version: 66.08
glider: 169
mission: 2
dive: 404
start: 11 1 110 4 9 47
data:
$ID,169
$MISSION,2
$DIVE,404
$N_DIVES,414
$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,-7233.0391
$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
$GPS1,011110,040301,2240.386,12548.297,39,1.0,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.5
$GPS2,011110,040919,2240.428,12548.220,12,1.2,12,-3.2
$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,172.9,147697,-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,-96.97,0.000,2,0.000,0.000,152,1974,3125,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.0,-6.7,12,153,10.02,1.95,-13.93,0.000,4,0.242,0.073,2490,3165,3929,0,0,0,0,0,0
$GC,289,-0.67,-204.4,66.0,-27.4,39,298,0.00,1.83,0.00,0.000,6,0.000,0.045,2490,2003,3930,0,0,0,0,0,0
$GC,652,-0.66,-204.4,162.9,-20.6,100,661,0.00,1.73,0.00,0.000,4,0.000,0.049,2489,882,3931,0,0,0,0,0,0
$GC,680,-0.66,-204.4,168.3,-20.2,104,689,0.00,1.80,0.00,0.000,6,0.000,0.048,2489,2045,3932,0,0,0,0,0,0
$GC,1042,-0.65,-204.4,232.4,-17.7,165,1049,0.10,1.75,0.00,0.000,4,0.193,0.057,2514,3168,3933,0,0,0,0,0,0
$GC,1107,-0.66,-204.4,241.8,-13.4,175,1113,0.00,1.75,0.00,0.000,6,0.000,0.039,2514,1998,3932,0,0,0,0,0,0
$GC,1463,-0.66,-204.4,295.1,-14.5,236,1471,0.00,1.85,0.00,0.000,4,0.000,0.055,2514,3162,3932,0,0,0,0,0,0
$GC,1498,-0.67,-204.4,299.5,-12.6,241,1505,0.00,1.75,0.00,0.000,6,0.000,0.039,2514,1990,3932,0,0,0,0,0,0
$GC,1824,-0.68,-204.4,339.5,-11.8,272,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1988,3932,0,0,0,0,0,0
$GC,2143,-0.69,-204.4,375.8,-10.7,302,2147,0.00,1.85,0.00,0.000,4,0.000,0.054,2514,3168,3930,0,0,0,0,0,0
$GC,2227,-0.71,-204.4,383.2,-8.0,309,2231,0.00,1.75,0.00,0.000,6,0.000,0.038,2514,1994,3929,0,0,0,0,0,0
$GC,2560,-0.72,-204.4,415.4,-9.8,340,2561,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1993,3927,0,0,0,0,0,0
$GC,2880,-0.73,-204.4,444.1,-9.0,370,2889,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1993,3925,0,0,0,0,0,0
$GC,3209,-0.74,-204.4,474.3,-9.4,401,3213,0.00,1.88,0.00,0.000,4,0.000,0.054,2514,3165,3923,0,0,0,0,0,0
$GC,3291,-0.76,-204.4,482.2,-8.8,408,3294,0.00,1.80,0.00,0.000,6,0.000,0.039,2514,1999,3922,0,0,0,0,0,0
$GC,3622,-0.78,-204.4,515.7,-9.8,439,3627,0.10,1.88,0.00,0.000,4,0.129,0.054,2475,3161,3919,0,0,0,0,0,0
$GC,3660,-0.78,-204.4,520.4,-12.3,442,3669,0.00,1.75,0.00,0.000,6,0.000,0.041,2475,2001,3918,0,0,0,0,0,0
$GC,3986,-0.79,-204.4,559.3,-11.4,473,3990,0.00,1.83,0.00,0.000,4,0.000,0.057,2475,3168,3916,0,0,0,0,0,0
$GC,4010,-0.80,-204.4,561.9,-11.0,475,4014,0.00,1.75,0.00,0.000,6,0.000,0.041,2476,2003,3916,0,0,0,0,0,0
$GC,4341,-0.81,-204.4,599.8,-11.3,506,4345,0.00,1.85,0.00,0.000,4,0.000,0.057,2475,3168,3913,0,0,0,0,0,0
$GC,4397,-0.82,-204.4,605.9,-10.2,509,4400,0.00,1.77,0.00,0.000,6,0.000,0.042,2474,1993,3913,0,0,0,0,0,0
$GC,4719,-0.83,-204.4,641.3,-10.9,525,4723,0.00,1.85,0.00,0.000,4,0.000,0.058,2475,3168,3910,0,0,0,0,0,0
$GC,4769,-0.84,-204.4,646.8,-10.5,527,4773,0.00,1.77,0.00,0.000,6,0.000,0.043,2475,1994,3910,0,0,0,0,0,0
$GC,5097,-0.85,-204.4,683.3,-11.3,543,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1993,3907,0,0,0,0,0,0
$GC,5406,-0.85,-204.4,718.3,-11.2,558,5410,0.00,1.85,0.00,0.000,4,0.000,0.059,2475,3167,3904,0,0,0,0,0,0
$GC,5461,-0.87,-204.4,724.1,-9.5,560,5465,0.00,1.77,0.00,0.000,6,0.000,0.044,2475,2002,3904,0,0,0,0,0,0
$GC,5784,-0.88,-204.4,757.0,-10.2,576,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2000,3902,0,0,0,0,0,0
$GC,6093,-0.89,-204.4,788.7,-10.2,591,6094,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2000,3899,0,0,0,0,0,0
$GC,6402,-0.90,-204.4,820.5,-10.4,606,6406,0.00,1.90,0.00,0.000,4,0.000,0.059,2475,3168,3897,0,0,0,0,0,0
$GC,6448,-0.91,-204.4,825.0,-9.6,608,6453,0.08,1.83,0.00,0.000,6,0.081,0.044,2437,2003,3897,0,0,0,0,0,0
$GC,6782,-0.91,-204.4,868.8,-13.2,624,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2002,3894,0,0,0,0,0,0
$GC,7091,-0.92,-204.4,907.5,-12.0,639,7095,0.00,1.90,0.00,0.000,4,0.000,0.060,2437,3172,3892,0,0,0,0,0,0
$GC,7138,-0.92,-204.4,912.9,-10.9,641,7141,0.00,1.80,0.00,0.000,6,0.000,0.047,2437,2002,3892,0,0,0,0,0,0
$GC,7471,-0.93,-204.4,954.2,-12.7,657,7475,0.00,1.85,0.00,0.000,4,0.000,0.061,2437,3167,3890,0,0,0,0,0,0
$GC,7504,-0.93,-204.4,958.5,-12.2,658,7508,0.00,1.77,0.00,0.000,6,0.000,0.047,2437,2005,3890,0,0,0,0,0,0
$STATE,7824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7824,begin apogee
$GC,7829,-0.18,0.0,1000.1,13.0,674,8011,0.75,0.08,174.85,1.269,6,0.151,0.107,2665,2095,3090,0,0,0,0,0,0
$STATE,8012,end apogee,CONTROL_FINISHED_OK
$STATE,8012,begin climb
$GC,8014,0.69,204.4,1009.4,0.0,682,8220,0.80,2.08,195.98,1.243,4,0.058,0.048,2955,3264,2256,0,0,0,0,0,0
$GC,8300,0.67,204.4,984.7,17.2,696,8303,0.00,1.83,0.00,0.000,6,0.000,0.035,2964,2095,2246,0,0,0,0,0,0
$GC,8632,0.66,204.4,927.8,16.8,712,8636,0.00,1.83,0.00,0.000,4,0.000,0.047,2963,3273,2241,0,0,0,0,0,0
$GC,8665,0.64,204.4,921.8,17.7,713,8670,0.10,1.83,0.00,0.000,6,0.169,0.036,2941,2084,2240,0,0,0,0,0,0
$GC,8988,0.63,204.4,874.8,14.2,729,8989,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2083,2238,0,0,0,0,0,0
$GC,9296,0.62,204.4,830.3,14.6,744,9297,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2082,2236,0,0,0,0,0,0
$GC,9607,0.61,204.4,785.5,14.4,759,9610,0.00,1.83,0.00,0.000,4,0.000,0.047,2937,3271,2236,0,0,0,0,0,0
$GC,9639,0.60,204.4,780.0,15.0,760,9643,0.00,1.80,0.00,0.000,6,0.000,0.036,2945,2088,2235,0,0,0,0,0,0
$GC,9961,0.59,204.4,735.0,13.9,776,9965,0.00,1.70,0.00,0.000,4,0.000,0.047,2954,959,2234,0,0,0,0,0,0
$GC,10031,0.58,204.4,725.5,14.0,779,10035,0.08,1.83,0.00,0.000,6,0.157,0.041,2927,2153,2234,0,0,0,0,0,0
$GC,10365,0.61,232.7,683.6,12.6,795,10395,0.00,1.80,23.55,1.053,4,0.000,0.049,2927,3271,2141,0,0,0,0,0,0
$GC,10464,0.61,232.7,669.4,14.5,799,10468,0.00,1.80,0.00,0.000,6,0.000,0.036,2935,2080,2137,0,0,0,0,0,0
$GC,10786,0.60,232.7,623.6,14.7,815,10790,0.00,1.67,0.00,0.000,4,0.000,0.047,2943,966,2133,0,0,0,0,0,0
$GC,10819,0.60,232.7,618.4,15.0,816,10823,0.00,1.83,0.00,0.000,6,0.000,0.041,2943,2152,2133,0,0,0,0,0,0
$GC,11149,0.60,232.7,569.2,14.5,841,11156,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2152,2131,0,0,0,0,0,0
$GC,11477,0.59,233.2,522.9,13.9,872,11480,0.00,1.80,0.00,0.000,4,0.000,0.047,2952,967,2130,0,0,0,0,0,0
$GC,11504,0.59,237.5,518.6,13.7,874,11512,0.12,1.75,0.00,0.000,6,0.164,0.041,2919,2146,2130,0,0,0,0,0,0
$GC,11832,0.67,302.3,480.7,10.9,905,11906,0.00,1.85,61.03,0.942,4,0.000,0.047,2918,3273,1856,0,0,0,0,0,0
$GC,11941,0.72,336.4,467.8,12.3,914,11980,0.10,1.83,31.17,0.900,6,0.093,0.036,2982,2090,1718,0,0,0,0,0,0
$GC,12298,0.71,336.4,410.1,16.4,947,12301,0.00,1.73,0.00,0.000,4,0.000,0.047,2990,970,1707,0,0,0,0,0,0
$GC,12414,0.71,336.4,391.4,15.5,957,12418,0.12,1.77,0.00,0.000,6,0.165,0.041,2957,2155,1706,0,0,0,0,0,0
$GC,12744,0.71,336.4,341.3,14.8,988,12747,0.00,1.73,0.00,0.000,4,0.000,0.046,2957,3274,1704,0,0,0,0,0,0
$GC,12771,0.71,336.4,337.0,14.4,990,12780,0.00,1.80,0.00,0.000,6,0.000,0.034,2966,2093,1703,0,0,0,0,0,0
$GC,13103,0.71,336.4,288.9,14.6,1027,13110,0.00,1.70,0.00,0.000,4,0.000,0.045,2974,967,1703,0,0,0,0,0,0
$GC,13200,0.71,336.4,275.6,14.0,1043,13206,0.00,1.75,0.00,0.000,6,0.000,0.038,2974,2151,1702,0,0,0,0,0,0
$GC,13557,0.71,336.4,222.9,14.0,1104,13566,0.00,1.73,0.00,0.000,4,0.000,0.045,2974,3274,1702,0,0,0,0,0,0
$GC,13608,0.71,336.4,215.4,14.5,1112,13617,0.00,1.80,0.00,0.000,6,0.000,0.034,2983,2085,1701,0,0,0,0,0,0
$GC,13968,0.71,339.1,167.5,13.8,1173,13974,0.00,1.67,0.00,0.000,4,0.000,0.043,2992,960,1701,0,0,0,0,0,0
$GC,14045,0.77,385.5,157.3,11.8,1186,14090,0.00,1.80,39.60,0.666,6,0.000,0.036,2992,2155,1518,0,0,0,0,0,0
$GC,14447,0.82,425.7,100.8,12.1,1252,14488,0.00,1.83,34.28,0.615,4,0.000,0.039,2999,963,1354,0,0,0,0,0,0
$GC,14592,0.94,512.5,86.5,9.9,1274,14674,0.05,1.80,71.07,0.606,6,0.069,0.033,3043,2154,1001,0,0,0,0,0,0
$GC,15035,0.95,512.5,33.0,14.9,1344,15043,0.00,1.80,0.00,0.000,4,0.000,0.041,3044,970,997,0,0,0,0,0,0
$GC,15107,1.00,544.9,23.8,12.4,1355,15140,0.00,1.75,26.75,0.535,6,0.000,0.031,3043,2150,868,0,0,0,0,0,0
$STATE,15286,end climb,SURFACE_DEPTH_REACHED
$STATE,15286,begin surface coast
$FINISH,0.3,1.010126
$STATE,15312,end surface coast,CONTROL_FINISHED_OK
$STATE,15312,begin surface
$SM_CCo,15329,69.75,0.459,1,0,480,640.23
$SM_GC,1.05,0.00,0.00,69.75,0.000,0.000,0.459,150,1984,480,-8.06,-1.16,640.23
$IRIDIUM_FIX,2234.68,12549.10,311010,232351
$TT8_MAMPS,0.026215
$HUMID,44.64
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.3,61.931
$10V_AH,9.9,50.853
$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,20.775,105.000,658.275,69.750,0.000,29.610,17.596,194.663,0.000,0.000,12.882,3422.648,7589.241,735.809,3723.593,301.276,0.000,2098.296,0.000,3492.729,0.000,0.543,0.000
$DEVICE_MAMPS,241.740,107.100,1269.135,459.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.527,0.000,1936.246,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333636
$DATA_FILE_SIZE,83772,1388
$CAP_FILE_SIZE,165573,0
$CFSIZE,260165632,230666240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.137,310.8,1
$GPS,011110,082737,2238.715,12547.390,36,1.2,36,-3.2