version: 66.08
glider: 169
mission: 2
dive: 450
start: 11 9 110 7 47 0
data:
$ID,169
$MISSION,2
$DIVE,450
$N_DIVES,457
$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,-7317.8926
$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
$GPS1,091110,073907,2119.543,12601.365,27,0.9,27,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.6
$GPS2,091110,074632,2119.497,12601.254,11,1.8,11,-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,14.1,9414,-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,14,begin dive
$GC,16,-0.69,-204.4,0.0,0.0,0,115,0.00,0.00,-96.43,0.000,2,0.000,0.000,139,1993,3068,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.5,-5.4,12,152,9.77,1.92,-15.90,0.000,4,0.230,0.071,2488,3167,3927,0,0,0,0,0,0
$GC,191,-0.67,-204.4,30.5,-32.9,22,201,0.00,1.83,0.00,0.000,6,0.000,0.046,2488,2006,3928,0,0,0,0,0,0
$GC,550,-0.66,-204.4,136.7,-22.5,83,559,0.10,1.90,0.00,0.000,4,0.194,0.058,2512,3168,3928,0,0,0,0,0,0
$GC,576,-0.65,-204.4,142.0,-20.1,86,585,0.00,1.80,0.00,0.000,6,0.000,0.044,2512,2009,3928,0,0,0,0,0,0
$GC,938,-0.65,-204.4,200.7,-14.3,147,944,0.00,1.85,0.00,0.000,4,0.000,0.057,2512,3174,3929,0,0,0,0,0,0
$GC,1001,-0.66,-204.4,209.1,-12.5,157,1007,0.00,1.77,0.00,0.000,6,0.000,0.041,2512,2002,3930,0,0,0,0,0,0
$GC,1356,-0.66,-204.4,257.2,-13.2,218,1365,0.00,1.85,0.00,0.000,4,0.000,0.054,2512,3165,3929,0,0,0,0,0,0
$GC,1383,-0.67,-204.4,260.6,-12.3,222,1393,0.00,1.77,0.00,0.000,6,0.000,0.037,2512,2002,3929,0,0,0,0,0,0
$GC,1740,-0.68,-204.4,305.4,-12.0,279,1743,0.00,1.85,0.00,0.000,4,0.000,0.054,2512,3165,3928,0,0,0,0,0,0
$GC,1825,-0.69,-204.4,315.4,-10.3,286,1834,0.00,1.80,0.00,0.000,6,0.000,0.038,2512,1993,3927,0,0,0,0,0,0
$GC,2152,-0.70,-204.4,355.8,-12.7,317,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1992,3926,0,0,0,0,0,0
$GC,2473,-0.71,-204.4,393.4,-10.8,347,2476,0.00,1.88,0.00,0.000,4,0.000,0.054,2512,3165,3925,0,0,0,0,0,0
$GC,2522,-0.72,-204.4,398.2,-8.2,351,2525,0.00,1.77,0.00,0.000,6,0.000,0.037,2512,2003,3924,0,0,0,0,0,0
$GC,2853,-0.73,-204.4,429.0,-9.0,382,2857,0.00,1.83,0.00,0.000,4,0.000,0.053,2512,3174,3922,0,0,0,0,0,0
$GC,2914,-0.75,-204.4,434.0,-8.2,387,2918,0.00,1.80,0.00,0.000,6,0.000,0.040,2512,2002,3921,0,0,0,0,0,0
$GC,3246,-0.76,-204.4,463.8,-8.7,418,3250,0.00,1.83,0.00,0.000,4,0.000,0.053,2512,3172,3920,0,0,0,0,0,0
$GC,3309,-0.78,-204.4,469.2,-7.4,423,3316,0.10,1.77,0.00,0.000,6,0.119,0.039,2472,2000,3919,0,0,0,0,0,0
$GC,3635,-0.79,-204.4,509.4,-12.6,454,3639,0.00,1.83,0.00,0.000,4,0.000,0.054,2472,3168,3917,0,0,0,0,0,0
$GC,3709,-0.80,-204.4,518.2,-11.3,460,3716,0.00,1.77,0.00,0.000,6,0.000,0.039,2472,2002,3916,0,0,0,0,0,0
$GC,4035,-0.80,-204.4,558.3,-11.8,491,4036,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2000,3914,0,0,0,0,0,0
$GC,4355,-0.81,-204.4,594.4,-11.6,521,4358,0.00,1.85,0.00,0.000,4,0.000,0.055,2471,3175,3911,0,0,0,0,0,0
$GC,4428,-0.82,-204.4,602.8,-10.7,527,4431,0.00,1.77,0.00,0.000,6,0.000,0.042,2471,2002,3910,0,0,0,0,0,0
$GC,4756,-0.82,-204.4,642.5,-12.9,543,4759,0.00,1.83,0.00,0.000,4,0.000,0.056,2471,3168,3907,0,0,0,0,0,0
$GC,4802,-0.83,-204.4,648.3,-12.0,545,4806,0.00,1.77,0.00,0.000,6,0.000,0.041,2472,2000,3907,0,0,0,0,0,0
$GC,5135,-0.84,-204.4,688.9,-12.0,561,5139,0.00,1.85,0.00,0.000,4,0.000,0.057,2471,3168,3904,0,0,0,0,0,0
$GC,5182,-0.85,-204.4,694.1,-10.5,563,5186,0.00,1.75,0.00,0.000,6,0.000,0.041,2472,2003,3904,0,0,0,0,0,0
$GC,5517,-0.86,-204.4,730.8,-10.6,579,5521,0.00,1.88,0.00,0.000,4,0.000,0.057,2471,3170,3902,0,0,0,0,0,0
$GC,5567,-0.87,-204.4,736.3,-9.4,581,5571,0.00,1.77,0.00,0.000,6,0.000,0.042,2472,1998,3901,0,0,0,0,0,0
$GC,5895,-0.88,-204.4,770.5,-10.1,597,5899,0.00,1.85,0.00,0.000,4,0.000,0.057,2471,3175,3898,0,0,0,0,0,0
$GC,5951,-0.89,-204.4,776.2,-9.2,599,5954,0.00,1.77,0.00,0.000,6,0.000,0.044,2472,2004,3898,0,0,0,0,0,0
$GC,6273,-0.90,-204.4,808.7,-10.0,615,6277,0.00,1.85,0.00,0.000,4,0.000,0.057,2472,3167,3895,0,0,0,0,0,0
$GC,6307,-0.92,-204.4,812.1,-9.5,616,6311,0.10,1.77,0.00,0.000,6,0.120,0.042,2434,1999,3895,0,0,0,0,0,0
$GC,6628,-0.92,-204.4,855.1,-13.8,632,6632,0.00,1.88,0.00,0.000,4,0.000,0.059,2433,3174,3893,0,0,0,0,0,0
$GC,6663,-0.92,-204.4,859.7,-13.7,633,6667,0.00,1.80,0.00,0.000,6,0.000,0.046,2433,2002,3893,0,0,0,0,0,0
$GC,6985,-0.92,-204.4,905.1,-14.2,649,6986,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2000,3891,0,0,0,0,0,0
$GC,7294,-0.92,-204.4,949.0,-14.1,664,7298,0.00,1.88,0.00,0.000,4,0.000,0.060,2433,3172,3889,0,0,0,0,0,0
$GC,7364,-0.93,-204.4,958.2,-12.4,667,7368,0.00,1.80,0.00,0.000,6,0.000,0.047,2433,2002,3888,0,0,0,0,0,0
$STATE,7674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7674,begin apogee
$GC,7679,-0.18,0.0,1001.9,13.8,682,7861,0.73,0.05,174.55,1.277,6,0.140,0.067,2661,2097,3090,0,0,0,0,0,0
$STATE,7862,end apogee,CONTROL_FINISHED_OK
$STATE,7862,begin climb
$GC,7864,0.69,204.4,1012.7,0.0,690,8066,0.77,1.88,194.32,1.256,4,0.050,0.047,2963,965,2256,0,0,0,0,0,0
$GC,8175,0.67,204.4,987.2,16.6,705,8179,0.00,1.80,0.00,0.000,6,0.000,0.038,2963,2154,2246,0,0,0,0,0,0
$GC,8509,0.66,204.4,930.8,16.4,721,8512,0.00,1.67,0.00,0.000,4,0.000,0.045,2963,3275,2240,0,0,0,0,0,0
$GC,8535,0.64,204.4,925.8,18.4,722,8540,0.10,1.80,0.00,0.000,6,0.164,0.035,2941,2093,2240,0,0,0,0,0,0
$GC,8863,0.63,204.4,876.5,14.9,738,8864,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2092,2238,0,0,0,0,0,0
$GC,9172,0.62,204.4,831.2,14.7,753,9175,0.00,1.70,0.00,0.000,4,0.000,0.047,2949,962,2236,0,0,0,0,0,0
$GC,9189,0.61,204.4,828.4,14.6,753,9196,0.00,1.75,0.00,0.000,6,0.000,0.037,2948,2150,2236,0,0,0,0,0,0
$GC,9506,0.60,204.4,780.7,15.2,769,9509,0.00,1.73,0.00,0.000,4,0.000,0.046,2948,3271,2235,0,0,0,0,0,0
$GC,9544,0.59,204.4,774.1,16.3,770,9552,0.10,1.80,0.00,0.000,6,0.160,0.035,2925,2083,2234,0,0,0,0,0,0
$GC,9861,0.62,230.3,733.5,12.7,786,9889,0.00,1.77,21.80,1.074,4,0.000,0.047,2933,964,2151,0,0,0,0,0,0
$GC,9912,0.66,269.6,726.6,12.1,788,9954,0.00,1.77,37.28,1.080,6,0.000,0.037,2932,2149,1991,0,0,0,0,0,0
$GC,10271,0.66,269.6,674.8,14.5,806,10275,0.00,1.70,0.00,0.000,4,0.000,0.046,2932,3275,1979,0,0,0,0,0,0
$GC,10303,0.66,269.6,669.5,14.8,807,10307,0.00,1.83,0.00,0.000,6,0.000,0.035,2941,2084,1979,0,0,0,0,0,0
$GC,10626,0.65,269.6,621.3,15.0,823,10629,0.00,1.65,0.00,0.000,4,0.000,0.047,2950,968,1977,0,0,0,0,0,0
$GC,10687,0.65,269.6,611.8,14.2,825,10694,0.00,1.80,0.00,0.000,6,0.000,0.038,2949,2152,1976,0,0,0,0,0,0
$GC,11011,0.64,269.6,561.5,15.6,852,11015,0.00,1.80,0.00,0.000,4,0.000,0.046,2958,958,1976,0,0,0,0,0,0
$GC,11039,0.64,269.6,556.9,15.5,854,11046,0.00,1.75,0.00,0.000,6,0.000,0.037,2957,2150,1976,0,0,0,0,0,0
$GC,11364,0.63,269.6,508.2,14.8,885,11365,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2150,1974,0,0,0,0,0,0
$GC,11687,0.63,269.6,461.7,14.0,915,11691,0.00,1.83,0.00,0.000,4,0.000,0.045,2966,964,1974,0,0,0,0,0,0
$GC,11722,0.65,294.1,456.4,12.8,918,11748,0.00,1.75,20.62,0.898,6,0.000,0.037,2966,2149,1890,0,0,0,0,0,0
$GC,12066,0.65,294.1,404.5,15.4,950,12070,0.00,1.83,0.00,0.000,4,0.000,0.044,2974,964,1884,0,0,0,0,0,0
$GC,12103,0.64,294.1,399.4,14.1,953,12107,0.12,1.75,0.00,0.000,6,0.167,0.037,2941,2150,1883,0,0,0,0,0,0
$GC,12433,0.70,341.2,358.9,11.7,984,12482,0.00,1.83,41.45,0.842,4,0.000,0.045,2947,971,1699,0,0,0,0,0,0
$GC,12625,0.79,405.8,336.4,10.9,1000,12686,0.08,1.80,56.05,0.816,6,0.048,0.035,3006,2155,1436,0,0,0,0,0,0
$GC,13021,0.78,405.8,271.3,16.5,1050,13031,0.00,1.83,0.00,0.000,4,0.000,0.043,3016,966,1427,0,0,0,0,0,0
$GC,13108,0.78,405.8,257.1,17.3,1064,13117,0.08,1.77,0.00,0.000,6,0.148,0.034,2989,2151,1426,0,0,0,0,0,0
$GC,13469,0.82,441.9,202.8,12.2,1125,13505,0.00,1.88,30.17,0.698,4,0.000,0.042,2997,964,1289,0,0,0,0,0,0
$GC,13563,0.88,480.0,190.9,12.1,1139,13605,0.00,1.75,33.12,0.686,6,0.000,0.033,2998,2155,1133,0,0,0,0,0,0
$GC,13958,0.89,481.8,137.2,13.8,1205,13967,0.00,1.83,0.00,0.000,4,0.000,0.041,2999,960,1129,0,0,0,0,0,0
$GC,14091,1.03,581.5,123.7,9.3,1226,14181,0.12,1.77,83.22,0.639,6,0.047,0.033,3078,2152,719,0,0,0,0,0,0
$GC,14533,1.03,581.5,47.6,16.0,1297,14542,0.00,1.80,0.00,0.000,4,0.000,0.040,3086,965,715,0,0,0,0,0,0
$GC,14586,1.03,581.5,39.8,14.4,1305,14595,0.00,1.77,0.00,0.000,6,0.000,0.031,3086,2162,715,0,0,0,0,0,0
$STATE,14780,end climb,SURFACE_DEPTH_REACHED
$STATE,14780,begin surface coast
$FINISH,0.4,1.022460
$STATE,14794,end surface coast,CONTROL_FINISHED_OK
$STATE,14794,begin surface
$SM_CCo,14811,43.95,0.060,0,0,481,640.23
$SM_GC,0.98,0.00,0.00,43.95,0.000,0.000,0.060,152,2000,481,-8.06,-0.71,640.23
$IRIDIUM_FIX,2108.69,12558.07,091110,030336
$TT8_MAMPS,0.026964
$HUMID,46.88
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.3,71.906
$10V_AH,9.9,57.886
$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,20.450,115.800,692.600,43.950,0.000,30.526,42.778,229.166,0.000,0.000,11.875,3307.514,7241.136,737.638,3672.936,332.621,0.000,2089.166,0.000,3390.504,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,77.265,1276.785,59.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,907.125,0.000,1824.224,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333896
$DATA_FILE_SIZE,80389,1339
$CAP_FILE_SIZE,165750,0
$CFSIZE,260165632,226926592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.054,237.8,1
$GPS,091110,115536,2121.456,12601.995,31,1.1,31,-2.9