version: 66.08
glider: 169
mission: 2
dive: 452
start: 11 9 110 16 5 37
data:
$ID,169
$MISSION,2
$DIVE,452
$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,-7320.4082
$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
$GPS1,091110,155801,2119.096,12601.610,40,1.2,40,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-62.9
$GPS2,091110,160509,2119.058,12601.620,13,1.3,14,-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,354.3,10252,-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,-204.4,0.0,0.0,0,113,0.00,0.00,-94.57,0.000,2,0.000,0.000,126,1995,3024,0,0,0,0,0,0
$GC,116,-0.69,-204.4,3.4,-5.6,12,150,10.12,1.88,-16.83,0.000,4,0.239,0.070,2489,3167,3927,0,0,0,0,0,0
$GC,201,-0.67,-204.4,33.8,-30.2,24,210,0.00,1.83,0.00,0.000,6,0.000,0.044,2489,2003,3928,0,0,0,0,0,0
$GC,567,-0.66,-204.4,141.7,-21.2,85,577,0.00,1.85,0.00,0.000,4,0.000,0.058,2489,3163,3928,0,0,0,0,0,0
$GC,648,-0.66,-204.4,154.8,-14.2,98,656,0.00,1.80,0.00,0.000,6,0.000,0.041,2489,2001,3928,0,0,0,0,0,0
$GC,998,-0.65,-204.4,220.8,-20.4,159,1004,0.00,1.70,0.00,0.000,4,0.000,0.047,2489,865,3929,0,0,0,0,0,0
$GC,1025,-0.65,-204.4,226.2,-19.8,163,1032,0.10,1.77,0.00,0.000,6,0.174,0.047,2515,2044,3929,0,0,0,0,0,0
$GC,1376,-0.66,-204.4,274.2,-12.7,224,1385,0.00,1.75,0.00,0.000,4,0.000,0.056,2515,3168,3929,0,0,0,0,0,0
$GC,1456,-0.67,-204.4,283.1,-10.3,237,1464,0.00,1.75,0.00,0.000,6,0.000,0.037,2515,2000,3929,0,0,0,0,0,0
$GC,1798,-0.68,-204.4,324.8,-11.5,280,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1999,3928,0,0,0,0,0,0
$GC,2118,-0.68,-204.4,361.0,-11.7,310,2122,0.00,1.83,0.00,0.000,4,0.000,0.054,2515,3177,3927,0,0,0,0,0,0
$GC,2187,-0.70,-204.4,368.3,-9.0,316,2191,0.00,1.75,0.00,0.000,6,0.000,0.038,2516,2000,3927,0,0,0,0,0,0
$GC,2521,-0.71,-204.4,402.0,-9.8,347,2525,0.00,1.85,0.00,0.000,4,0.000,0.052,2515,3165,3925,0,0,0,0,0,0
$GC,2582,-0.73,-204.4,408.1,-9.0,352,2590,0.00,1.77,0.00,0.000,6,0.000,0.037,2516,2002,3924,0,0,0,0,0,0
$GC,2910,-0.74,-204.4,440.3,-10.1,383,2914,0.00,1.85,0.00,0.000,4,0.000,0.052,2515,3165,3922,0,0,0,0,0,0
$GC,2972,-0.76,-204.4,446.7,-9.7,388,2980,0.00,1.77,0.00,0.000,6,0.000,0.036,2516,2002,3922,0,0,0,0,0,0
$GC,3300,-0.77,-204.4,480.0,-9.6,419,3304,0.00,1.85,0.00,0.000,4,0.000,0.053,2516,3165,3919,0,0,0,0,0,0
$GC,3372,-0.79,-204.4,486.8,-8.2,425,3380,0.12,1.75,0.00,0.000,6,0.099,0.037,2460,1990,3919,0,0,0,0,0,0
$GC,3698,-0.79,-204.4,529.4,-12.9,456,3701,0.00,1.88,0.00,0.000,4,0.000,0.057,2460,3168,3917,0,0,0,0,0,0
$GC,3770,-0.80,-204.4,538.8,-12.2,462,3777,0.00,1.75,0.00,0.000,6,0.000,0.040,2460,2002,3916,0,0,0,0,0,0
$GC,4096,-0.80,-204.4,583.9,-14.2,493,4099,0.00,1.83,0.00,0.000,4,0.000,0.056,2460,3168,3914,0,0,0,0,0,0
$GC,4133,-0.81,-204.4,589.6,-13.9,496,4140,0.00,1.80,0.00,0.000,6,0.000,0.041,2460,2000,3913,0,0,0,0,0,0
$GC,4462,-0.81,-204.4,636.5,-14.1,516,4466,0.00,1.85,0.00,0.000,4,0.000,0.057,2460,3168,3910,0,0,0,0,0,0
$GC,4526,-0.82,-204.4,644.9,-12.5,518,4532,0.00,1.77,0.00,0.000,6,0.000,0.041,2460,1988,3910,0,0,0,0,0,0
$GC,4842,-0.82,-204.4,688.2,-13.5,534,4846,0.00,1.90,0.00,0.000,4,0.000,0.060,2460,3166,3907,0,0,0,0,0,0
$GC,4915,-0.83,-204.4,697.0,-11.1,537,4919,0.00,1.75,0.00,0.000,6,0.000,0.041,2460,2003,3906,0,0,0,0,0,0
$GC,5243,-0.84,-204.4,736.1,-11.7,553,5247,0.00,1.83,0.00,0.000,4,0.000,0.057,2460,3168,3903,0,0,0,0,0,0
$GC,5270,-0.85,-204.4,739.4,-12.0,554,5274,0.00,1.77,0.00,0.000,6,0.000,0.042,2460,1997,3903,0,0,0,0,0,0
$GC,5599,-0.85,-204.4,776.4,-11.5,570,5602,0.00,1.85,0.00,0.000,4,0.000,0.059,2460,3172,3900,0,0,0,0,0,0
$GC,5645,-0.86,-204.4,781.5,-10.1,572,5648,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2004,3900,0,0,0,0,0,0
$GC,5979,-0.87,-204.4,817.7,-10.9,588,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3897,0,0,0,0,0,0
$GC,6287,-0.88,-204.4,850.9,-11.0,603,6291,0.00,1.85,0.00,0.000,4,0.000,0.059,2459,3169,3894,0,0,0,0,0,0
$GC,6372,-0.89,-204.4,859.7,-9.8,606,6378,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2003,3894,0,0,0,0,0,0
$GC,6689,-0.89,-204.4,895.1,-11.6,622,6690,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3892,0,0,0,0,0,0
$GC,6997,-0.90,-204.4,931.7,-11.8,637,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2002,3890,0,0,0,0,0,0
$GC,7307,-0.91,-204.4,967.2,-11.3,652,7311,0.00,1.88,0.00,0.000,4,0.000,0.060,2460,3167,3887,0,0,0,0,0,0
$GC,7400,-0.92,-204.4,976.8,-10.2,656,7404,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2004,3887,0,0,0,0,0,0
$STATE,7627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7627,begin apogee
$GC,7633,-0.18,0.0,1001.8,10.7,667,7813,0.62,0.08,174.35,1.280,6,0.121,0.106,2666,2092,3091,0,0,0,0,0,0
$STATE,7814,end apogee,CONTROL_FINISHED_OK
$STATE,7814,begin climb
$GC,7817,0.69,204.4,1011.0,0.0,675,8020,0.77,2.05,193.77,1.258,4,0.054,0.044,2958,3265,2255,0,0,0,0,0,0
$GC,8043,0.67,204.4,996.7,17.7,686,8046,0.00,1.90,0.00,0.000,6,0.000,0.033,2967,2086,2249,0,0,0,0,0,0
$GC,8365,0.66,204.4,940.6,17.2,702,8368,0.00,1.83,0.00,0.000,4,0.000,0.045,2964,3281,2241,0,0,0,0,0,0
$GC,8415,0.64,204.4,930.9,18.5,704,8419,0.10,1.83,0.00,0.000,6,0.165,0.035,2941,2091,2240,0,0,0,0,0,0
$GC,8742,0.63,204.4,879.6,15.5,720,8746,0.00,1.67,0.00,0.000,4,0.000,0.046,2950,963,2238,0,0,0,0,0,0
$GC,8820,0.62,204.4,867.1,15.9,723,8824,0.00,1.80,0.00,0.000,6,0.000,0.038,2949,2146,2236,0,0,0,0,0,0
$GC,9142,0.61,204.4,814.4,16.2,739,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2146,2235,0,0,0,0,0,0
$GC,9452,0.60,204.4,765.7,15.2,754,9455,0.00,1.83,0.00,0.000,4,0.000,0.046,2958,963,2234,0,0,0,0,0,0
$GC,9467,0.59,204.4,762.8,15.4,754,9475,0.10,1.83,0.00,0.000,6,0.157,0.040,2911,2154,2234,0,0,0,0,0,0
$GC,9785,0.62,230.1,723.0,12.7,770,9809,0.00,0.00,21.67,1.066,6,0.000,0.000,2911,2154,2152,0,0,0,0,0,0
$GC,10113,0.65,257.5,681.1,12.6,786,10143,0.00,1.85,25.52,1.047,4,0.000,0.046,2920,968,2041,0,0,0,0,0,0
$GC,10161,0.67,270.8,674.8,13.3,788,10181,0.00,1.80,13.77,0.975,6,0.000,0.039,2920,2152,1986,0,0,0,0,0,0
$GC,10510,0.70,292.2,628.7,12.9,805,10532,0.10,0.00,19.75,1.000,6,0.097,0.000,2977,2152,1898,0,0,0,0,0,0
$GC,10845,0.69,292.2,571.0,16.8,828,10848,0.00,1.80,0.00,0.000,4,0.000,0.046,2986,968,1890,0,0,0,0,0,0
$GC,10914,0.68,292.2,559.2,15.9,834,10917,0.00,1.77,0.00,0.000,6,0.000,0.041,2978,2153,1890,0,0,0,0,0,0
$GC,11244,0.67,292.2,504.1,16.6,865,11249,0.12,1.70,0.00,0.000,4,0.181,0.048,2945,3278,1888,0,0,0,0,0,0
$GC,11302,0.67,292.2,495.2,15.5,870,11305,0.00,1.83,0.00,0.000,6,0.000,0.034,2953,2082,1886,0,0,0,0,0,0
$GC,11634,0.67,292.2,446.0,14.6,901,11638,0.00,1.67,0.00,0.000,4,0.000,0.046,2962,958,1885,0,0,0,0,0,0
$GC,11691,0.67,292.2,437.3,14.9,906,11695,0.00,1.77,0.00,0.000,6,0.000,0.039,2962,2153,1885,0,0,0,0,0,0
$GC,12024,0.66,292.2,387.6,14.8,937,12027,0.00,1.77,0.00,0.000,4,0.000,0.044,2970,968,1885,0,0,0,0,0,0
$GC,12040,0.66,292.2,384.7,15.4,938,12049,0.00,1.77,0.00,0.000,6,0.000,0.037,2970,2141,1885,0,0,0,0,0,0
$GC,12367,0.65,292.2,335.7,14.7,969,12371,0.00,1.73,0.00,0.000,4,0.000,0.046,2970,3268,1885,0,0,0,0,0,0
$GC,12415,0.65,292.2,328.5,15.8,973,12419,0.15,1.75,0.00,0.000,6,0.160,0.034,2938,2080,1885,0,0,0,0,0,0
$GC,12748,0.70,333.7,289.8,12.0,1011,12791,0.00,1.73,35.78,0.782,4,0.000,0.043,2947,959,1729,0,0,0,0,0,0
$GC,12955,0.79,400.4,266.5,10.8,1045,13019,0.10,1.77,57.05,0.763,6,0.092,0.037,3011,2154,1458,0,0,0,0,0,0
$GC,13361,0.79,400.4,194.5,15.1,1114,13369,0.00,1.83,0.00,0.000,4,0.000,0.043,3020,963,1450,0,0,0,0,0,0
$GC,13452,0.79,400.4,180.4,15.9,1129,13460,0.12,1.77,0.00,0.000,6,0.160,0.035,2985,2157,1449,0,0,0,0,0,0
$GC,13806,0.83,430.0,133.2,12.5,1190,13839,0.00,0.00,25.08,0.640,6,0.000,0.000,2986,2158,1336,0,0,0,0,0,0
$GC,14190,1.00,559.2,91.6,8.0,1254,14305,0.17,1.90,104.85,0.619,4,0.062,0.038,3097,962,810,0,0,0,0,0,0
$GC,14407,1.00,559.2,54.3,19.7,1285,14417,0.12,1.80,0.00,0.000,6,0.135,0.033,3055,2154,807,0,0,0,0,0,0
$STATE,14707,end climb,SURFACE_DEPTH_REACHED
$STATE,14708,begin surface coast
$FINISH,0.2,1.022538
$STATE,14727,end surface coast,CONTROL_FINISHED_OK
$STATE,14727,begin surface
$SM_CCo,14744,59.75,0.452,1,0,480,640.23
$SM_GC,0.99,0.00,0.00,59.75,0.000,0.000,0.452,150,1978,480,-8.06,-1.33,640.23
$IRIDIUM_FIX,2113.32,12604.53,091110,111142
$TT8_MAMPS,0.026964
$HUMID,46.85
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,24.80
$XPDR_PINGS,0
$24V_AH,22.4,72.338
$10V_AH,9.9,58.190
$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,20.900,105.050,671.600,59.750,0.000,29.387,17.506,239.074,0.000,0.000,15.215,3291.231,7226.733,747.166,3632.602,330.342,0.000,2058.392,0.000,3375.950,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,106.335,1279.845,452.115,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.043,0.000,1869.002,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333932
$DATA_FILE_SIZE,80177,1338
$CAP_FILE_SIZE,160620,0
$CFSIZE,260165632,226770944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.074,110.8,1
$GPS,091110,201357,2121.109,12602.427,40,2.6,59,-2.9