version: 66.08
glider: 169
mission: 2
dive: 451
start: 11 9 110 12 4 4
data:
$ID,169
$MISSION,2
$DIVE,451
$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,-7319.1494
$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
$GPS1,091110,115536,2121.456,12601.995,31,1.1,31,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-66.3
$GPS2,091110,120326,2121.417,12601.925,13,1.5,13,-2.9
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,190.9,4826,-22.3,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.69,-157.2,0.0,0.0,0,114,0.00,0.00,-95.53,0.000,2,0.000,0.000,151,2000,3043,0,0,0,0,0,0
$GC,117,-0.75,-204.4,3.4,-5.4,12,152,9.80,1.73,-16.98,0.000,4,0.234,0.061,2480,869,3927,0,0,0,0,0,0
$GC,277,-0.74,-204.4,50.9,-25.0,37,287,0.00,1.85,0.00,0.000,6,0.000,0.050,2479,2046,3928,0,0,0,0,0,0
$GC,640,-0.74,-204.4,158.0,-24.1,98,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2046,3929,0,0,0,0,0,0
$GC,989,-0.73,-204.4,233.6,-19.1,159,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2046,3930,0,0,0,0,0,0
$GC,1333,-0.74,-204.4,299.1,-18.3,220,1342,0.00,1.75,0.00,0.000,4,0.000,0.060,2480,3161,3931,0,0,0,0,0,0
$GC,1418,-0.75,-204.4,312.9,-16.1,228,1422,0.00,1.75,0.00,0.000,6,0.000,0.042,2479,2001,3931,0,0,0,0,0,0
$GC,1751,-0.75,-204.4,365.1,-14.5,259,1755,0.00,1.88,0.00,0.000,4,0.000,0.057,2479,3168,3930,0,0,0,0,0,0
$GC,1776,-0.76,-204.4,368.8,-14.7,261,1780,0.00,1.80,0.00,0.000,6,0.000,0.041,2479,2001,3930,0,0,0,0,0,0
$GC,2107,-0.77,-204.4,415.1,-13.2,292,2111,0.00,1.85,0.00,0.000,4,0.000,0.055,2479,3169,3928,0,0,0,0,0,0
$GC,2188,-0.78,-204.4,425.0,-11.7,299,2192,0.00,1.77,0.00,0.000,6,0.000,0.041,2480,2002,3928,0,0,0,0,0,0
$GC,2520,-0.79,-204.4,470.7,-13.6,330,2524,0.00,1.85,0.00,0.000,4,0.000,0.054,2480,3171,3926,0,0,0,0,0,0
$GC,2548,-0.80,-204.4,474.7,-12.8,332,2556,0.00,1.80,0.00,0.000,6,0.000,0.041,2479,2003,3926,0,0,0,0,0,0
$GC,2873,-0.81,-204.4,518.6,-13.6,363,2877,0.00,1.85,0.00,0.000,4,0.000,0.055,2480,3168,3923,0,0,0,0,0,0
$GC,2912,-0.83,-204.4,523.7,-12.1,366,2919,0.00,1.77,0.00,0.000,6,0.000,0.040,2479,2002,3922,0,0,0,0,0,0
$GC,3238,-0.84,-204.4,560.9,-11.6,397,3241,0.00,1.85,0.00,0.000,4,0.000,0.055,2479,3168,3921,0,0,0,0,0,0
$GC,3277,-0.86,-204.4,565.3,-10.7,400,3283,0.00,1.75,0.00,0.000,6,0.000,0.040,2480,2002,3920,0,0,0,0,0,0
$GC,3602,-0.87,-204.4,603.7,-12.4,430,3606,0.00,1.88,0.00,0.000,4,0.000,0.056,2480,3166,3917,0,0,0,0,0,0
$GC,3663,-0.89,-204.4,611.3,-11.4,432,3671,0.10,1.75,0.00,0.000,6,0.120,0.040,2443,2002,3916,0,0,0,0,0,0
$GC,3980,-0.89,-204.4,659.1,-15.0,448,3984,0.00,1.85,0.00,0.000,4,0.000,0.057,2442,3166,3913,0,0,0,0,0,0
$GC,4014,-0.90,-204.4,664.3,-14.6,449,4018,0.00,1.77,0.00,0.000,6,0.000,0.042,2442,1993,3913,0,0,0,0,0,0
$GC,4337,-0.91,-204.4,709.5,-13.4,465,4341,0.00,1.90,0.00,0.000,4,0.000,0.059,2442,3166,3910,0,0,0,0,0,0
$GC,4376,-0.92,-204.4,714.7,-12.1,466,4382,0.00,1.80,0.00,0.000,6,0.000,0.044,2442,2000,3910,0,0,0,0,0,0
$GC,4692,-0.92,-204.4,753.4,-12.0,482,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,1999,3907,0,0,0,0,0,0
$GC,5002,-0.93,-204.4,789.4,-11.7,497,5005,0.00,1.88,0.00,0.000,4,0.000,0.059,2442,3174,3904,0,0,0,0,0,0
$GC,5080,-0.94,-204.4,798.0,-10.1,500,5083,0.00,1.80,0.00,0.000,6,0.000,0.045,2442,1996,3903,0,0,0,0,0,0
$GC,5402,-0.95,-204.4,838.7,-13.5,516,5406,0.00,1.88,0.00,0.000,4,0.000,0.060,2442,3168,3901,0,0,0,0,0,0
$GC,5426,-0.96,-204.4,842.0,-13.3,517,5430,0.00,1.77,0.00,0.000,6,0.000,0.045,2442,2003,3901,0,0,0,0,0,0
$GC,5759,-0.97,-204.4,887.5,-13.7,533,5763,0.00,1.88,0.00,0.000,4,0.000,0.060,2442,3175,3898,0,0,0,0,0,0
$GC,5815,-0.98,-204.4,894.9,-11.9,535,5818,0.00,1.80,0.00,0.000,6,0.000,0.047,2442,2004,3897,0,0,0,0,0,0
$GC,6137,-0.99,-204.4,935.1,-11.9,551,6140,0.00,1.88,0.00,0.000,4,0.000,0.060,2442,3175,3895,0,0,0,0,0,0
$GC,6200,-1.01,-204.4,941.9,-10.2,553,6208,0.10,1.80,0.00,0.000,6,0.118,0.047,2404,2004,3895,0,0,0,0,0,0
$GC,6516,-1.01,-204.4,988.9,-15.1,569,6520,0.00,1.73,0.00,0.000,4,0.000,0.056,2403,872,3893,0,0,0,0,0,0
$GC,6562,-1.02,-204.4,995.6,-14.3,571,6566,0.00,1.80,0.00,0.000,6,0.000,0.054,2403,2037,3893,0,0,0,0,0,0
$STATE,6606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6606,begin apogee
$GC,6611,-0.18,0.0,1002.1,14.6,573,6792,0.85,0.10,174.95,1.269,6,0.151,0.093,2663,2086,3091,0,0,0,0,0,0
$STATE,6793,end apogee,CONTROL_FINISHED_OK
$STATE,6793,begin climb
$GC,6795,0.75,204.4,1009.8,0.0,581,6998,0.85,1.90,193.12,1.254,4,0.061,0.044,2980,972,2255,0,0,0,0,0,0
$GC,7026,0.74,204.4,992.0,18.2,592,7032,0.00,1.88,0.00,0.000,6,0.000,0.038,2980,2148,2250,0,0,0,0,0,0
$GC,7342,0.73,204.4,933.7,18.4,608,7345,0.00,1.77,0.00,0.000,4,0.000,0.044,2988,968,2241,0,0,0,0,0,0
$GC,7403,0.72,204.4,922.1,19.4,610,7409,0.00,1.80,0.00,0.000,6,0.000,0.040,2988,2145,2241,0,0,0,0,0,0
$GC,7719,0.71,204.4,864.3,18.1,626,7723,0.12,1.70,0.00,0.000,4,0.197,0.047,2956,3276,2238,0,0,0,0,0,0
$GC,7813,0.70,204.4,847.8,17.1,630,7816,0.00,1.80,0.00,0.000,6,0.000,0.034,2965,2083,2236,0,0,0,0,0,0
$GC,8141,0.69,204.4,794.9,16.3,646,8145,0.00,1.65,0.00,0.000,4,0.000,0.045,2974,963,2235,0,0,0,0,0,0
$GC,8165,0.68,204.4,790.8,16.3,647,8168,0.00,1.77,0.00,0.000,6,0.000,0.040,2974,2160,2235,0,0,0,0,0,0
$GC,8498,0.67,204.4,735.1,16.1,663,8502,0.00,1.67,0.00,0.000,4,0.000,0.047,2974,3279,2233,0,0,0,0,0,0
$GC,8544,0.66,204.4,727.1,17.3,665,8548,0.15,1.80,0.00,0.000,6,0.183,0.035,2944,2075,2233,0,0,0,0,0,0
$GC,8876,0.66,204.4,679.1,14.2,681,8880,0.00,1.67,0.00,0.000,4,0.000,0.046,2952,955,2232,0,0,0,0,0,0
$GC,8925,0.66,204.4,672.1,14.1,683,8929,0.00,1.83,0.00,0.000,6,0.000,0.038,2950,2153,2232,0,0,0,0,0,0
$GC,9253,0.66,204.4,624.7,14.7,699,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2153,2231,0,0,0,0,0,0
$GC,9568,0.65,204.4,578.4,14.0,720,9571,0.00,1.80,0.00,0.000,4,0.000,0.044,2959,963,2230,0,0,0,0,0,0
$GC,9637,0.66,214.1,568.8,13.3,726,9649,0.00,1.77,5.05,0.729,6,0.000,0.039,2958,2160,2218,0,0,0,0,0,0
$GC,9968,0.68,233.7,525.1,12.7,757,9994,0.00,1.90,20.38,0.942,4,0.000,0.044,2967,968,2137,0,0,0,0,0,0
$GC,10017,0.73,272.9,519.0,11.6,761,10058,0.00,1.77,36.50,0.949,6,0.000,0.039,2966,2148,1978,0,0,0,0,0,0
$GC,10377,0.73,272.9,465.3,15.2,795,10381,0.00,1.80,0.00,0.000,4,0.000,0.044,2975,966,1967,0,0,0,0,0,0
$GC,10425,0.73,272.9,458.1,15.3,799,10428,0.00,1.77,0.00,0.000,6,0.000,0.039,2974,2157,1966,0,0,0,0,0,0
$GC,10758,0.73,272.9,406.1,15.0,830,10761,0.00,1.67,0.00,0.000,4,0.000,0.047,2974,3277,1963,0,0,0,0,0,0
$GC,10785,0.72,272.9,401.1,16.5,832,10794,0.00,1.80,0.00,0.000,6,0.000,0.033,2983,2083,1963,0,0,0,0,0,0
$GC,11113,0.72,272.9,352.1,14.6,863,11116,0.00,1.67,0.00,0.000,4,0.000,0.043,2992,970,1962,0,0,0,0,0,0
$GC,11184,0.72,272.9,341.0,14.6,869,11192,0.00,1.77,0.00,0.000,6,0.000,0.037,2990,2143,1962,0,0,0,0,0,0
$GC,11515,0.72,272.9,294.9,14.0,903,11522,0.00,1.70,0.00,0.000,4,0.000,0.045,2990,3271,1962,0,0,0,0,0,0
$GC,11598,0.72,272.9,282.4,15.3,917,11606,0.12,1.75,0.00,0.000,6,0.176,0.031,2966,2075,1961,0,0,0,0,0,0
$GC,11948,0.80,335.6,244.1,10.2,978,12006,0.00,1.77,52.65,0.741,4,0.000,0.042,2974,958,1722,0,0,0,0,0,0
$GC,12095,0.84,357.4,226.6,12.6,1001,12124,0.00,1.77,19.42,0.692,6,0.000,0.034,2974,2154,1632,0,0,0,0,0,0
$GC,12467,0.87,377.9,178.0,12.7,1065,12489,0.10,0.00,17.73,0.652,6,0.097,0.000,3031,2154,1549,0,0,0,0,0,0
$GC,12836,0.87,380.1,119.0,13.8,1128,12844,0.00,1.80,0.00,0.000,4,0.000,0.039,3040,966,1544,0,0,0,0,0,0
$GC,12943,0.91,403.7,105.2,12.5,1145,12976,0.00,1.77,22.48,0.607,6,0.000,0.033,3040,2156,1443,0,0,0,0,0,0
$GC,13329,0.92,405.3,56.0,13.8,1209,13338,0.00,1.67,0.00,0.000,4,0.000,0.038,3040,3266,1441,0,0,0,0,0,0
$GC,13418,0.92,405.3,43.7,14.6,1223,13426,0.00,1.77,0.00,0.000,6,0.000,0.030,3048,2077,1441,0,0,0,0,0,0
$STATE,13756,end climb,SURFACE_DEPTH_REACHED
$STATE,13756,begin surface coast
$FINISH,0.6,1.022481
$STATE,13783,end surface coast,CONTROL_FINISHED_OK
$STATE,13783,begin surface
$SM_CCo,13800,162.20,0.513,1,0,480,640.23
$SM_GC,1.25,0.00,0.00,162.20,0.000,0.000,0.513,141,1995,480,-8.06,-0.88,640.23
$IRIDIUM_FIX,2108.69,12601.30,091110,070759
$TT8_MAMPS,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,22.4,72.117
$10V_AH,9.8,58.036
$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,20.350,107.775,542.275,162.200,0.000,25.191,46.405,256.046,0.000,0.000,13.913,3205.271,6551.929,773.091,3585.235,321.885,0.000,2016.423,0.000,3287.461,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,92.565,1269.135,513.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.210,0.000,1830.591,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333936
$DATA_FILE_SIZE,77003,1284
$CAP_FILE_SIZE,157227,0
$CFSIZE,260165632,226861056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.031,116.2,1
$GPS,091110,155801,2119.096,12601.610,40,1.2,40,-2.9