version: 66.08
glider: 169
mission: 2
dive: 426
start: 11 5 110 2 23 4
data:
$ID,169
$MISSION,2
$DIVE,426
$N_DIVES,434
$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,-7275.604
$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
$GPS1,051110,021554,2209.251,12545.928,36,1.9,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.6
$GPS2,051110,022236,2209.242,12545.910,18,1.1,28,-3.1
$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,177.4,92090,-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,-204.4,0.0,0.0,0,116,0.00,0.00,-97.75,0.000,2,0.000,0.000,152,1983,3101,0,0,0,0,0,0
$GC,119,-0.69,-204.4,3.4,-5.0,12,153,10.18,1.75,-14.62,0.000,4,0.245,0.067,2498,882,3927,0,0,0,0,0,0
$GC,243,-0.68,-204.4,45.8,-26.2,31,253,0.00,1.83,0.00,0.000,6,0.000,0.051,2498,2039,3928,0,0,0,0,0,0
$GC,611,-0.67,-204.4,138.2,-21.0,92,619,0.00,1.77,0.00,0.000,4,0.000,0.061,2498,3163,3929,0,0,0,0,0,0
$GC,651,-0.66,-204.4,146.6,-19.8,98,660,0.00,1.80,0.00,0.000,6,0.000,0.042,2498,2003,3929,0,0,0,0,0,0
$GC,1004,-0.66,-204.4,212.2,-17.6,159,1011,0.00,1.70,0.00,0.000,4,0.000,0.048,2498,873,3931,0,0,0,0,0,0
$GC,1082,-0.66,-204.4,224.7,-14.3,172,1090,0.00,1.80,0.00,0.000,6,0.000,0.047,2498,2035,3931,0,0,0,0,0,0
$GC,1431,-0.66,-204.4,279.4,-14.5,233,1437,0.00,1.73,0.00,0.000,4,0.000,0.054,2498,3176,3930,0,0,0,0,0,0
$GC,1483,-0.67,-204.4,286.2,-11.8,242,1492,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,2001,3930,0,0,0,0,0,0
$GC,1819,-0.67,-204.4,330.3,-13.8,282,1822,0.00,1.83,0.00,0.000,4,0.000,0.055,2498,3168,3930,0,0,0,0,0,0
$GC,1888,-0.69,-204.4,339.0,-11.0,288,1892,0.00,1.77,0.00,0.000,6,0.000,0.037,2497,2001,3929,0,0,0,0,0,0
$GC,2221,-0.69,-204.4,380.7,-12.5,319,2225,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3928,0,0,0,0,0,0
$GC,2260,-0.70,-204.4,385.7,-11.4,322,2268,0.00,1.77,0.00,0.000,6,0.000,0.038,2498,2003,3927,0,0,0,0,0,0
$GC,2587,-0.71,-204.4,422.8,-11.4,353,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2002,3926,0,0,0,0,0,0
$GC,2907,-0.72,-204.4,458.9,-10.8,383,2911,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3164,3924,0,0,0,0,0,0
$GC,2989,-0.73,-204.4,467.4,-9.3,390,2992,0.00,1.75,0.00,0.000,6,0.000,0.038,2498,1989,3923,0,0,0,0,0,0
$GC,3321,-0.74,-204.4,503.6,-10.8,421,3324,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3172,3921,0,0,0,0,0,0
$GC,3344,-0.75,-204.4,506.2,-10.5,423,3348,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,2002,3921,0,0,0,0,0,0
$GC,3676,-0.76,-204.4,540.8,-10.3,454,3679,0.00,1.88,0.00,0.000,4,0.000,0.054,2498,3169,3918,0,0,0,0,0,0
$GC,3746,-0.78,-204.4,547.7,-9.1,460,3749,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,2000,3917,0,0,0,0,0,0
$GC,4077,-0.79,-204.4,582.2,-10.3,491,4081,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3170,3915,0,0,0,0,0,0
$GC,4116,-0.81,-204.4,586.1,-9.5,494,4123,0.00,1.75,0.00,0.000,6,0.000,0.039,2498,1999,3915,0,0,0,0,0,0
$GC,4438,-0.82,-204.4,615.9,-8.9,517,4441,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3177,3912,0,0,0,0,0,0
$GC,4488,-0.84,-204.4,620.2,-7.4,519,4493,0.12,1.77,0.00,0.000,6,0.109,0.040,2450,1995,3912,0,0,0,0,0,0
$GC,4817,-0.84,-204.4,662.4,-13.5,535,4821,0.00,1.85,0.00,0.000,4,0.000,0.059,2450,3168,3909,0,0,0,0,0,0
$GC,4845,-0.84,-204.4,666.5,-13.6,536,4849,0.00,1.77,0.00,0.000,6,0.000,0.043,2450,1998,3909,0,0,0,0,0,0
$GC,5173,-0.85,-204.4,713.1,-14.2,552,5176,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3170,3906,0,0,0,0,0,0
$GC,5200,-0.85,-204.4,717.0,-14.2,553,5204,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2003,3906,0,0,0,0,0,0
$GC,5528,-0.85,-204.4,762.5,-13.8,569,5532,0.00,1.83,0.00,0.000,4,0.000,0.059,2450,3167,3904,0,0,0,0,0,0
$GC,5552,-0.86,-204.4,765.8,-14.0,570,5555,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2000,3903,0,0,0,0,0,0
$GC,5885,-0.86,-204.4,811.2,-13.4,586,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1998,3901,0,0,0,0,0,0
$GC,6194,-0.87,-204.4,851.7,-13.0,601,6198,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3171,3899,0,0,0,0,0,0
$GC,6250,-0.88,-204.4,858.6,-11.5,603,6253,0.00,1.80,0.00,0.000,6,0.000,0.047,2450,1999,3898,0,0,0,0,0,0
$GC,6572,-0.88,-204.4,898.8,-12.1,619,6575,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3168,3896,0,0,0,0,0,0
$GC,6618,-0.89,-204.4,904.1,-11.3,621,6622,0.00,1.77,0.00,0.000,6,0.000,0.046,2450,2004,3896,0,0,0,0,0,0
$GC,6952,-0.90,-204.4,942.1,-11.4,637,6953,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2002,3894,0,0,0,0,0,0
$GC,7261,-0.90,-204.4,977.1,-11.2,652,7264,0.00,1.88,0.00,0.000,4,0.000,0.060,2451,3168,3892,0,0,0,0,0,0
$GC,7316,-0.91,-204.4,983.1,-10.0,654,7320,0.00,1.77,0.00,0.000,6,0.000,0.045,2450,2003,3892,0,0,0,0,0,0
$STATE,7471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7471,begin apogee
$GC,7476,-0.18,0.0,1000.1,10.9,662,7660,0.70,0.05,176.35,1.269,6,0.145,0.067,2666,2098,3090,0,0,0,0,0,0
$STATE,7661,end apogee,CONTROL_FINISHED_OK
$STATE,7661,begin climb
$GC,7663,0.69,204.4,1007.7,0.0,670,7865,0.77,0.00,196.60,1.242,6,0.058,0.000,2950,2098,2257,0,0,0,0,0,0
$GC,8169,0.67,204.4,946.4,16.7,695,8173,0.00,1.85,0.00,0.000,4,0.000,0.047,2949,3273,2242,0,0,0,0,0,0
$GC,8224,0.66,204.4,936.5,18.5,697,8228,0.00,1.83,0.00,0.000,6,0.000,0.036,2957,2092,2241,0,0,0,0,0,0
$GC,8546,0.65,204.4,884.4,16.2,713,8550,0.00,1.67,0.00,0.000,4,0.000,0.047,2966,967,2239,0,0,0,0,0,0
$GC,8579,0.64,204.4,878.7,16.4,714,8583,0.00,1.80,0.00,0.000,6,0.000,0.040,2962,2151,2238,0,0,0,0,0,0
$GC,8901,0.62,204.4,827.1,16.2,730,8905,0.12,1.73,0.00,0.000,4,0.186,0.047,2922,3279,2237,0,0,0,0,0,0
$GC,8928,0.61,204.4,822.8,15.3,731,8931,0.00,1.83,0.00,0.000,6,0.000,0.036,2931,2086,2236,0,0,0,0,0,0
$GC,9255,0.63,226.9,779.3,12.9,747,9279,0.00,1.77,18.80,1.083,4,0.000,0.047,2940,966,2164,0,0,0,0,0,0
$GC,9330,0.67,262.5,769.5,12.3,750,9369,0.00,1.83,33.58,1.100,6,0.000,0.039,2935,2148,2021,0,0,0,0,0,0
$GC,9678,0.67,262.5,721.4,14.1,767,9682,0.00,1.77,0.00,0.000,4,0.000,0.046,2944,969,2009,0,0,0,0,0,0
$GC,9711,0.66,262.5,716.4,14.0,768,9715,0.00,1.80,0.00,0.000,6,0.000,0.038,2944,2161,2008,0,0,0,0,0,0
$GC,10033,0.66,262.5,669.8,14.8,784,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2161,2006,0,0,0,0,0,0
$GC,10342,0.65,262.5,623.3,15.0,799,10346,0.00,1.85,0.00,0.000,4,0.000,0.046,2952,966,2005,0,0,0,0,0,0
$GC,10425,0.65,262.5,610.7,15.3,802,10432,0.00,1.77,0.00,0.000,6,0.000,0.040,2950,2158,2005,0,0,0,0,0,0
$GC,10749,0.65,262.5,560.8,15.1,829,10753,0.00,1.73,0.00,0.000,4,0.000,0.048,2950,3271,2004,0,0,0,0,0,0
$GC,10797,0.64,262.5,553.5,15.9,833,10801,0.00,1.77,0.00,0.000,6,0.000,0.036,2959,2078,2003,0,0,0,0,0,0
$GC,11129,0.63,262.5,503.8,14.3,864,11132,0.00,1.65,0.00,0.000,4,0.000,0.047,2968,965,2003,0,0,0,0,0,0
$GC,11165,0.63,262.5,498.8,14.1,867,11169,0.00,1.75,0.00,0.000,6,0.000,0.041,2962,2148,2003,0,0,0,0,0,0
$GC,11496,0.62,262.5,450.2,14.6,898,11500,0.12,1.73,0.00,0.000,4,0.176,0.047,2922,3278,2002,0,0,0,0,0,0
$GC,11542,0.65,287.4,444.3,12.7,902,11568,0.00,1.80,21.02,0.890,6,0.000,0.034,2931,2077,1919,0,0,0,0,0,0
$GC,11886,0.70,324.2,402.2,12.2,934,11925,0.00,1.77,33.33,0.868,4,0.000,0.048,2934,972,1768,0,0,0,0,0,0
$GC,12043,0.76,371.2,382.8,11.7,947,12092,0.12,1.77,41.62,0.850,6,0.079,0.037,3008,2161,1576,0,0,0,0,0,0
$GC,12417,0.75,371.2,308.4,19.8,982,12422,0.12,1.85,0.00,0.000,4,0.181,0.044,2984,963,1567,0,0,0,0,0,0
$GC,12487,0.75,371.2,296.9,15.5,989,12493,0.00,1.77,0.00,0.000,6,0.000,0.037,2983,2149,1566,0,0,0,0,0,0
$GC,12837,0.75,371.2,241.5,15.3,1050,12845,0.00,1.73,0.00,0.000,4,0.000,0.044,2983,3270,1564,0,0,0,0,0,0
$GC,12894,0.75,371.2,232.9,14.3,1059,12901,0.00,1.75,0.00,0.000,6,0.000,0.034,2992,2084,1563,0,0,0,0,0,0
$GC,13244,0.75,371.2,178.6,15.2,1120,13253,0.00,1.70,0.00,0.000,4,0.000,0.044,3000,962,1563,0,0,0,0,0,0
$GC,13393,0.75,378.0,158.1,13.6,1145,13408,0.00,1.77,4.82,0.487,6,0.000,0.036,3000,2157,1550,0,0,0,0,0,0
$GC,13757,0.76,382.4,104.3,13.7,1207,13768,0.00,1.75,6.05,0.499,4,0.000,0.041,3000,3277,1530,0,0,0,0,0,0
$GC,13824,0.78,397.3,95.1,13.2,1217,13850,0.00,1.80,13.93,0.581,6,0.000,0.031,3009,2083,1471,0,0,0,0,0,0
$GC,14202,0.91,494.9,57.6,9.4,1280,14291,0.00,1.73,81.20,0.588,4,0.000,0.040,3012,965,1071,0,0,0,0,0,0
$GC,14383,1.05,592.1,39.9,9.4,1306,14466,0.12,1.80,77.88,0.565,6,0.048,0.033,3086,2155,676,0,0,0,0,0,0
$STATE,14601,end climb,SURFACE_DEPTH_REACHED
$STATE,14601,begin surface coast
$FINISH,0.2,1.009464
$STATE,14622,end surface coast,CONTROL_FINISHED_OK
$STATE,14622,begin surface
$SM_CCo,14639,37.55,0.059,0,0,481,640.23
$SM_GC,0.95,0.00,0.00,37.55,0.000,0.000,0.059,139,1987,481,-8.09,-1.07,640.23
$IRIDIUM_FIX,2204.37,12547.95,041110,222213
$TT8_MAMPS,0.026215
$HUMID,46.33
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.60
$XPDR_PINGS,1
$24V_AH,22.3,66.701
$10V_AH,9.9,54.242
$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,20.850,114.925,705.175,37.550,0.000,23.214,15.509,204.659,0.250,0.000,30.727,3327.372,7048.214,716.824,3660.316,315.978,0.000,2072.955,0.000,3412.632,0.000,0.543,0.000
$DEVICE_MAMPS,244.800,76.500,1269.135,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,909.874,0.000,1888.216,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80297,1342
$CAP_FILE_SIZE,165388,1
$CFSIZE,260165632,228872192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039,100.0,1
$GPS,051110,062907,2206.931,12546.047,57,1.0,57,-3.1