.3,191.1,18.7,1127,13674,0.12,1.77,0.00,0.000,6,0.162,0.037,3002,2151,1280,0,0,0,0,0,0
$GC,14031,0.87,453.5,134.8,13.4,1188,14048,0.00,1.80,9.75,0.584,4,0.000,0.039,3011,964,1241,0,0,0,0,0,0
$GC,14104,0.92,493.7,125.4,12.1,1199,14145,0.00,1.77,34.45,0.637,6,0.000,0.033,3011,2147,1077,0,0,0,0,0,0
$GC,14498,1.03,572.7,77.7,10.3,1264,14573,0.15,1.85,64.65,0.600,4,0.073,0.041,3103,972,755,0,0,0,0,0,0
$GC,14682,1.03,572.7,44.8,17.8,1291,14691,0.10,1.77,0.00,0.000,6,0.144,0.033,3068,2153,752,0,0,0,0,0,0
$STATE,14923,end climb,SURFACE_DEPTH_REACHED
$STATE,14923,begin surface coast
$FINISH,0.2,0.998926
$STATE,14942,end surface coast,CONTROL_FINISHED_OK
$STATE,14942,begin surface
$SM_CCo,14959,49.22,0.060,0,0,481,640.23
$SM_GC,1.07,0.00,0.00,49.22,0.000,0.000,0.060,136,1998,481,-8.10,-0.74,640.23
$IRIDIUM_FIX,2124.90,12553.81,071110,181824
$TT8_MAMPS,0.026215
$HUMID,46.85
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,22.3,70.219
$10V_AH,9.9,56.697
$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,20.950,104.425,690.300,49.225,0.000,23.631,17.850,209.079,0.250,0.000,17.961,3303.475,7435.317,724.003,3612.948,320.696,0.000,2066.533,0.000,3371.897,0.000,0.546,0.000
$DEVICE_MAMPS,239.445,76.500,1275.255,59.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.215,0.000,1795.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333644
$DATA_FILE_SIZE,80280,1334
$CAP_FILE_SIZE,164579,0
$CFSIZE,260165632,227561472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,277.0,1
$GPS,081110,031430,2129.234,12555.355,37,1.2,37,-2.9