version: 66.08
glider: 169
mission: 2
dive: 421
start: 11 4 110 5 0 5
data:
$ID,169
$MISSION,2
$DIVE,421
$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,-7266.022
$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
$GPS1,041110,045236,2216.722,12545.711,67,1.0,67,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-64.7
$GPS2,041110,045937,2216.774,12545.627,16,1.1,21,-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,175.8,105653,-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,-204.4,0.0,0.0,0,107,0.00,0.00,-88.80,0.000,2,0.000,0.000,140,1984,2860,0,0,0,0,0,0
$GC,110,-0.69,-204.4,3.1,-4.6,11,153,10.18,1.77,-20.58,0.000,4,0.243,0.070,2497,877,3928,0,0,0,0,0,0
$GC,296,-0.68,-204.4,52.6,-24.0,40,305,0.00,1.83,0.00,0.000,6,0.000,0.054,2497,2034,3929,0,0,0,0,0,0
$GC,662,-0.67,-204.4,145.1,-20.9,101,671,0.00,1.77,0.00,0.000,4,0.000,0.057,2497,3166,3930,0,0,0,0,0,0
$GC,704,-0.66,-204.4,153.4,-18.2,107,712,0.00,1.75,0.00,0.000,6,0.000,0.041,2497,2003,3931,0,0,0,0,0,0
$GC,1053,-0.66,-204.4,215.8,-17.1,168,1061,0.00,1.73,0.00,0.000,4,0.000,0.047,2497,871,3932,0,0,0,0,0,0
$GC,1079,-0.66,-204.4,220.4,-16.2,172,1088,0.00,1.80,0.00,0.000,6,0.000,0.047,2497,2036,3932,0,0,0,0,0,0
$GC,1430,-0.66,-204.4,273.1,-14.9,233,1437,0.00,1.75,0.00,0.000,4,0.000,0.055,2497,3178,3932,0,0,0,0,0,0
$GC,1535,-0.67,-204.4,286.7,-11.8,251,1543,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,1997,3931,0,0,0,0,0,0
$GC,1869,-0.67,-204.4,333.4,-13.2,290,1872,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3931,0,0,0,0,0,0
$GC,1906,-0.68,-204.4,338.2,-12.9,293,1910,0.00,1.80,0.00,0.000,6,0.000,0.039,2497,1997,3931,0,0,0,0,0,0
$GC,2237,-0.69,-204.4,382.8,-12.9,324,2241,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3929,0,0,0,0,0,0
$GC,2276,-0.70,-204.4,387.4,-12.0,327,2280,0.00,1.77,0.00,0.000,6,0.000,0.039,2497,2000,3929,0,0,0,0,0,0
$GC,2607,-0.71,-204.4,429.9,-12.7,358,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1998,3927,0,0,0,0,0,0
$GC,2928,-0.72,-204.4,466.2,-10.3,388,2931,0.00,1.85,0.00,0.000,4,0.000,0.054,2497,3168,3925,0,0,0,0,0,0
$GC,2987,-0.73,-204.4,471.9,-8.7,393,2991,0.00,1.80,0.00,0.000,6,0.000,0.039,2497,1998,3924,0,0,0,0,0,0
$GC,3318,-0.74,-204.4,507.7,-11.4,424,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1996,3922,0,0,0,0,0,0
$GC,3638,-0.75,-204.4,542.1,-10.3,454,3642,0.00,1.88,0.00,0.000,4,0.000,0.056,2496,3162,3919,0,0,0,0,0,0
$GC,3707,-0.77,-204.4,548.6,-9.0,460,3711,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,2001,3919,0,0,0,0,0,0
$GC,4038,-0.78,-204.4,581.6,-9.8,491,4042,0.00,1.70,0.00,0.000,4,0.000,0.049,2497,864,3916,0,0,0,0,0,0
$GC,4061,-0.79,-204.4,584.1,-11.0,493,4065,0.00,1.83,0.00,0.000,6,0.000,0.047,2496,2037,3916,0,0,0,0,0,0
$GC,4390,-0.80,-204.4,617.8,-10.5,516,4394,0.00,1.77,0.00,0.000,4,0.000,0.056,2496,3168,3913,0,0,0,0,0,0
$GC,4462,-0.82,-204.4,625.0,-8.8,519,4465,0.00,1.75,0.00,0.000,6,0.000,0.041,2497,2002,3913,0,0,0,0,0,0
$GC,4790,-0.83,-204.4,658.6,-10.4,535,4793,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3171,3910,0,0,0,0,0,0
$GC,4836,-0.85,-204.4,663.3,-9.9,537,4840,0.12,1.77,0.00,0.000,6,0.109,0.042,2448,1997,3909,0,0,0,0,0,0
$GC,5169,-0.85,-204.4,711.8,-14.7,553,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1995,3907,0,0,0,0,0,0
$GC,5478,-0.85,-204.4,756.6,-14.4,568,5482,0.00,1.88,0.00,0.000,4,0.000,0.060,2448,3168,3905,0,0,0,0,0,0
$GC,5539,-0.86,-204.4,765.1,-13.0,570,5546,0.00,1.80,0.00,0.000,6,0.000,0.045,2448,2003,3904,0,0,0,0,0,0
$GC,5856,-0.86,-204.4,807.2,-12.8,586,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2001,3902,0,0,0,0,0,0
$GC,6165,-0.87,-204.4,843.6,-11.4,601,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2001,3899,0,0,0,0,0,0
$GC,6475,-0.87,-204.4,876.8,-10.9,616,6479,0.00,1.90,0.00,0.000,4,0.000,0.060,2448,3168,3897,0,0,0,0,0,0
$GC,6530,-0.88,-204.4,882.7,-10.1,618,6534,0.00,1.80,0.00,0.000,6,0.000,0.046,2448,2004,3897,0,0,0,0,0,0
$GC,6853,-0.89,-204.4,918.3,-11.3,634,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2003,3896,0,0,0,0,0,0
$GC,7161,-0.89,-204.4,954.3,-11.8,649,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,2003,3894,0,0,0,0,0,0
$GC,7471,-0.90,-204.4,991.3,-11.9,664,7475,0.00,1.85,0.00,0.000,4,0.000,0.061,2448,3167,3892,0,0,0,0,0,0
$GC,7510,-0.91,-204.4,996.0,-11.3,665,7517,0.00,1.80,0.00,0.000,6,0.000,0.046,2448,1995,3891,0,0,0,0,0,0
$STATE,7557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7557,begin apogee
$GC,7562,-0.18,0.0,1001.4,11.5,668,7743,0.70,0.08,175.18,1.276,6,0.144,0.104,2665,2092,3091,0,0,0,0,0,0
$STATE,7744,end apogee,CONTROL_FINISHED_OK
$STATE,7744,begin climb
$GC,7746,0.69,204.4,1010.8,0.0,676,7950,0.77,1.90,196.60,1.251,4,0.051,0.045,2962,972,2256,0,0,0,0,0,0
$GC,8000,0.67,204.4,993.5,16.1,688,8004,0.00,1.90,0.00,0.000,6,0.000,0.039,2961,2146,2249,0,0,0,0,0,0
$GC,8322,0.66,204.4,940.6,16.7,704,8326,0.00,1.77,0.00,0.000,4,0.000,0.044,2969,963,2241,0,0,0,0,0,0
$GC,8378,0.65,204.4,931.1,16.7,706,8382,0.08,1.80,0.00,0.000,6,0.168,0.040,2946,2142,2240,0,0,0,0,0,0
$GC,8699,0.64,204.4,881.3,15.7,722,8703,0.00,1.70,0.00,0.000,4,0.000,0.048,2946,3272,2238,0,0,0,0,0,0
$GC,8738,0.63,204.4,874.8,16.9,723,8745,0.00,1.77,0.00,0.000,6,0.000,0.035,2955,2077,2237,0,0,0,0,0,0
$GC,9054,0.61,204.4,825.3,16.0,739,9058,0.00,1.83,0.00,0.000,4,0.000,0.048,2952,3268,2236,0,0,0,0,0,0
$GC,9087,0.60,204.4,819.4,16.7,740,9091,0.10,1.80,0.00,0.000,6,0.168,0.037,2930,2091,2235,0,0,0,0,0,0
$GC,9409,0.60,205.8,774.3,13.8,756,9413,0.00,1.70,0.00,0.000,4,0.000,0.047,2938,960,2235,0,0,0,0,0,0
$GC,9481,0.61,221.3,764.3,13.2,759,9499,0.00,1.83,13.45,1.046,6,0.000,0.041,2938,2154,2188,0,0,0,0,0,0
$GC,9809,0.60,221.3,718.3,13.9,775,9812,0.00,1.73,0.00,0.000,4,0.000,0.048,2938,3280,2182,0,0,0,0,0,0
$GC,9859,0.59,221.3,710.2,15.3,777,9862,0.00,1.83,0.00,0.000,6,0.000,0.036,2946,2083,2181,0,0,0,0,0,0
$GC,10186,0.59,225.9,664.2,13.7,793,10196,0.00,1.73,4.65,0.738,4,0.000,0.047,2955,973,2169,0,0,0,0,0,0
$GC,10224,0.59,228.4,658.6,13.8,794,10235,0.12,1.75,4.18,0.680,6,0.172,0.040,2920,2149,2160,0,0,0,0,0,0
$GC,10564,0.63,265.7,618.2,12.2,811,10608,0.00,1.85,35.47,1.024,4,0.000,0.047,2929,963,2007,0,0,0,0,0,0
$GC,10646,0.65,283.0,607.7,13.1,814,10667,0.00,1.85,16.88,0.959,6,0.000,0.039,2929,2150,1937,0,0,0,0,0,0
$GC,10986,0.67,299.4,562.5,13.1,843,11009,0.00,1.88,14.82,0.929,4,0.000,0.047,2935,971,1869,0,0,0,0,0,0
$GC,11078,0.71,333.7,550.4,12.3,851,11115,0.00,1.77,31.73,0.961,6,0.000,0.039,2934,2152,1730,0,0,0,0,0,0
$GC,11442,0.74,359.8,501.8,12.7,885,11475,0.10,1.90,23.00,0.920,4,0.097,0.047,3000,969,1622,0,0,0,0,0,0
$GC,11503,0.74,359.8,491.2,18.6,890,11512,0.08,1.83,0.00,0.000,6,0.156,0.041,2975,2143,1620,0,0,0,0,0,0
$GC,11830,0.73,359.8,435.4,17.3,921,11833,0.00,1.80,0.00,0.000,4,0.000,0.046,2984,962,1616,0,0,0,0,0,0
$GC,11857,0.73,359.8,430.1,17.4,923,11864,0.00,1.80,0.00,0.000,6,0.000,0.038,2980,2156,1615,0,0,0,0,0,0
$GC,12184,0.72,359.8,373.0,17.7,954,12188,0.00,1.83,0.00,0.000,4,0.000,0.047,2989,965,1614,0,0,0,0,0,0
$GC,12246,0.72,359.8,362.0,16.3,959,12252,0.00,1.77,0.00,0.000,6,0.000,0.039,2987,2148,1614,0,0,0,0,0,0
$GC,12573,0.71,359.8,305.8,16.9,990,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,2149,1613,0,0,0,0,0,0
$GC,12906,0.71,359.8,251.8,14.9,1046,12915,0.00,1.83,0.00,0.000,4,0.000,0.044,2996,961,1612,0,0,0,0,0,0
$GC,12944,0.71,359.8,245.6,15.2,1052,12954,0.10,1.80,0.00,0.000,6,0.139,0.037,2962,2150,1611,0,0,0,0,0,0
$GC,13298,0.73,371.1,197.8,13.4,1113,13314,0.00,1.83,9.00,0.630,4,0.000,0.042,2971,958,1579,0,0,0,0,0,0
$GC,13410,0.78,406.0,183.8,12.3,1131,13452,0.00,1.77,31.90,0.689,6,0.000,0.037,2971,2161,1433,0,0,0,0,0,0
$GC,13796,0.86,472.2,135.0,10.9,1197,13862,0.10,1.90,55.55,0.652,4,0.096,0.043,3035,969,1163,0,0,0,0,0,0
$GC,13991,0.87,472.2,104.1,14.2,1226,13999,0.00,1.80,0.00,0.000,6,0.000,0.034,3035,2155,1160,0,0,0,0,0,0
$GC,14359,0.97,547.8,55.6,10.4,1287,14425,0.00,1.90,61.25,0.581,4,0.000,0.043,3040,968,856,0,0,0,0,0,0
$GC,14505,1.08,625.5,38.7,10.3,1308,14579,0.08,1.80,62.30,0.563,6,0.057,0.031,3095,2154,539,0,0,0,0,0,0
$STATE,14703,end climb,SURFACE_DEPTH_REACHED
$STATE,14703,begin surface coast
$FINISH,0.2,1.022419
$STATE,14723,end surface coast,CONTROL_FINISHED_OK
$STATE,14723,begin surface
$SM_CCo,14741,12.32,0.061,0,0,482,640.23
$SM_GC,1.02,0.00,0.00,12.32,0.000,0.000,0.061,151,1994,482,-8.06,-0.88,640.23
$IRIDIUM_FIX,2209.02,12544.17,041110,000058
$TT8_MAMPS,0.026215
$HUMID,47.75
$INTERNAL_PRESSURE,9.16407
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,22.2,65.627
$10V_AH,9.8,53.468
$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,20.950,108.800,735.950,12.325,0.000,30.791,37.486,206.077,0.000,0.000,23.640,3299.273,7180.984,728.169,3641.080,313.865,0.000,2079.366,0.000,3373.100,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,104.040,1276.020,61.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,908.472,0.000,1827.382,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80297,1341
$CAP_FILE_SIZE,165284,0
$CFSIZE,260165632,229281792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077,285.2,1
$GPS,041110,090737,2214.588,12544.979,70,1.0,70,-3.1