version: 66.08
glider: 169
mission: 2
dive: 414
start: 11 2 110 23 4 4
data:
$ID,169
$MISSION,2
$DIVE,414
$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,-7251.9668
$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
$GPS1,021110,225637,2227.538,12546.590,27,1.3,27,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.9
$GPS2,021110,230336,2227.574,12546.563,16,1.3,32,-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,177.5,124765,-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,-96.35,0.000,2,0.000,0.000,144,1979,3076,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.6,-5.4,12,152,10.25,1.77,-15.23,0.000,4,0.246,0.075,2497,884,3928,0,0,0,0,0,0
$GC,261,-0.68,-204.4,51.3,-26.0,34,269,0.00,1.83,0.00,0.000,6,0.000,0.051,2497,2043,3929,0,0,0,0,0,0
$GC,627,-0.67,-204.4,142.7,-20.5,95,636,0.00,1.83,0.00,0.000,4,0.000,0.051,2497,881,3930,0,0,0,0,0,0
$GC,718,-0.67,-204.4,160.1,-16.4,110,726,0.00,1.80,0.00,0.000,6,0.000,0.050,2497,2036,3931,0,0,0,0,0,0
$GC,1070,-0.67,-204.4,219.1,-16.6,171,1077,0.00,1.75,0.00,0.000,4,0.000,0.057,2497,3169,3931,0,0,0,0,0,0
$GC,1167,-0.67,-204.4,232.1,-11.2,188,1176,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,2001,3932,0,0,0,0,0,0
$GC,1520,-0.68,-204.4,283.6,-14.5,249,1527,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3172,3931,0,0,0,0,0,0
$GC,1540,-0.68,-204.4,286.9,-14.1,252,1548,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,2002,3931,0,0,0,0,0,0
$GC,1875,-0.68,-204.4,333.7,-14.4,291,1879,0.00,1.85,0.00,0.000,4,0.000,0.054,2497,3173,3930,0,0,0,0,0,0
$GC,1901,-0.69,-204.4,337.5,-14.9,293,1904,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,1985,3930,0,0,0,0,0,0
$GC,2232,-0.69,-204.4,380.6,-12.4,324,2236,0.00,1.88,0.00,0.000,4,0.000,0.057,2497,3168,3928,0,0,0,0,0,0
$GC,2291,-0.70,-204.4,387.3,-11.1,329,2294,0.00,1.75,0.00,0.000,6,0.000,0.038,2497,1994,3928,0,0,0,0,0,0
$GC,2622,-0.71,-204.4,426.6,-10.9,360,2626,0.00,1.85,0.00,0.000,4,0.000,0.055,2497,3168,3927,0,0,0,0,0,0
$GC,2649,-0.72,-204.4,429.5,-10.2,362,2658,0.00,1.77,0.00,0.000,6,0.000,0.038,2497,2003,3926,0,0,0,0,0,0
$GC,2977,-0.73,-204.4,461.7,-10.2,393,2981,0.00,1.85,0.00,0.000,4,0.000,0.054,2497,3162,3924,0,0,0,0,0,0
$GC,3015,-0.74,-204.4,466.1,-9.9,396,3024,0.00,1.77,0.00,0.000,6,0.000,0.039,2497,2004,3923,0,0,0,0,0,0
$GC,3341,-0.75,-204.4,503.8,-11.6,427,3345,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3173,3921,0,0,0,0,0,0
$GC,3365,-0.76,-204.4,506.4,-11.1,429,3368,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,2001,3921,0,0,0,0,0,0
$GC,3696,-0.77,-204.4,542.4,-10.4,460,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,2000,3918,0,0,0,0,0,0
$GC,4016,-0.79,-204.4,573.2,-9.4,490,4020,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3168,3916,0,0,0,0,0,0
$GC,4052,-0.80,-204.4,576.6,-9.0,493,4055,0.00,1.75,0.00,0.000,6,0.000,0.039,2497,1999,3916,0,0,0,0,0,0
$GC,4381,-0.81,-204.4,608.9,-10.2,520,4385,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3168,3913,0,0,0,0,0,0
$GC,4421,-0.83,-204.4,613.1,-9.5,521,4428,0.00,1.75,0.00,0.000,6,0.000,0.039,2497,2001,3912,0,0,0,0,0,0
$GC,4737,-0.84,-204.4,645.7,-10.4,537,4741,0.12,1.88,0.00,0.000,4,0.116,0.056,2450,3172,3910,0,0,0,0,0,0
$GC,4782,-0.85,-204.4,651.2,-12.6,539,4785,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2002,3909,0,0,0,0,0,0
$GC,5116,-0.85,-204.4,695.1,-12.8,555,5119,0.00,1.83,0.00,0.000,4,0.000,0.059,2450,3168,3907,0,0,0,0,0,0
$GC,5143,-0.85,-204.4,698.9,-12.8,556,5147,0.00,1.77,0.00,0.000,6,0.000,0.043,2450,1992,3906,0,0,0,0,0,0
$GC,5471,-0.86,-204.4,738.5,-12.3,572,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1990,3904,0,0,0,0,0,0
$GC,5780,-0.86,-204.4,776.6,-12.4,587,5783,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3167,3902,0,0,0,0,0,0
$GC,5815,-0.87,-204.4,781.0,-13.0,588,5818,0.00,1.77,0.00,0.000,6,0.000,0.044,2451,2002,3901,0,0,0,0,0,0
$GC,6137,-0.87,-204.4,822.8,-13.0,604,6141,0.00,1.75,0.00,0.000,4,0.000,0.053,2450,878,3899,0,0,0,0,0,0
$GC,6170,-0.88,-204.4,827.3,-12.4,605,6174,0.00,1.77,0.00,0.000,6,0.000,0.050,2450,2040,3899,0,0,0,0,0,0
$GC,6492,-0.88,-204.4,867.7,-12.8,621,6496,0.00,1.75,0.00,0.000,4,0.000,0.063,2450,3167,3897,0,0,0,0,0,0
$GC,6553,-0.90,-204.4,875.2,-11.5,623,6560,0.00,1.80,0.00,0.000,6,0.000,0.044,2450,2001,3896,0,0,0,0,0,0
$GC,6870,-0.90,-204.4,914.7,-12.4,639,6871,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2000,3894,0,0,0,0,0,0
$GC,7180,-0.91,-204.4,951.3,-11.7,654,7181,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2000,3892,0,0,0,0,0,0
$GC,7488,-0.91,-204.4,986.6,-11.5,669,7492,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3168,3890,0,0,0,0,0,0
$GC,7557,-0.92,-204.4,993.9,-10.5,672,7560,0.00,1.77,0.00,0.000,6,0.000,0.046,2450,2004,3890,0,0,0,0,0,0
$STATE,7619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7619,begin apogee
$GC,7624,-0.18,0.0,1001.0,11.3,675,7808,0.70,0.10,175.55,1.271,6,0.145,0.090,2666,2086,3091,0,0,0,0,0,0
$STATE,7808,end apogee,CONTROL_FINISHED_OK
$STATE,7809,begin climb
$GC,7811,0.69,204.4,1010.2,0.0,683,8016,0.80,1.90,196.43,1.248,4,0.060,0.045,2961,975,2255,0,0,0,0,0,0
$GC,8233,0.67,204.4,965.6,16.6,703,8237,0.00,1.77,0.00,0.000,6,0.000,0.039,2961,2160,2243,0,0,0,0,0,0
$GC,8565,0.66,204.4,910.0,16.7,719,8566,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2161,2239,0,0,0,0,0,0
$GC,8875,0.65,204.4,859.1,16.1,734,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2161,2237,0,0,0,0,0,0
$GC,9184,0.63,204.4,810.2,15.8,749,9188,0.00,1.70,0.00,0.000,4,0.000,0.048,2961,3278,2236,0,0,0,0,0,0
$GC,9208,0.62,204.4,806.2,16.8,750,9213,0.15,1.77,0.00,0.000,6,0.188,0.035,2932,2082,2235,0,0,0,0,0,0
$GC,9542,0.61,204.4,760.2,13.9,766,9546,0.00,1.65,0.00,0.000,4,0.000,0.047,2940,965,2234,0,0,0,0,0,0
$GC,9592,0.60,204.4,752.4,15.7,768,9596,0.00,1.80,0.00,0.000,6,0.000,0.040,2936,2147,2234,0,0,0,0,0,0
$GC,9919,0.59,204.4,705.3,14.3,784,9923,0.00,1.73,0.00,0.000,4,0.000,0.048,2936,3280,2233,0,0,0,0,0,0
$GC,9970,0.58,204.4,697.9,14.2,786,9973,0.00,1.77,0.00,0.000,6,0.000,0.035,2944,2089,2232,0,0,0,0,0,0
$GC,10298,0.58,209.1,653.0,13.7,802,10301,0.00,1.67,0.00,0.000,4,0.000,0.046,2953,958,2232,0,0,0,0,0,0
$GC,10313,0.57,209.1,650.5,14.2,802,10321,0.10,1.80,0.00,0.000,6,0.164,0.039,2917,2145,2232,0,0,0,0,0,0
$GC,10631,0.64,272.1,615.1,11.0,818,10694,0.00,1.80,58.70,1.032,4,0.000,0.045,2909,3277,1980,0,0,0,0,0,0
$GC,10721,0.68,305.8,604.1,12.4,822,10757,0.00,1.88,30.98,0.987,6,0.000,0.034,2918,2082,1843,0,0,0,0,0,0
$GC,11085,0.75,356.2,561.1,11.6,854,11134,0.15,1.75,44.05,0.981,4,0.075,0.046,3000,972,1636,0,0,0,0,0,0
$GC,11169,0.74,356.2,545.8,19.2,861,11173,0.00,1.80,0.00,0.000,6,0.000,0.038,2998,2155,1633,0,0,0,0,0,0
$GC,11500,0.73,356.2,480.1,20.0,892,11504,0.12,1.85,0.00,0.000,4,0.191,0.047,2974,966,1627,0,0,0,0,0,0
$GC,11582,0.73,356.2,466.7,15.9,899,11585,0.00,1.75,0.00,0.000,6,0.000,0.037,2974,2149,1626,0,0,0,0,0,0
$GC,11913,0.73,356.2,407.7,17.9,930,11916,0.00,1.77,0.00,0.000,4,0.000,0.047,2983,966,1624,0,0,0,0,0,0
$GC,11937,0.72,356.2,403.1,19.4,932,11941,0.00,1.77,0.00,0.000,6,0.000,0.038,2977,2150,1623,0,0,0,0,0,0
$GC,12270,0.72,356.2,344.0,17.2,963,12274,0.00,1.80,0.00,0.000,4,0.000,0.047,2985,961,1621,0,0,0,0,0,0
$GC,12306,0.71,356.2,337.2,17.4,966,12310,0.00,1.75,0.00,0.000,6,0.000,0.038,2984,2150,1621,0,0,0,0,0,0
$GC,12642,0.71,356.2,278.1,16.9,1007,12649,0.00,1.80,0.00,0.000,4,0.000,0.046,2992,966,1621,0,0,0,0,0,0
$GC,12696,0.71,356.2,269.1,15.7,1016,12705,0.08,1.80,0.00,0.000,6,0.153,0.037,2965,2155,1621,0,0,0,0,0,0
$GC,13047,0.72,367.2,220.8,13.4,1077,13062,0.00,1.85,7.95,0.633,4,0.000,0.043,2973,963,1594,0,0,0,0,0,0
$GC,13111,0.73,371.3,211.8,13.7,1087,13126,0.00,1.75,5.28,0.545,6,0.000,0.036,2973,2154,1578,0,0,0,0,0,0
$GC,13471,0.81,433.3,164.2,11.1,1149,13535,0.00,1.88,53.55,0.682,4,0.000,0.043,2981,970,1322,0,0,0,0,0,0
$GC,13557,0.88,487.6,154.0,11.4,1161,13612,0.10,1.77,45.92,0.664,6,0.097,0.034,3034,2161,1103,0,0,0,0,0,0
$GC,13964,0.88,487.6,86.1,14.6,1228,13972,0.00,1.70,0.00,0.000,4,0.000,0.041,3034,3275,1097,0,0,0,0,0,0
$GC,14081,1.01,584.9,73.4,9.4,1247,14170,0.00,1.80,78.50,0.602,6,0.000,0.031,3042,2078,704,0,0,0,0,0,0
$GC,14524,1.08,631.0,23.7,11.8,1318,14566,0.10,1.75,37.25,0.545,4,0.094,0.044,3113,966,517,0,0,0,0,0,0
$STATE,14651,end climb,SURFACE_DEPTH_REACHED
$STATE,14651,begin surface coast
$FINISH,0.2,1.022324
$STATE,14670,end surface coast,CONTROL_FINISHED_OK
$STATE,14670,begin surface
$SM_CCo,14689,8.65,0.062,0,0,481,640.23
$SM_GC,0.81,0.00,0.00,8.65,0.000,0.000,0.062,147,2068,481,-8.07,1.22,640.23
$IRIDIUM_FIX,2220.67,12548.26,021110,181800
$TT8_MAMPS,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.3,64.098
$10V_AH,9.9,52.384
$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,21.125,114.825,734.150,8.650,0.000,24.108,37.939,200.548,0.000,0.000,34.050,3305.775,7117.753,719.587,3658.008,304.885,0.000,2072.835,0.000,3388.674,0.000,0.545,0.000
$DEVICE_MAMPS,245.565,90.270,1270.665,61.965,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.889,0.000,1849.742,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80315,1340
$CAP_FILE_SIZE,166069,0
$CFSIZE,260165632,229859328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 20.1,1
$GPS,031110,031037,2225.674,12546.582,66,1.1,66,-3.2