version: 66.08
glider: 169
mission: 2
dive: 445
start: 11 8 110 11 51 42
data:
$ID,169
$MISSION,2
$DIVE,445
$N_DIVES,457
$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,-7310.4897
$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
$GPS1,081110,114407,2124.521,12557.622,30,1.0,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.1
$GPS2,081110,115114,2124.437,12557.657,10,1.7,10,-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,126.2,8059,-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,-204.4,0.0,0.0,0,113,0.00,0.00,-95.50,0.000,2,0.000,0.000,147,1980,3038,0,0,0,0,0,0
$GC,116,-0.69,-204.4,3.4,-5.3,12,151,10.15,1.75,-16.12,0.000,4,0.244,0.067,2495,881,3927,0,0,0,0,0,0
$GC,264,-0.68,-204.4,48.8,-24.3,35,273,0.00,1.83,0.00,0.000,6,0.000,0.054,2495,2037,3928,0,0,0,0,0,0
$GC,630,-0.67,-204.4,150.4,-21.5,96,639,0.00,1.77,0.00,0.000,4,0.000,0.056,2495,3169,3929,0,0,0,0,0,0
$GC,670,-0.67,-204.4,158.3,-18.5,102,680,0.00,1.80,0.00,0.000,6,0.000,0.044,2496,2005,3929,0,0,0,0,0,0
$GC,1032,-0.66,-204.4,229.2,-17.3,163,1039,0.00,1.73,0.00,0.000,4,0.000,0.050,2496,882,3930,0,0,0,0,0,0
$GC,1107,-0.67,-204.4,241.9,-15.1,175,1113,0.00,1.77,0.00,0.000,6,0.000,0.047,2495,2051,3930,0,0,0,0,0,0
$GC,1463,-0.67,-204.4,299.5,-16.4,236,1471,0.00,1.75,0.00,0.000,4,0.000,0.057,2495,3170,3930,0,0,0,0,0,0
$GC,1515,-0.68,-204.4,306.6,-12.8,241,1518,0.00,1.75,0.00,0.000,6,0.000,0.041,2495,2002,3930,0,0,0,0,0,0
$GC,1846,-0.68,-204.4,354.5,-13.0,272,1850,0.00,1.70,0.00,0.000,4,0.000,0.047,2496,870,3929,0,0,0,0,0,0
$GC,1884,-0.68,-204.4,359.0,-12.1,275,1888,0.00,1.80,0.00,0.000,6,0.000,0.046,2496,2036,3929,0,0,0,0,0,0
$GC,2215,-0.69,-204.4,400.5,-12.1,306,2219,0.00,1.73,0.00,0.000,4,0.000,0.054,2496,3175,3927,0,0,0,0,0,0
$GC,2308,-0.70,-204.4,410.9,-11.0,314,2312,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,2004,3927,0,0,0,0,0,0
$GC,2641,-0.71,-204.4,450.2,-11.4,345,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2002,3925,0,0,0,0,0,0
$GC,2961,-0.71,-204.4,487.7,-12.1,375,2965,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3171,3923,0,0,0,0,0,0
$GC,3011,-0.73,-204.4,493.6,-11.0,379,3014,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,2001,3922,0,0,0,0,0,0
$GC,3342,-0.74,-204.4,531.8,-11.1,410,3345,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3170,3920,0,0,0,0,0,0
$GC,3401,-0.75,-204.4,537.4,-9.6,415,3404,0.00,1.77,0.00,0.000,6,0.000,0.039,2496,2000,3920,0,0,0,0,0,0
$GC,3732,-0.76,-204.4,570.5,-10.2,446,3735,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3171,3917,0,0,0,0,0,0
$GC,3801,-0.78,-204.4,577.4,-10.0,452,3805,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,1986,3916,0,0,0,0,0,0
$GC,4140,-0.79,-204.4,614.4,-11.1,478,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1985,3914,0,0,0,0,0,0
$GC,4449,-0.80,-204.4,646.4,-10.0,493,4453,0.00,1.88,0.00,0.000,4,0.000,0.057,2496,3171,3911,0,0,0,0,0,0
$GC,4510,-0.82,-204.4,652.3,-8.4,495,4517,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,1995,3910,0,0,0,0,0,0
$GC,4828,-0.83,-204.4,682.1,-9.5,511,4831,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3168,3907,0,0,0,0,0,0
$GC,4911,-0.85,-204.4,689.7,-8.5,514,4920,0.12,1.80,0.00,0.000,6,0.106,0.040,2448,1985,3906,0,0,0,0,0,0
$GC,5228,-0.85,-204.4,731.5,-13.4,530,5232,0.00,1.70,0.00,0.000,4,0.000,0.053,2447,874,3903,0,0,0,0,0,0
$GC,5253,-0.86,-204.4,734.9,-13.6,531,5256,0.00,1.83,0.00,0.000,6,0.000,0.050,2446,2051,3903,0,0,0,0,0,0
$GC,5586,-0.86,-204.4,778.0,-12.5,547,5590,0.00,1.73,0.00,0.000,4,0.000,0.060,2447,3168,3901,0,0,0,0,0,0
$GC,5655,-0.87,-204.4,785.9,-11.2,550,5659,0.00,1.80,0.00,0.000,6,0.000,0.044,2448,2001,3901,0,0,0,0,0,0
$GC,5989,-0.87,-204.4,827.4,-12.9,566,5992,0.00,1.85,0.00,0.000,4,0.000,0.059,2447,3167,3897,0,0,0,0,0,0
$GC,6013,-0.88,-204.4,830.6,-13.5,567,6017,0.00,1.83,0.00,0.000,6,0.000,0.044,2447,1999,3897,0,0,0,0,0,0
$GC,6347,-0.88,-204.4,873.6,-12.6,583,6351,0.00,1.88,0.00,0.000,4,0.000,0.060,2447,3161,3895,0,0,0,0,0,0
$GC,6398,-0.89,-204.4,879.9,-11.2,585,6401,0.00,1.77,0.00,0.000,6,0.000,0.044,2447,2004,3894,0,0,0,0,0,0
$GC,6726,-0.89,-204.4,918.8,-11.9,601,6727,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2003,3892,0,0,0,0,0,0
$GC,7034,-0.90,-204.4,954.8,-11.5,616,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,2003,3890,0,0,0,0,0,0
$GC,7345,-0.90,-204.4,990.7,-11.8,631,7348,0.00,1.85,0.00,0.000,4,0.000,0.060,2447,3168,3888,0,0,0,0,0,0
$GC,7378,-0.91,-204.4,994.6,-10.7,632,7382,0.00,1.80,0.00,0.000,6,0.000,0.045,2447,2004,3888,0,0,0,0,0,0
$STATE,7430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7430,begin apogee
$GC,7435,-0.18,0.0,1000.4,11.2,635,7614,0.70,0.08,173.30,1.277,6,0.143,0.107,2665,2092,3091,0,0,0,0,0,0
$STATE,7615,end apogee,CONTROL_FINISHED_OK
$STATE,7615,begin climb
$GC,7617,0.69,204.4,1008.6,0.0,643,7822,0.77,2.03,194.05,1.249,4,0.063,0.044,2946,3275,2255,0,0,0,0,0,0
$GC,8041,0.67,204.4,963.1,16.5,662,8049,0.00,1.80,0.00,0.000,6,0.000,0.034,2955,2092,2242,0,0,0,0,0,0
$GC,8357,0.66,204.4,915.4,14.7,678,8361,0.00,1.73,0.00,0.000,4,0.000,0.046,2963,962,2240,0,0,0,0,0,0
$GC,8390,0.65,204.4,910.1,15.8,679,8393,0.00,1.77,0.00,0.000,6,0.000,0.038,2961,2157,2238,0,0,0,0,0,0
$GC,8711,0.64,204.4,858.4,16.2,695,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2157,2237,0,0,0,0,0,0
$GC,9020,0.62,204.4,808.9,16.1,710,9024,0.00,1.67,0.00,0.000,4,0.000,0.047,2961,3270,2235,0,0,0,0,0,0
$GC,9075,0.61,204.4,799.4,17.7,712,9080,0.15,1.77,0.00,0.000,6,0.183,0.036,2932,2083,2234,0,0,0,0,0,0
$GC,9397,0.61,210.9,755.8,13.6,728,9401,0.00,1.85,0.00,0.000,4,0.000,0.046,2931,3275,2234,0,0,0,0,0,0
$GC,9467,0.60,210.9,746.0,14.0,731,9470,0.00,1.77,0.00,0.000,6,0.000,0.035,2940,2076,2233,0,0,0,0,0,0
$GC,9800,0.60,219.8,700.3,13.5,747,9816,0.00,1.70,11.45,0.994,4,0.000,0.044,2948,969,2194,0,0,0,0,0,0
$GC,9849,0.60,226.3,693.6,13.6,748,9862,0.00,1.80,7.93,0.910,6,0.000,0.038,2948,2159,2168,0,0,0,0,0,0
$GC,10172,0.61,239.9,651.4,13.3,764,10195,0.00,1.75,14.02,0.991,4,0.000,0.047,2948,3268,2110,0,0,0,0,0,0
$GC,10256,0.60,239.9,639.3,14.2,767,10264,0.12,1.80,0.00,0.000,6,0.177,0.036,2924,2087,2107,0,0,0,0,0,0
$GC,10574,0.66,287.9,601.4,11.7,783,10622,0.00,1.75,43.62,1.021,4,0.000,0.045,2932,963,1916,0,0,0,0,0,0
$GC,10676,0.68,303.3,588.5,13.2,790,10695,0.00,1.83,14.75,0.938,6,0.000,0.039,2932,2151,1854,0,0,0,0,0,0
$GC,11013,0.68,303.3,539.4,14.8,822,11016,0.00,1.80,0.00,0.000,4,0.000,0.047,2934,962,1844,0,0,0,0,0,0
$GC,11063,0.69,305.6,532.2,13.8,826,11071,0.00,1.80,0.00,0.000,6,0.000,0.038,2934,2154,1844,0,0,0,0,0,0
$GC,11390,0.70,313.6,488.2,13.5,857,11401,0.00,0.00,9.02,0.828,6,0.000,0.000,2934,2153,1812,0,0,0,0,0,0
$GC,11716,0.74,347.7,446.8,12.3,888,11755,0.10,1.90,31.27,0.901,4,0.099,0.046,3000,969,1672,0,0,0,0,0,0
$GC,11775,0.74,347.7,438.1,17.0,893,11779,0.12,1.80,0.00,0.000,6,0.168,0.040,2967,2146,1670,0,0,0,0,0,0
$GC,12105,0.73,347.7,385.1,15.4,924,12109,0.00,1.83,0.00,0.000,4,0.000,0.045,2975,962,1664,0,0,0,0,0,0
$GC,12165,0.73,347.7,375.3,15.7,929,12173,0.00,1.80,0.00,0.000,6,0.000,0.038,2975,2145,1664,0,0,0,0,0,0
$GC,12492,0.73,347.7,325.9,14.1,960,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2146,1663,0,0,0,0,0,0
$GC,12826,0.74,356.2,276.4,13.5,1003,12841,0.00,1.83,7.18,0.647,4,0.000,0.042,2984,969,1638,0,0,0,0,0,0
$GC,12907,0.78,386.8,264.3,12.5,1016,12943,0.00,1.80,27.83,0.751,6,0.000,0.038,2984,2153,1514,0,0,0,0,0,0
$GC,13295,0.78,386.8,204.2,14.6,1081,13302,0.00,1.77,0.00,0.000,4,0.000,0.042,2992,959,1508,0,0,0,0,0,0
$GC,13326,0.78,386.8,199.7,14.0,1086,13336,0.00,1.80,0.00,0.000,6,0.000,0.036,2991,2150,1508,0,0,0,0,0,0
$GC,13688,0.81,412.0,151.6,12.7,1147,13719,0.00,1.85,22.25,0.649,4,0.000,0.042,2999,969,1410,0,0,0,0,0,0
$GC,13828,0.93,507.3,135.2,9.5,1169,13918,0.00,1.77,79.60,0.656,6,0.000,0.034,2999,2147,1021,0,0,0,0,0,0
$GC,14277,1.11,640.1,93.2,7.8,1240,14391,0.22,1.85,106.40,0.608,4,0.056,0.040,3121,969,478,0,0,0,0,0,0
$GC,14513,1.11,640.1,44.8,20.8,1274,14523,0.08,1.80,0.00,0.000,6,0.151,0.034,3094,2160,476,0,0,0,0,0,0
$STATE,14701,end climb,SURFACE_DEPTH_REACHED
$STATE,14701,begin surface coast
$FINISH,0.2,1.022412
$STATE,14715,end surface coast,CONTROL_FINISHED_OK
$STATE,14715,begin surface
$SM_CCo,14792,0.00,0.000,0,0,474,641.95
$SM_GC,1.25,8.27,0.00,0.00,0.079,0.000,0.000,148,2002,474,-8.04,-0.62,641.95
$IRIDIUM_FIX,2117.95,12557.56,081110,070745
$TT8_MAMPS,0.026215
$HUMID,46.92
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,22.4,70.884
$10V_AH,9.8,57.154
$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,20.825,108.350,742.675,0.000,0.000,30.518,44.054,213.665,0.250,0.000,12.846,3218.007,7370.979,706.239,3599.080,310.185,0.000,2058.086,0.000,3324.536,0.000,0.546,0.000
$DEVICE_MAMPS,244.035,107.100,1276.785,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,884.035,0.000,1753.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76916,1307
$CAP_FILE_SIZE,163140,0
$CFSIZE,260165632,227323904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039, 70.8,1
$GPS,081110,155907,2123.047,12559.707,26,1.2,26,-2.9