version: 66.08
glider: 169
mission: 2
dive: 409
start: 11 2 110 1 36 34
data:
$ID,169
$MISSION,2
$DIVE,409
$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,-7241.4746
$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
$GPS1,021110,012624,2233.945,12547.617,37,1.7,37,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.0
$GPS2,021110,013607,2234.039,12547.521,38,1.0,38,-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,176.6,136216,-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,-96.40,0.000,2,0.000,0.000,152,1977,3091,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.7,-5.6,12,151,10.23,1.75,-14.95,0.000,4,0.248,0.071,2498,885,3928,0,0,0,0,0,0
$GC,271,-0.67,-204.4,54.1,-25.6,36,280,0.00,1.83,0.00,0.000,6,0.000,0.050,2499,2048,3929,0,0,0,0,0,0
$GC,634,-0.67,-204.4,148.5,-23.0,97,642,0.00,1.77,0.00,0.000,4,0.000,0.059,2499,3169,3929,0,0,0,0,0,0
$GC,664,-0.66,-204.4,155.3,-23.2,101,671,0.00,1.77,0.00,0.000,6,0.000,0.044,2498,1998,3930,0,0,0,0,0,0
$GC,1021,-0.66,-204.4,221.5,-15.8,162,1029,0.00,1.73,0.00,0.000,4,0.000,0.049,2499,874,3931,0,0,0,0,0,0
$GC,1060,-0.66,-204.4,227.8,-16.3,168,1069,0.00,1.80,0.00,0.000,6,0.000,0.047,2498,2037,3931,0,0,0,0,0,0
$GC,1421,-0.66,-204.4,283.0,-14.7,229,1428,0.00,1.75,0.00,0.000,4,0.000,0.055,2499,3162,3931,0,0,0,0,0,0
$GC,1465,-0.67,-204.4,289.1,-13.2,236,1474,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,2003,3931,0,0,0,0,0,0
$GC,1806,-0.67,-204.4,337.2,-13.4,274,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2002,3930,0,0,0,0,0,0
$GC,2128,-0.68,-204.4,376.0,-11.9,304,2131,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3178,3928,0,0,0,0,0,0
$GC,2188,-0.69,-204.4,383.2,-11.2,309,2192,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,1990,3928,0,0,0,0,0,0
$GC,2522,-0.70,-204.4,423.7,-12.0,340,2525,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3175,3926,0,0,0,0,0,0
$GC,2568,-0.71,-204.4,429.0,-9.7,344,2572,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,1986,3925,0,0,0,0,0,0
$GC,2902,-0.72,-204.4,467.1,-11.9,375,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1985,3923,0,0,0,0,0,0
$GC,3229,-0.73,-204.4,506.1,-11.1,406,3232,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3168,3921,0,0,0,0,0,0
$GC,3290,-0.75,-204.4,512.7,-9.8,411,3296,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,2001,3920,0,0,0,0,0,0
$GC,3615,-0.76,-204.4,548.6,-11.2,442,3619,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3164,3917,0,0,0,0,0,0
$GC,3643,-0.77,-204.4,551.7,-10.7,444,3651,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,1999,3917,0,0,0,0,0,0
$GC,3968,-0.78,-204.4,583.2,-8.8,475,3972,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3173,3915,0,0,0,0,0,0
$GC,4007,-0.80,-204.4,586.5,-8.2,478,4014,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,2002,3914,0,0,0,0,0,0
$GC,4330,-0.81,-204.4,613.7,-9.0,502,4334,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3177,3911,0,0,0,0,0,0
$GC,4363,-0.83,-204.4,616.9,-8.7,503,4367,0.10,1.77,0.00,0.000,6,0.124,0.041,2460,2000,3911,0,0,0,0,0,0
$GC,4686,-0.83,-204.4,657.5,-13.2,519,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1999,3908,0,0,0,0,0,0
$GC,4993,-0.84,-204.4,696.3,-12.3,534,4997,0.00,1.85,0.00,0.000,4,0.000,0.057,2459,3167,3905,0,0,0,0,0,0
$GC,5021,-0.84,-204.4,699.7,-11.6,535,5025,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2001,3906,0,0,0,0,0,0
$GC,5349,-0.85,-204.4,737.8,-11.8,551,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1999,3902,0,0,0,0,0,0
$GC,5660,-0.85,-204.4,775.9,-12.4,566,5663,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3172,3900,0,0,0,0,0,0
$GC,5688,-0.86,-204.4,779.7,-12.8,567,5692,0.00,1.83,0.00,0.000,6,0.000,0.045,2459,2005,3900,0,0,0,0,0,0
$GC,6015,-0.87,-204.4,817.5,-11.5,583,6016,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2005,3897,0,0,0,0,0,0
$GC,6325,-0.87,-204.4,853.1,-11.5,598,6329,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3174,3895,0,0,0,0,0,0
$GC,6364,-0.88,-204.4,857.8,-10.9,599,6370,0.00,1.77,0.00,0.000,6,0.000,0.045,2459,2004,3895,0,0,0,0,0,0
$GC,6680,-0.89,-204.4,894.3,-11.6,615,6684,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3167,3893,0,0,0,0,0,0
$GC,6704,-0.90,-204.4,897.1,-12.1,616,6708,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,2001,3893,0,0,0,0,0,0
$GC,7037,-0.91,-204.4,936.8,-12.1,632,7041,0.00,1.88,0.00,0.000,4,0.000,0.059,2459,3172,3891,0,0,0,0,0,0
$GC,7065,-0.92,-204.4,940.3,-12.2,633,7069,0.00,1.80,0.00,0.000,6,0.000,0.045,2459,1999,3890,0,0,0,0,0,0
$GC,7394,-0.92,-204.4,980.5,-12.3,649,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1997,3889,0,0,0,0,0,0
$STATE,7555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7555,begin apogee
$GC,7561,-0.18,0.0,1000.9,12.4,657,7741,0.65,0.08,175.10,1.273,6,0.137,0.103,2665,2092,3091,0,0,0,0,0,0
$STATE,7742,end apogee,CONTROL_FINISHED_OK
$STATE,7742,begin climb
$GC,7744,0.69,204.4,1013.4,0.0,665,7949,0.80,2.00,197.60,1.246,4,0.057,0.044,2956,3267,2256,0,0,0,0,0,0
$GC,8038,0.67,204.4,991.8,16.4,679,8045,0.00,1.88,0.00,0.000,6,0.000,0.034,2964,2088,2245,0,0,0,0,0,0
$GC,8355,0.66,204.4,940.8,16.4,695,8358,0.00,1.67,0.00,0.000,4,0.000,0.047,2973,965,2240,0,0,0,0,0,0
$GC,8393,0.64,204.4,933.8,16.7,696,8401,0.00,1.80,0.00,0.000,6,0.000,0.039,2967,2143,2239,0,0,0,0,0,0
$GC,8710,0.63,204.4,879.8,17.3,712,8714,0.12,1.70,0.00,0.000,4,0.191,0.047,2935,3271,2237,0,0,0,0,0,0
$GC,8741,0.62,204.4,873.9,17.8,713,8745,0.00,1.80,0.00,0.000,6,0.000,0.035,2943,2096,2236,0,0,0,0,0,0
$GC,9064,0.61,204.4,824.5,15.0,729,9067,0.00,1.70,0.00,0.000,4,0.000,0.047,2952,966,2236,0,0,0,0,0,0
$GC,9091,0.60,204.4,820.0,16.0,730,9095,0.00,1.80,0.00,0.000,6,0.000,0.040,2950,2144,2235,0,0,0,0,0,0
$GC,9418,0.58,204.4,771.8,14.7,746,9423,0.12,1.75,0.00,0.000,4,0.187,0.048,2910,3273,2234,0,0,0,0,0,0
$GC,9474,0.62,239.3,764.3,12.3,748,9508,0.00,1.77,29.73,1.102,6,0.000,0.035,2919,2080,2115,0,0,0,0,0,0
$GC,9819,0.66,270.4,721.9,12.5,765,9853,0.00,1.80,28.52,1.070,4,0.000,0.047,2928,965,1987,0,0,0,0,0,0
$GC,9939,0.66,272.2,705.9,13.8,770,9943,0.00,1.80,0.00,0.000,6,0.000,0.039,2925,2155,1982,0,0,0,0,0,0
$GC,10261,0.66,272.2,660.0,14.6,786,10265,0.00,1.83,0.00,0.000,4,0.000,0.047,2934,962,1978,0,0,0,0,0,0
$GC,10356,0.66,277.6,646.5,13.6,790,10366,0.00,1.80,6.47,0.836,6,0.000,0.040,2934,2157,1959,0,0,0,0,0,0
$GC,10678,0.67,289.9,602.5,13.3,805,10700,0.00,1.90,12.40,0.940,4,0.000,0.046,2943,959,1908,0,0,0,0,0,0
$GC,10758,0.67,289.9,591.7,14.2,811,10761,0.00,1.77,0.00,0.000,6,0.000,0.038,2943,2149,1906,0,0,0,0,0,0
$GC,11089,0.67,289.9,544.2,14.7,842,11092,0.00,1.83,0.00,0.000,4,0.000,0.046,2951,967,1903,0,0,0,0,0,0
$GC,11116,0.67,289.9,540.0,14.6,844,11123,0.00,1.80,0.00,0.000,6,0.000,0.039,2952,2147,1904,0,0,0,0,0,0
$GC,11444,0.66,291.9,493.5,13.8,875,11447,0.00,1.77,0.00,0.000,4,0.000,0.046,2961,965,1901,0,0,0,0,0,0
$GC,11479,0.68,306.5,488.2,13.2,878,11504,0.00,1.77,16.05,0.897,6,0.000,0.040,2961,2156,1840,0,0,0,0,0,0
$GC,11822,0.67,306.5,437.9,14.9,910,11826,0.00,1.85,0.00,0.000,4,0.000,0.047,2969,969,1833,0,0,0,0,0,0
$GC,11895,0.67,306.5,426.3,15.3,916,11905,0.00,1.80,0.00,0.000,6,0.000,0.041,2969,2142,1833,0,0,0,0,0,0
$GC,12222,0.67,306.5,375.3,15.7,947,12226,0.00,1.75,0.00,0.000,4,0.000,0.044,2978,967,1832,0,0,0,0,0,0
$GC,12259,0.66,306.5,369.5,14.4,950,12263,0.12,1.75,0.00,0.000,6,0.167,0.039,2944,2149,1832,0,0,0,0,0,0
$GC,12592,0.69,330.1,326.8,12.8,981,12617,0.00,1.88,21.08,0.794,4,0.000,0.046,2951,966,1745,0,0,0,0,0,0
$GC,12666,0.69,330.1,316.8,13.9,987,12670,0.00,1.77,0.00,0.000,6,0.000,0.038,2951,2155,1742,0,0,0,0,0,0
$GC,13009,0.73,362.2,269.7,12.4,1036,13046,0.00,1.85,28.42,0.755,4,0.000,0.041,2960,972,1613,0,0,0,0,0,0
$GC,13097,0.76,375.3,258.7,13.3,1049,13118,0.00,1.75,12.32,0.692,6,0.000,0.036,2960,2149,1560,0,0,0,0,0,0
$GC,13470,0.76,375.3,206.3,14.1,1112,13479,0.00,1.80,0.00,0.000,4,0.000,0.042,2968,972,1555,0,0,0,0,0,0
$GC,13529,0.83,424.8,198.9,11.6,1121,13578,0.00,1.75,42.45,0.702,6,0.000,0.035,2968,2164,1358,0,0,0,0,0,0
$GC,13930,0.88,463.8,148.3,12.1,1188,13973,0.12,1.88,33.12,0.651,4,0.083,0.041,3042,969,1198,0,0,0,0,0,0
$GC,14047,0.88,463.8,130.2,15.1,1205,14056,0.00,1.80,0.00,0.000,6,0.000,0.035,3042,2151,1196,0,0,0,0,0,0
$GC,14415,0.89,463.8,72.7,14.0,1266,14424,0.00,1.73,0.00,0.000,4,0.000,0.041,3042,3277,1194,0,0,0,0,0,0
$GC,14445,0.89,463.8,68.5,14.4,1270,14454,0.00,1.80,0.00,0.000,6,0.000,0.032,3043,2088,1194,0,0,0,0,0,0
$GC,14813,0.91,479.1,20.3,13.2,1331,14831,0.00,1.75,13.38,0.511,4,0.000,0.042,3043,955,1137,0,0,0,0,0,0
$GC,14945,0.95,503.0,3.2,12.8,1352,14956,0.00,1.77,6.85,0.438,2,0.000,0.032,3043,2153,1110,0,0,0,0,0,0
$STATE,14957,end climb,SURFACE_DEPTH_REACHED
$STATE,14957,begin surface coast
$FINISH,0.1,1.015975
$STATE,14984,end surface coast,CONTROL_FINISHED_OK
$STATE,14984,begin surface
$SM_CCo,15001,103.85,0.057,0,0,481,640.23
$SM_GC,1.10,0.00,0.00,103.85,0.000,0.000,0.057,149,1998,481,-8.07,-0.76,640.23
$IRIDIUM_FIX,2225.34,12554.78,021110,010131
$TT8_MAMPS,0.026964
$HUMID,44.32
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.10
$XPDR_PINGS,0
$24V_AH,22.3,63.019
$10V_AH,9.8,51.618
$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,20.375,119.200,623.500,103.850,0.000,49.077,100.390,203.641,0.000,0.000,38.835,3377.056,7440.543,773.964,3777.456,307.341,0.000,2103.883,0.000,3405.274,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,102.510,1272.960,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.433,0.000,1849.843,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80198,1357
$CAP_FILE_SIZE,169918,0
$CFSIZE,260165632,230260736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103,331.4,1
$GPS,021110,054930,2232.285,12547.041,37,1.1,42,-3.2