version: 66.08
glider: 169
mission: 2
dive: 459
start: 11 10 110 20 50 58
data:
$ID,169
$MISSION,2
$DIVE,459
$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,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,-7329.3037
$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
$GPS1,101110,204307,2120.792,12602.524,39,1.0,39,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-65.7
$GPS2,101110,205031,2120.703,12602.586,9,1.5,14,-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,332.0,7568,-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,-204.4,0.0,0.0,0,117,0.00,0.00,-99.40,0.000,2,0.000,0.000,151,1985,3135,0,0,0,0,0,0
$GC,121,-0.69,-204.4,4.0,-6.8,12,155,10.27,1.95,-14.10,0.000,4,0.246,0.073,2490,3165,3929,0,0,0,0,0,0
$GC,263,-0.68,-204.4,52.4,-27.3,34,271,0.00,1.83,0.00,0.000,6,0.000,0.046,2490,2005,3929,0,0,0,0,0,0
$GC,624,-0.67,-204.4,152.7,-22.5,95,630,0.00,1.75,0.00,0.000,4,0.000,0.050,2490,867,3930,0,0,0,0,0,0
$GC,667,-0.66,-204.4,161.3,-18.9,102,675,0.00,1.83,0.00,0.000,6,0.000,0.049,2490,2037,3930,0,0,0,0,0,0
$GC,1018,-0.66,-204.4,230.2,-19.7,163,1025,0.00,1.73,0.00,0.000,4,0.000,0.055,2490,3168,3932,0,0,0,0,0,0
$GC,1061,-0.66,-204.4,238.1,-17.7,170,1069,0.00,1.80,0.00,0.000,6,0.000,0.041,2490,2002,3931,0,0,0,0,0,0
$GC,1414,-0.66,-204.4,297.4,-17.2,231,1420,0.00,1.83,0.00,0.000,4,0.000,0.054,2490,3171,3931,0,0,0,0,0,0
$GC,1440,-0.66,-204.4,301.6,-15.8,235,1444,0.00,1.77,0.00,0.000,6,0.000,0.041,2490,2003,3931,0,0,0,0,0,0
$GC,1772,-0.66,-204.4,350.9,-14.6,266,1775,0.00,1.70,0.00,0.000,4,0.000,0.046,2490,870,3931,0,0,0,0,0,0
$GC,1795,-0.67,-204.4,354.1,-13.0,268,1799,0.00,1.77,0.00,0.000,6,0.000,0.046,2490,2053,3931,0,0,0,0,0,0
$GC,2129,-0.67,-204.4,400.9,-14.4,299,2133,0.00,1.75,0.00,0.000,4,0.000,0.054,2490,3167,3930,0,0,0,0,0,0
$GC,2190,-0.68,-204.4,409.6,-12.9,304,2198,0.00,1.80,0.00,0.000,6,0.000,0.038,2490,1998,3929,0,0,0,0,0,0
$GC,2518,-0.69,-204.4,452.8,-12.7,335,2522,0.00,1.88,0.00,0.000,4,0.000,0.055,2490,3168,3927,0,0,0,0,0,0
$GC,2567,-0.70,-204.4,459.2,-11.2,339,2574,0.00,1.77,0.00,0.000,6,0.000,0.038,2490,1999,3927,0,0,0,0,0,0
$GC,2894,-0.70,-204.4,498.7,-12.3,370,2898,0.00,1.83,0.00,0.000,4,0.000,0.054,2490,3168,3925,0,0,0,0,0,0
$GC,2929,-0.72,-204.4,503.0,-12.1,373,2933,0.00,1.77,0.00,0.000,6,0.000,0.037,2490,1992,3925,0,0,0,0,0,0
$GC,3261,-0.72,-204.4,539.7,-10.2,404,3265,0.00,1.85,0.00,0.000,4,0.000,0.055,2490,3168,3922,0,0,0,0,0,0
$GC,3340,-0.74,-204.4,547.3,-8.6,411,3344,0.00,1.77,0.00,0.000,6,0.000,0.039,2490,2000,3921,0,0,0,0,0,0
$GC,3673,-0.75,-204.4,581.5,-10.6,442,3676,0.00,1.83,0.00,0.000,4,0.000,0.054,2490,3168,3918,0,0,0,0,0,0
$GC,3720,-0.76,-204.4,586.5,-10.7,446,3723,0.00,1.77,0.00,0.000,6,0.000,0.040,2490,2002,3918,0,0,0,0,0,0
$GC,4057,-0.77,-204.4,625.1,-11.9,468,4060,0.00,1.83,0.00,0.000,4,0.000,0.054,2490,3168,3915,0,0,0,0,0,0
$GC,4081,-0.78,-204.4,628.0,-11.6,469,4085,0.00,1.80,0.00,0.000,6,0.000,0.039,2490,2004,3915,0,0,0,0,0,0
$GC,4414,-0.79,-204.4,665.0,-10.5,485,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2002,3912,0,0,0,0,0,0
$GC,4724,-0.80,-204.4,695.5,-9.7,500,4727,0.00,1.83,0.00,0.000,4,0.000,0.054,2490,3168,3910,0,0,0,0,0,0
$GC,4785,-0.82,-204.4,701.2,-8.2,502,4791,0.00,1.77,0.00,0.000,6,0.000,0.040,2489,2002,3909,0,0,0,0,0,0
$GC,5102,-0.83,-204.4,729.8,-8.8,518,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,2000,3906,0,0,0,0,0,0
$GC,5411,-0.84,-204.4,756.4,-8.8,533,5415,0.00,1.85,0.00,0.000,4,0.000,0.056,2490,3169,3904,0,0,0,0,0,0
$GC,5480,-0.86,-204.4,762.1,-8.1,536,5484,0.08,1.83,0.00,0.000,6,0.079,0.041,2452,1995,3903,0,0,0,0,0,0
$GC,5814,-0.87,-204.4,799.9,-11.5,552,5818,0.00,1.90,0.00,0.000,4,0.000,0.058,2452,3162,3900,0,0,0,0,0,0
$GC,5841,-0.87,-204.4,803.3,-11.1,553,5845,0.00,1.77,0.00,0.000,6,0.000,0.044,2452,2003,3900,0,0,0,0,0,0
$GC,6169,-0.88,-204.4,839.6,-11.0,569,6173,0.00,1.88,0.00,0.000,4,0.000,0.058,2452,3159,3898,0,0,0,0,0,0
$GC,6207,-0.89,-204.4,843.8,-10.3,570,6214,0.00,1.80,0.00,0.000,6,0.000,0.044,2451,2000,3898,0,0,0,0,0,0
$GC,6524,-0.89,-204.4,877.5,-10.8,586,6525,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,1999,3896,0,0,0,0,0,0
$GC,6834,-0.90,-204.4,911.4,-11.1,601,6837,0.00,1.73,0.00,0.000,4,0.000,0.054,2452,867,3893,0,0,0,0,0,0
$GC,6858,-0.90,-204.4,914.3,-11.4,602,6862,0.00,1.80,0.00,0.000,6,0.000,0.049,2452,2038,3894,0,0,0,0,0,0
$GC,7192,-0.91,-204.4,952.4,-11.9,618,7196,0.00,1.80,0.00,0.000,4,0.000,0.060,2452,3168,3892,0,0,0,0,0,0
$GC,7225,-0.92,-204.4,956.6,-11.4,619,7228,0.00,1.80,0.00,0.000,6,0.000,0.044,2452,2005,3892,0,0,0,0,0,0
$GC,7547,-0.93,-204.4,993.2,-11.5,635,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2452,2003,3890,0,0,0,0,0,0
$STATE,7606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7606,begin apogee
$GC,7612,-0.18,0.0,1000.3,11.5,638,7796,0.68,0.05,176.98,1.280,6,0.145,0.066,2662,2097,3090,0,0,0,0,0,0
$STATE,7797,end apogee,CONTROL_FINISHED_OK
$STATE,7797,begin climb
$GC,7800,0.69,204.4,1009.2,0.0,646,8005,0.77,2.00,196.82,1.252,4,0.055,0.047,2951,3265,2255,0,0,0,0,0,0
$GC,8033,0.67,204.4,993.5,18.2,657,8037,0.00,1.90,0.00,0.000,6,0.000,0.034,2959,2089,2249,0,0,0,0,0,0
$GC,8361,0.66,204.4,935.1,17.7,673,8364,0.00,1.70,0.00,0.000,4,0.000,0.045,2967,959,2241,0,0,0,0,0,0
$GC,8399,0.64,204.4,927.8,18.2,674,8406,0.00,1.83,0.00,0.000,6,0.000,0.038,2963,2154,2240,0,0,0,0,0,0
$GC,8716,0.63,204.4,872.7,16.7,690,8720,0.00,1.77,0.00,0.000,4,0.000,0.045,2971,967,2238,0,0,0,0,0,0
$GC,8755,0.62,204.4,865.7,17.7,691,8762,0.12,1.80,0.00,0.000,6,0.158,0.038,2933,2151,2238,0,0,0,0,0,0
$GC,9072,0.62,211.9,821.5,13.5,707,9078,0.00,0.00,4.20,0.733,6,0.000,0.000,2932,2151,2227,0,0,0,0,0,0
$GC,9381,0.63,232.7,780.7,12.9,722,9407,0.00,1.80,22.05,1.101,4,0.000,0.047,2932,3270,2141,0,0,0,0,0,0
$GC,9424,0.64,242.9,774.7,13.4,724,9442,0.00,1.80,11.15,1.001,6,0.000,0.035,2941,2077,2099,0,0,0,0,0,0
$GC,9752,0.63,242.9,727.8,14.6,740,9753,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2077,2091,0,0,0,0,0,0
$GC,10059,0.63,242.9,681.0,14.9,755,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2077,2089,0,0,0,0,0,0
$GC,10370,0.62,242.9,633.0,15.6,770,10374,0.00,1.88,0.00,0.000,4,0.000,0.047,2941,3265,2087,0,0,0,0,0,0
$GC,10402,0.62,242.9,627.2,16.6,771,10406,0.00,1.80,0.00,0.000,6,0.000,0.035,2950,2089,2087,0,0,0,0,0,0
$GC,10731,0.61,242.9,576.6,15.2,794,10734,0.00,1.83,0.00,0.000,4,0.000,0.047,2948,3269,2086,0,0,0,0,0,0
$GC,10765,0.60,242.9,570.8,15.9,797,10770,0.12,1.75,0.00,0.000,6,0.174,0.034,2925,2087,2086,0,0,0,0,0,0
$GC,11096,0.65,283.8,528.2,12.0,828,11141,0.00,1.92,36.33,0.975,4,0.000,0.045,2922,3270,1932,0,0,0,0,0,0
$GC,11154,0.68,306.6,521.2,12.8,833,11181,0.00,1.83,22.08,0.930,6,0.000,0.034,2931,2079,1840,0,0,0,0,0,0
$GC,11508,0.73,343.7,478.0,12.2,866,11546,0.00,1.80,32.75,0.928,4,0.000,0.047,2934,961,1688,0,0,0,0,0,0
$GC,11571,0.78,388.1,470.4,11.9,871,11622,0.10,1.83,39.75,0.915,6,0.043,0.037,3003,2142,1506,0,0,0,0,0,0
$GC,11939,0.78,388.1,399.2,20.5,905,11943,0.00,1.83,0.00,0.000,4,0.000,0.044,3012,964,1498,0,0,0,0,0,0
$GC,11986,0.77,388.1,389.7,20.1,909,11991,0.12,1.80,0.00,0.000,6,0.164,0.037,2978,2160,1497,0,0,0,0,0,0
$GC,12317,0.77,388.1,330.4,16.7,940,12318,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2160,1495,0,0,0,0,0,0
$GC,12644,0.77,388.1,278.0,15.5,982,12653,0.00,1.83,0.00,0.000,4,0.000,0.044,2987,972,1495,0,0,0,0,0,0
$GC,12774,0.77,388.1,259.4,13.9,1004,12782,0.00,1.77,0.00,0.000,6,0.000,0.036,2987,2142,1494,0,0,0,0,0,0
$GC,13125,0.77,388.1,203.7,15.2,1065,13132,0.00,1.75,0.00,0.000,4,0.000,0.042,2996,964,1494,0,0,0,0,0,0
$GC,13176,0.78,388.1,196.4,14.9,1073,13184,0.00,1.77,0.00,0.000,6,0.000,0.035,2996,2161,1494,0,0,0,0,0,0
$GC,13530,0.78,388.1,146.0,13.9,1134,13538,0.00,1.83,0.00,0.000,4,0.000,0.041,3003,960,1494,0,0,0,0,0,0
$GC,13565,0.84,434.5,141.3,11.8,1139,13614,0.00,1.80,38.47,0.662,6,0.000,0.035,3003,2158,1318,0,0,0,0,0,0
$GC,13972,0.95,524.5,90.6,9.8,1205,14055,0.10,1.75,74.18,0.620,4,0.096,0.037,3061,3270,952,0,0,0,0,0,0
$GC,14154,1.00,553.0,64.7,12.6,1231,14187,0.00,1.80,24.42,0.578,6,0.000,0.030,3070,2084,834,0,0,0,0,0,0
$STATE,14498,end climb,SURFACE_DEPTH_REACHED
$STATE,14498,begin surface coast
$FINISH,0.3,1.022814
$STATE,14514,end surface coast,CONTROL_FINISHED_OK
$STATE,14514,begin surface
$SM_CCo,14531,62.35,0.058,0,0,481,640.23
$SM_GC,0.92,0.00,0.00,62.35,0.000,0.000,0.058,145,1981,481,-8.08,-1.24,640.23
$IRIDIUM_FIX,2111.01,12558.07,101110,161612
$TT8_MAMPS,0.026964
$HUMID,47.51
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.70
$XPDR_PINGS,0
$24V_AH,22.3,73.818
$10V_AH,9.8,59.230
$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,20.750,108.900,679.175,62.350,0.000,28.911,38.722,232.525,0.000,0.000,15.531,3179.750,7321.053,757.872,3448.325,318.353,0.000,2023.231,0.000,3166.182,0.000,0.543,0.000
$DEVICE_MAMPS,246.330,87.975,1279.845,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.268,0.000,1705.748,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333772
$DATA_FILE_SIZE,76999,1290
$CAP_FILE_SIZE,158946,0
$CFSIZE,260165632,226226176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.130,134.0,1
$GPS,111110,005507,2122.063,12602.435,26,1.4,26,-2.9