version: 66.08
glider: 169
mission: 2
dive: 420
start: 11 4 110 0 47 59
data:
$ID,169
$MISSION,2
$DIVE,420
$N_DIVES,428
$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,-7263.707
$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
$GPS1,041110,004000,2218.882,12545.489,36,1.9,36,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.0
$GPS2,041110,004731,2218.900,12545.435,41,1.0,41,-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,176.6,109549,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.20,0.000,2,0.000,0.000,140,1999,3087,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.6,-5.8,12,152,10.12,1.77,-15.10,0.000,4,0.243,0.066,2497,881,3926,0,0,0,0,0,0
$GC,242,-0.67,-204.4,47.1,-28.0,31,251,0.00,1.83,0.00,0.000,6,0.000,0.051,2498,2039,3928,0,0,0,0,0,0
$GC,609,-0.66,-204.4,140.7,-22.5,92,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2040,3929,0,0,0,0,0,0
$GC,961,-0.66,-204.4,211.1,-18.0,153,968,0.00,1.77,0.00,0.000,4,0.000,0.060,2497,3172,3929,0,0,0,0,0,0
$GC,1011,-0.66,-204.4,219.0,-15.4,161,1018,0.00,1.80,0.00,0.000,6,0.000,0.043,2498,1998,3930,0,0,0,0,0,0
$GC,1357,-0.66,-204.4,274.6,-15.7,222,1365,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1997,3930,0,0,0,0,0,0
$GC,1700,-0.67,-204.4,324.6,-14.1,268,1704,0.00,1.83,0.00,0.000,4,0.000,0.056,2497,3169,3929,0,0,0,0,0,0
$GC,1737,-0.67,-204.4,329.1,-13.1,271,1740,0.00,1.80,0.00,0.000,6,0.000,0.040,2498,2000,3929,0,0,0,0,0,0
$GC,2068,-0.68,-204.4,369.9,-11.3,302,2072,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3171,3928,0,0,0,0,0,0
$GC,2092,-0.69,-204.4,372.8,-11.4,304,2096,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2001,3927,0,0,0,0,0,0
$GC,2426,-0.69,-204.4,411.5,-11.9,335,2429,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3173,3925,0,0,0,0,0,0
$GC,2465,-0.71,-204.4,416.3,-10.8,338,2473,0.00,1.80,0.00,0.000,6,0.000,0.039,2498,2002,3926,0,0,0,0,0,0
$GC,2792,-0.71,-204.4,454.6,-12.3,369,2796,0.00,1.85,0.00,0.000,4,0.000,0.054,2498,3165,3923,0,0,0,0,0,0
$GC,2876,-0.73,-204.4,464.3,-11.0,376,2884,0.00,1.80,0.00,0.000,6,0.000,0.039,2498,1997,3922,0,0,0,0,0,0
$GC,3203,-0.74,-204.4,500.5,-10.6,407,3207,0.00,1.88,0.00,0.000,4,0.000,0.055,2498,3170,3921,0,0,0,0,0,0
$GC,3231,-0.75,-204.4,503.7,-10.0,409,3239,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,2001,3920,0,0,0,0,0,0
$GC,3556,-0.76,-204.4,536.3,-10.4,440,3560,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3170,3917,0,0,0,0,0,0
$GC,3581,-0.77,-204.4,538.8,-10.6,442,3585,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2001,3917,0,0,0,0,0,0
$GC,3912,-0.78,-204.4,574.4,-10.9,473,3913,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2000,3915,0,0,0,0,0,0
$GC,4240,-0.79,-204.4,609.4,-10.7,500,4244,0.00,1.88,0.00,0.000,4,0.000,0.055,2497,3166,3912,0,0,0,0,0,0
$GC,4301,-0.81,-204.4,615.9,-9.2,502,4309,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,2001,3912,0,0,0,0,0,0
$GC,4618,-0.82,-204.4,649.4,-10.5,518,4621,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3169,3910,0,0,0,0,0,0
$GC,4646,-0.84,-204.4,652.5,-10.3,519,4650,0.12,1.77,0.00,0.000,6,0.107,0.041,2450,1990,3909,0,0,0,0,0,0
$GC,4974,-0.84,-204.4,697.9,-13.8,535,4978,0.00,1.88,0.00,0.000,4,0.000,0.059,2449,3167,3906,0,0,0,0,0,0
$GC,5001,-0.84,-204.4,702.1,-13.9,536,5005,0.00,1.80,0.00,0.000,6,0.000,0.044,2449,2005,3906,0,0,0,0,0,0
$GC,5330,-0.85,-204.4,746.6,-13.7,552,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2004,3903,0,0,0,0,0,0
$GC,5638,-0.85,-204.4,787.2,-13.0,567,5642,0.00,1.73,0.00,0.000,4,0.000,0.054,2449,871,3901,0,0,0,0,0,0
$GC,5666,-0.85,-204.4,791.0,-12.7,568,5670,0.00,1.80,0.00,0.000,6,0.000,0.051,2449,2039,3901,0,0,0,0,0,0
$GC,5994,-0.86,-204.4,832.2,-12.5,584,5997,0.00,1.77,0.00,0.000,4,0.000,0.062,2449,3167,3899,0,0,0,0,0,0
$GC,6044,-0.87,-204.4,838.2,-10.9,586,6047,0.00,1.77,0.00,0.000,6,0.000,0.046,2449,2004,3898,0,0,0,0,0,0
$GC,6372,-0.87,-204.4,876.1,-11.3,602,6376,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3168,3896,0,0,0,0,0,0
$GC,6400,-0.88,-204.4,879.5,-11.2,603,6404,0.00,1.80,0.00,0.000,6,0.000,0.046,2449,2004,3895,0,0,0,0,0,0
$GC,6728,-0.88,-204.4,916.6,-11.7,619,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2002,3893,0,0,0,0,0,0
$GC,7037,-0.89,-204.4,954.3,-12.2,634,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2002,3891,0,0,0,0,0,0
$GC,7347,-0.90,-204.4,992.7,-12.5,649,7350,0.00,1.88,0.00,0.000,4,0.000,0.061,2450,3167,3890,0,0,0,0,0,0
$STATE,7405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7405,begin apogee
$GC,7412,-0.18,0.0,1000.1,11.2,651,7592,0.68,0.08,174.60,1.277,6,0.137,0.112,2661,2143,3091,0,0,0,0,0,0
$STATE,7593,end apogee,CONTROL_FINISHED_OK
$STATE,7593,begin climb
$GC,7595,0.69,204.4,1008.9,0.0,660,7801,0.77,1.98,196.73,1.248,4,0.059,0.046,2943,3265,2255,0,0,0,0,0,0
$GC,7908,0.67,204.4,982.2,16.5,674,7915,0.00,1.80,0.00,0.000,6,0.000,0.034,2952,2089,2245,0,0,0,0,0,0
$GC,8225,0.66,204.4,932.1,15.5,690,8229,0.00,1.70,0.00,0.000,4,0.000,0.045,2960,970,2240,0,0,0,0,0,0
$GC,8281,0.65,204.4,922.9,15.3,692,8285,0.00,1.77,0.00,0.000,6,0.000,0.039,2960,2148,2239,0,0,0,0,0,0
$GC,8603,0.64,204.4,870.2,16.7,708,8607,0.00,1.80,0.00,0.000,4,0.000,0.045,2968,974,2237,0,0,0,0,0,0
$GC,8640,0.62,204.4,863.5,16.6,709,8649,0.10,1.80,0.00,0.000,6,0.168,0.041,2936,2151,2237,0,0,0,0,0,0
$GC,8957,0.61,204.4,815.9,14.9,725,8960,0.00,1.70,0.00,0.000,4,0.000,0.048,2936,3270,2236,0,0,0,0,0,0
$GC,9007,0.60,204.4,807.8,16.2,727,9010,0.00,1.77,0.00,0.000,6,0.000,0.036,2944,2075,2235,0,0,0,0,0,0
$GC,9334,0.59,204.4,759.6,14.5,743,9337,0.00,1.65,0.00,0.000,4,0.000,0.047,2953,960,2234,0,0,0,0,0,0
$GC,9372,0.59,204.4,753.7,14.2,744,9380,0.08,1.80,0.00,0.000,6,0.158,0.041,2926,2142,2234,0,0,0,0,0,0
$GC,9689,0.61,226.6,713.0,12.9,760,9709,0.00,0.00,18.02,1.047,6,0.000,0.000,2926,2142,2168,0,0,0,0,0,0
$GC,10018,0.62,241.7,669.7,13.2,776,10041,0.00,1.73,15.30,1.004,4,0.000,0.046,2925,3268,2104,0,0,0,0,0,0
$GC,10087,0.62,241.7,660.0,15.0,779,10091,0.00,1.80,0.00,0.000,6,0.000,0.036,2934,2087,2100,0,0,0,0,0,0
$GC,10420,0.62,247.1,613.0,13.6,795,10430,0.00,1.73,5.10,0.750,4,0.000,0.046,2943,971,2083,0,0,0,0,0,0
$GC,10470,0.63,259.3,606.2,13.3,797,10488,0.00,1.77,13.07,0.949,6,0.000,0.040,2942,2158,2033,0,0,0,0,0,0
$GC,10805,0.63,263.9,560.5,13.7,826,10814,0.00,0.00,4.68,0.691,6,0.000,0.000,2942,2158,2015,0,0,0,0,0,0
$GC,11132,0.63,263.9,514.0,14.9,857,11136,0.00,1.83,0.00,0.000,4,0.000,0.047,2951,962,2011,0,0,0,0,0,0
$GC,11211,0.62,263.9,503.0,14.2,864,11215,0.00,1.77,0.00,0.000,6,0.000,0.041,2951,2152,2011,0,0,0,0,0,0
$GC,11544,0.62,263.9,454.8,14.4,895,11548,0.00,1.83,0.00,0.000,4,0.000,0.046,2959,967,2010,0,0,0,0,0,0
$GC,11572,0.63,273.3,450.5,13.5,897,11593,0.00,1.77,10.25,0.832,6,0.000,0.040,2958,2149,1975,0,0,0,0,0,0
$GC,11910,0.62,273.3,401.5,14.6,929,11914,0.00,1.77,0.00,0.000,4,0.000,0.045,2967,968,1971,0,0,0,0,0,0
$GC,11937,0.62,273.3,396.8,16.1,931,11944,0.10,1.80,0.00,0.000,6,0.146,0.039,2933,2147,1971,0,0,0,0,0,0
$GC,12263,0.69,335.6,357.3,11.0,962,12325,0.00,1.88,54.92,0.845,4,0.000,0.044,2939,963,1721,0,0,0,0,0,0
$GC,12355,0.76,386.4,346.4,11.6,969,12404,0.10,1.80,44.28,0.817,6,0.095,0.037,2998,2151,1515,0,0,0,0,0,0
$GC,12733,0.75,386.4,277.9,18.7,1013,12740,0.00,1.80,0.00,0.000,4,0.000,0.044,3007,967,1504,0,0,0,0,0,0
$GC,12806,0.75,386.4,264.9,16.9,1025,12814,0.12,1.75,0.00,0.000,6,0.167,0.037,2973,2151,1504,0,0,0,0,0,0
$GC,13160,0.75,386.4,213.5,14.7,1086,13168,0.00,1.83,0.00,0.000,4,0.000,0.044,2981,966,1502,0,0,0,0,0,0
$GC,13217,0.81,429.4,205.6,11.9,1095,13260,0.00,1.77,35.60,0.711,6,0.000,0.036,2980,2160,1340,0,0,0,0,0,0
$GC,13602,0.85,459.0,149.7,12.5,1161,13636,0.00,1.88,25.52,0.654,4,0.000,0.042,2986,967,1218,0,0,0,0,0,0
$GC,13745,0.99,561.4,134.1,9.2,1183,13836,0.12,1.80,84.40,0.652,6,0.041,0.034,3067,2155,801,0,0,0,0,0,0
$GC,14187,0.99,561.4,53.9,16.1,1254,14196,0.00,1.83,0.00,0.000,4,0.000,0.042,3075,963,796,0,0,0,0,0,0
$GC,14247,0.99,561.4,44.0,17.1,1263,14255,0.00,1.77,0.00,0.000,6,0.000,0.032,3076,2153,795,0,0,0,0,0,0
$STATE,14482,end climb,SURFACE_DEPTH_REACHED
$STATE,14482,begin surface coast
$FINISH,0.2,1.009991
$STATE,14507,end surface coast,CONTROL_FINISHED_OK
$STATE,14507,begin surface
$SM_CCo,14525,55.40,0.059,0,0,481,640.23
$SM_GC,0.93,0.00,0.00,55.40,0.000,0.000,0.059,148,1984,481,-8.07,-1.19,640.23
$IRIDIUM_FIX,2213.68,12545.54,031110,202012
$TT8_MAMPS,0.026964
$HUMID,47.99
$INTERNAL_PRESSURE,9.16407
$TCM_TEMP,24.00
$XPDR_PINGS,0
$24V_AH,22.3,65.403
$10V_AH,9.8,53.314
$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,20.925,108.125,682.475,55.400,0.000,23.622,37.378,224.346,0.000,0.000,43.370,3222.774,7178.718,739.614,3571.941,307.949,0.000,2050.620,0.000,3272.240,0.000,0.543,0.000
$DEVICE_MAMPS,243.270,112.455,1276.785,58.905,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,885.550,0.000,1747.391,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76841,1306
$CAP_FILE_SIZE,162004,0
$CFSIZE,260165632,229371904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051, 43.1,1
$GPS,041110,045236,2216.722,12545.711,67,1.0,67,-3.1