version: 66.08
glider: 169
mission: 2
dive: 458
start: 11 10 110 16 35 1
data:
$ID,169
$MISSION,2
$DIVE,458
$N_DIVES,471
$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,651.51678
$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,-7328.0483
$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
$GPS1,101110,162107,2118.735,12601.644,32,1.0,32,-2.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-66.7
$GPS2,101110,163432,2118.648,12601.605,13,0.9,13,-2.9
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP_NORTH
$TGT_LATLONG,2124.580,12601.200
$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,356.3,11008,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,115,0.00,0.00,-96.78,0.000,2,0.000,0.000,149,2054,3086,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.7,-5.2,12,153,10.20,1.80,-15.40,0.000,4,0.245,0.076,2499,3168,3927,0,0,0,0,0,0
$GC,215,-0.67,-204.4,36.3,-29.7,26,224,0.00,1.83,0.00,0.000,6,0.000,0.046,2500,2004,3928,0,0,0,0,0,0
$GC,578,-0.66,-204.4,139.8,-23.9,87,586,0.00,1.85,0.00,0.000,4,0.000,0.057,2499,3160,3927,0,0,0,0,0,0
$GC,630,-0.65,-204.4,151.6,-20.5,95,637,0.00,1.75,0.00,0.000,6,0.000,0.042,2500,2004,3926,0,0,0,0,0,0
$GC,986,-0.65,-204.4,218.8,-17.5,156,994,0.00,1.73,0.00,0.000,4,0.000,0.047,2500,873,3928,0,0,0,0,0,0
$GC,1020,-0.65,-204.4,224.4,-16.6,161,1027,0.00,1.77,0.00,0.000,6,0.000,0.047,2500,2053,3928,0,0,0,0,0,0
$GC,1377,-0.65,-204.4,276.4,-15.1,222,1387,0.00,1.75,0.00,0.000,4,0.000,0.056,2500,3173,3928,0,0,0,0,0,0
$GC,1401,-0.65,-204.4,279.6,-14.4,225,1408,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,2002,3928,0,0,0,0,0,0
$GC,1741,-0.65,-204.4,331.5,-15.1,267,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2001,3927,0,0,0,0,0,0
$GC,2069,-0.66,-204.4,375.3,-12.5,298,2072,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3174,3926,0,0,0,0,0,0
$GC,2120,-0.67,-204.4,381.6,-10.8,302,2129,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,2004,3926,0,0,0,0,0,0
$GC,2447,-0.67,-204.4,420.1,-12.1,333,2450,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3162,3923,0,0,0,0,0,0
$GC,2473,-0.68,-204.4,423.2,-12.4,335,2477,0.00,1.77,0.00,0.000,6,0.000,0.037,2499,2004,3923,0,0,0,0,0,0
$GC,2804,-0.69,-204.4,463.1,-11.8,366,2808,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3172,3921,0,0,0,0,0,0
$GC,2865,-0.70,-204.4,469.2,-9.8,371,2869,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,2005,3921,0,0,0,0,0,0
$GC,3197,-0.71,-204.4,503.9,-9.8,402,3201,0.00,1.83,0.00,0.000,4,0.000,0.054,2500,3168,3918,0,0,0,0,0,0
$GC,3247,-0.73,-204.4,508.9,-8.8,406,3255,0.00,1.75,0.00,0.000,6,0.000,0.037,2500,2000,3917,0,0,0,0,0,0
$GC,3573,-0.74,-204.4,540.4,-9.6,437,3576,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3168,3915,0,0,0,0,0,0
$GC,3620,-0.75,-204.4,544.6,-9.1,441,3623,0.00,1.75,0.00,0.000,6,0.000,0.038,2500,1996,3914,0,0,0,0,0,0
$GC,3951,-0.77,-204.4,578.9,-10.5,472,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1994,3912,0,0,0,0,0,0
$GC,4278,-0.78,-204.4,613.9,-10.9,497,4281,0.00,1.88,0.00,0.000,4,0.000,0.055,2500,3172,3909,0,0,0,0,0,0
$GC,4339,-0.80,-204.4,620.2,-9.1,499,4345,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,1999,3908,0,0,0,0,0,0
$GC,4655,-0.81,-204.4,650.2,-9.4,515,4659,0.00,1.83,0.00,0.000,4,0.000,0.055,2500,3168,3905,0,0,0,0,0,0
$GC,4683,-0.82,-204.4,652.9,-9.4,516,4687,0.10,1.75,0.00,0.000,6,0.122,0.040,2460,2001,3904,0,0,0,0,0,0
$GC,5012,-0.83,-204.4,694.8,-13.4,532,5015,0.00,1.88,0.00,0.000,4,0.000,0.058,2459,3171,3902,0,0,0,0,0,0
$GC,5073,-0.84,-204.4,702.9,-11.7,534,5081,0.00,1.80,0.00,0.000,6,0.000,0.045,2459,2004,3901,0,0,0,0,0,0
$GC,5390,-0.84,-204.4,743.8,-13.2,550,5393,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3169,3898,0,0,0,0,0,0
$GC,5417,-0.85,-204.4,747.7,-13.2,551,5421,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2004,3898,0,0,0,0,0,0
$GC,5745,-0.85,-204.4,789.5,-12.8,567,5749,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3172,3895,0,0,0,0,0,0
$GC,5770,-0.86,-204.4,792.5,-11.9,568,5774,0.00,1.83,0.00,0.000,6,0.000,0.045,2459,2005,3895,0,0,0,0,0,0
$GC,6103,-0.87,-204.4,832.1,-11.6,584,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2003,3893,0,0,0,0,0,0
$GC,6413,-0.87,-204.4,867.7,-11.6,599,6417,0.00,1.88,0.00,0.000,4,0.000,0.060,2459,3168,3891,0,0,0,0,0,0
$GC,6463,-0.88,-204.4,873.4,-10.3,601,6467,0.00,1.80,0.00,0.000,6,0.000,0.044,2459,2003,3890,0,0,0,0,0,0
$GC,6791,-0.89,-204.4,908.9,-10.8,617,6794,0.00,1.70,0.00,0.000,4,0.000,0.054,2459,878,3887,0,0,0,0,0,0
$GC,6819,-0.90,-204.4,912.3,-10.9,618,6822,0.00,1.83,0.00,0.000,6,0.000,0.050,2459,2052,3887,0,0,0,0,0,0
$GC,7146,-0.91,-204.4,947.4,-10.7,634,7150,0.00,1.73,0.00,0.000,4,0.000,0.060,2459,3168,3885,0,0,0,0,0,0
$GC,7208,-0.92,-204.4,953.8,-9.9,636,7214,0.00,1.80,0.00,0.000,6,0.000,0.044,2459,2003,3884,0,0,0,0,0,0
$GC,7524,-0.93,-204.4,987.5,-10.8,652,7527,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3169,3882,0,0,0,0,0,0
$GC,7570,-0.94,-204.4,992.1,-9.9,654,7574,0.00,1.80,0.00,0.000,6,0.000,0.045,2459,2004,3882,0,0,0,0,0,0
$STATE,7653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7653,begin apogee
$GC,7659,-0.18,0.0,1000.9,10.4,658,7840,0.65,0.10,173.93,1.281,6,0.135,0.091,2666,2083,3090,0,0,0,0,0,0
$STATE,7841,end apogee,CONTROL_FINISHED_OK
$STATE,7841,begin climb
$GC,7844,0.69,204.4,1009.0,0.0,666,8045,0.77,2.05,192.80,1.255,4,0.054,0.046,2954,3268,2256,0,0,0,0,0,0
$GC,8276,0.67,204.4,957.8,16.6,686,8280,0.00,1.83,0.00,0.000,6,0.000,0.037,2963,2054,2242,0,0,0,0,0,0
$GC,8598,0.66,204.4,906.6,15.6,702,8602,0.00,1.88,0.00,0.000,4,0.000,0.046,2959,3280,2239,0,0,0,0,0,0
$GC,8622,0.64,204.4,902.8,16.1,703,8626,0.00,1.80,0.00,0.000,6,0.000,0.036,2967,2088,2238,0,0,0,0,0,0
$GC,8955,0.63,204.4,851.0,15.8,719,8960,0.12,1.67,0.00,0.000,4,0.194,0.046,2944,964,2237,0,0,0,0,0,0
$GC,9006,0.64,216.8,843.8,13.3,721,9023,0.00,1.77,8.93,1.009,6,0.000,0.037,2944,2150,2208,0,0,0,0,0,0
$GC,9333,0.63,216.9,798.2,13.9,737,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2150,2204,0,0,0,0,0,0
$GC,9642,0.62,216.9,753.7,14.7,752,9645,0.00,1.77,0.00,0.000,4,0.000,0.046,2953,967,2202,0,0,0,0,0,0
$GC,9676,0.61,216.9,748.7,14.3,753,9680,0.00,1.75,0.00,0.000,6,0.000,0.038,2952,2150,2202,0,0,0,0,0,0
$GC,9998,0.60,216.9,700.3,15.0,769,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2150,2201,0,0,0,0,0,0
$GC,10307,0.59,216.9,655.4,14.3,784,10312,0.12,1.73,0.00,0.000,4,0.181,0.047,2911,3274,2200,0,0,0,0,0,0
$GC,10391,0.61,235.5,644.0,13.0,787,10419,0.00,1.77,18.27,1.019,6,0.000,0.035,2920,2077,2130,0,0,0,0,0,0
$GC,10729,0.65,269.1,601.9,12.4,804,10765,0.00,1.70,31.55,1.013,4,0.000,0.045,2929,970,1993,0,0,0,0,0,0
$GC,10818,0.70,304.0,590.4,12.3,810,10858,0.00,1.77,32.58,0.995,6,0.000,0.037,2929,2150,1849,0,0,0,0,0,0
$GC,11176,0.71,315.6,541.3,13.4,844,11191,0.00,1.88,10.02,0.874,4,0.000,0.047,2936,966,1803,0,0,0,0,0,0
$GC,11259,0.75,340.8,530.2,12.7,851,11289,0.10,1.80,24.25,0.947,6,0.093,0.037,3000,2158,1700,0,0,0,0,0,0
$GC,11606,0.74,340.8,466.7,17.9,884,11610,0.12,1.67,0.00,0.000,4,0.181,0.044,2961,3272,1691,0,0,0,0,0,0
$GC,11630,0.73,340.8,462.6,17.8,886,11634,0.00,1.77,0.00,0.000,6,0.000,0.034,2970,2079,1691,0,0,0,0,0,0
$GC,11964,0.73,340.8,410.9,15.6,917,11967,0.00,1.65,0.00,0.000,4,0.000,0.047,2978,969,1689,0,0,0,0,0,0
$GC,12071,0.73,340.8,393.6,16.2,926,12081,0.00,1.80,0.00,0.000,6,0.000,0.037,2975,2154,1688,0,0,0,0,0,0
$GC,12399,0.73,340.8,339.9,16.7,957,12403,0.00,1.83,0.00,0.000,4,0.000,0.044,2983,971,1687,0,0,0,0,0,0
$GC,12456,0.73,340.8,330.6,14.6,962,12460,0.00,1.75,0.00,0.000,6,0.000,0.036,2984,2158,1687,0,0,0,0,0,0
$GC,12794,0.72,340.8,279.5,14.5,1004,12802,0.00,1.83,0.00,0.000,4,0.000,0.044,2992,972,1687,0,0,0,0,0,0
$GC,12898,0.72,340.8,264.4,14.9,1021,12904,0.00,1.73,0.00,0.000,6,0.000,0.035,2990,2152,1686,0,0,0,0,0,0
$GC,13256,0.72,340.8,210.9,14.4,1082,13264,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,2152,1686,0,0,0,0,0,0
$GC,13616,0.74,357.8,162.5,13.1,1143,13637,0.00,1.80,13.85,0.639,4,0.000,0.040,2999,961,1631,0,0,0,0,0,0
$GC,13782,0.81,409.6,141.9,11.5,1170,13832,0.00,1.80,44.92,0.661,6,0.000,0.034,2999,2159,1421,0,0,0,0,0,0
$GC,14189,0.93,503.2,98.6,9.6,1236,14279,0.00,1.90,77.50,0.623,4,0.000,0.042,2999,966,1037,0,0,0,0,0,0
$GC,14384,1.11,626.0,81.3,8.3,1264,14490,0.20,1.80,98.50,0.598,6,0.043,0.037,3103,2149,537,0,0,0,0,0,0
$STATE,14765,end climb,SURFACE_DEPTH_REACHED
$STATE,14765,begin surface coast
$FINISH,0.3,1.022564
$STATE,14779,end surface coast,CONTROL_FINISHED_OK
$STATE,14779,begin surface
$SM_CCo,14796,20.92,0.059,0,0,435,651.52
$SM_GC,0.93,0.00,0.00,20.92,0.000,0.000,0.059,152,1985,435,-8.06,-1.13,651.52
$IRIDIUM_FIX,2111.01,12558.07,101110,161612
$TT8_MAMPS,0.026964
$HUMID,48.14
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.5,73.597
$10V_AH,9.8,59.085
$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,20.800,111.975,727.100,20.925,0.000,161.064,41.778,195.170,0.000,0.000,14.817,3252.646,7524.121,723.823,3786.273,330.072,0.000,2093.173,0.000,3377.599,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,91.035,1280.610,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.490,0.000,1785.804,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333796
$DATA_FILE_SIZE,80071,1325
$CAP_FILE_SIZE,166657,0
$CFSIZE,260165632,226287616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080, 95.5,1
$GPS,101110,204307,2120.792,12602.524,39,1.0,39,-2.9