version: 66.08
glider: 169
mission: 2
dive: 454
start: 11 10 110 0 42 41
data:
$ID,169
$MISSION,2
$DIVE,454
$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,-7322.9248
$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
$GPS1,101110,003307,2118.749,12600.871,39,1.1,39,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-56.3
$GPS2,101110,004214,2118.520,12600.844,12,1.8,12,-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,357.2,11241,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.69,-204.4,0.0,0.0,0,115,0.00,0.00,-95.55,0.000,2,0.000,0.000,140,1982,3078,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.8,-6.5,12,152,10.48,1.95,-15.00,0.000,4,0.249,0.073,2499,3165,3928,0,0,0,0,0,0
$GC,226,-0.68,-204.4,38.6,-24.2,28,235,0.00,1.83,0.00,0.000,6,0.000,0.043,2499,2001,3929,0,0,0,0,0,0
$GC,588,-0.67,-204.4,140.2,-21.2,89,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1999,3929,0,0,0,0,0,0
$GC,948,-0.66,-204.4,208.0,-18.7,150,958,0.00,1.88,0.00,0.000,4,0.000,0.055,2499,3170,3931,0,0,0,0,0,0
$GC,1008,-0.67,-204.4,217.7,-15.8,159,1015,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,2003,3931,0,0,0,0,0,0
$GC,1363,-0.67,-204.4,275.3,-15.8,220,1371,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3161,3931,0,0,0,0,0,0
$GC,1425,-0.68,-204.4,283.7,-12.4,230,1435,0.00,1.77,0.00,0.000,6,0.000,0.038,2499,2003,3930,0,0,0,0,0,0
$GC,1764,-0.68,-204.4,332.7,-13.8,270,1768,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3163,3929,0,0,0,0,0,0
$GC,1801,-0.69,-204.4,337.7,-13.2,273,1805,0.00,1.75,0.00,0.000,6,0.000,0.037,2499,1993,3930,0,0,0,0,0,0
$GC,2133,-0.69,-204.4,379.4,-12.2,304,2137,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3178,3928,0,0,0,0,0,0
$GC,2241,-0.71,-204.4,391.8,-10.1,313,2248,0.00,1.80,0.00,0.000,6,0.000,0.039,2499,1996,3927,0,0,0,0,0,0
$GC,2567,-0.72,-204.4,429.4,-11.5,344,2570,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3174,3925,0,0,0,0,0,0
$GC,2652,-0.73,-204.4,438.7,-10.6,351,2658,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,1992,3924,0,0,0,0,0,0
$GC,2978,-0.74,-204.4,474.5,-10.7,382,2981,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3172,3922,0,0,0,0,0,0
$GC,3039,-0.75,-204.4,480.5,-10.3,387,3043,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,1995,3922,0,0,0,0,0,0
$GC,3370,-0.76,-204.4,517.0,-10.5,418,3374,0.00,1.85,0.00,0.000,4,0.000,0.055,2500,3171,3919,0,0,0,0,0,0
$GC,3433,-0.78,-204.4,523.2,-9.0,423,3439,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,1990,3919,0,0,0,0,0,0
$GC,3759,-0.79,-204.4,555.3,-9.8,454,3762,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3168,3916,0,0,0,0,0,0
$GC,3831,-0.81,-204.4,562.1,-8.7,460,3838,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2000,3916,0,0,0,0,0,0
$GC,4157,-0.82,-204.4,593.5,-10.0,491,4161,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3169,3913,0,0,0,0,0,0
$GC,4228,-0.84,-204.4,599.8,-8.7,497,4232,0.12,1.75,0.00,0.000,6,0.108,0.039,2451,2000,3912,0,0,0,0,0,0
$GC,4549,-0.84,-204.4,644.4,-14.4,513,4553,0.00,1.85,0.00,0.000,4,0.000,0.057,2450,3167,3909,0,0,0,0,0,0
$GC,4618,-0.85,-204.4,653.6,-13.0,516,4622,0.00,1.77,0.00,0.000,6,0.000,0.042,2450,1989,3908,0,0,0,0,0,0
$GC,4951,-0.85,-204.4,699.8,-13.9,532,4955,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3174,3905,0,0,0,0,0,0
$GC,5014,-0.86,-204.4,708.2,-12.2,534,5022,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2004,3905,0,0,0,0,0,0
$GC,5331,-0.86,-204.4,750.2,-12.9,550,5335,0.00,1.88,0.00,0.000,4,0.000,0.059,2450,3166,3902,0,0,0,0,0,0
$GC,5382,-0.87,-204.4,756.7,-11.6,552,5385,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2001,3902,0,0,0,0,0,0
$GC,5709,-0.88,-204.4,795.9,-11.8,568,5713,0.00,1.88,0.00,0.000,4,0.000,0.059,2450,3168,3899,0,0,0,0,0,0
$GC,5756,-0.89,-204.4,801.1,-10.6,570,5760,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2003,3898,0,0,0,0,0,0
$GC,6089,-0.89,-204.4,840.0,-11.6,586,6093,0.00,1.85,0.00,0.000,4,0.000,0.058,2450,3167,3896,0,0,0,0,0,0
$GC,6144,-0.90,-204.4,846.2,-10.3,588,6148,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,2004,3895,0,0,0,0,0,0
$GC,6467,-0.91,-204.4,884.2,-11.7,604,6471,0.00,1.85,0.00,0.000,4,0.000,0.059,2450,3172,3894,0,0,0,0,0,0
$GC,6523,-0.92,-204.4,890.7,-10.6,606,6526,0.00,1.80,0.00,0.000,6,0.000,0.047,2450,2003,3893,0,0,0,0,0,0
$GC,6845,-0.92,-204.4,928.0,-11.5,622,6849,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3173,3890,0,0,0,0,0,0
$GC,6895,-0.93,-204.4,933.8,-10.9,624,6898,0.00,1.83,0.00,0.000,6,0.000,0.046,2450,2001,3890,0,0,0,0,0,0
$GC,7223,-0.94,-204.4,971.1,-11.3,640,7227,0.00,1.88,0.00,0.000,4,0.000,0.060,2450,3159,3889,0,0,0,0,0,0
$GC,7273,-0.95,-204.4,976.9,-11.1,642,7277,0.00,1.77,0.00,0.000,6,0.000,0.045,2450,2004,3888,0,0,0,0,0,0
$STATE,7474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7474,begin apogee
$GC,7480,-0.18,0.0,1000.5,11.9,652,7660,0.68,0.08,174.52,1.284,6,0.139,0.106,2662,2093,3091,0,0,0,0,0,0
$STATE,7661,end apogee,CONTROL_FINISHED_OK
$STATE,7661,begin climb
$GC,7663,0.69,204.4,1010.3,0.0,660,7866,0.77,1.88,194.57,1.261,4,0.052,0.044,2966,964,2257,0,0,0,0,0,0
$GC,7946,0.67,204.4,987.2,17.7,674,7949,0.00,1.83,0.00,0.000,6,0.000,0.039,2964,2156,2248,0,0,0,0,0,0
$GC,8279,0.66,204.4,929.2,17.6,690,8283,0.00,1.80,0.00,0.000,4,0.000,0.047,2972,960,2242,0,0,0,0,0,0
$GC,8306,0.65,204.4,923.9,18.6,691,8310,0.10,1.80,0.00,0.000,6,0.163,0.040,2941,2145,2241,0,0,0,0,0,0
$GC,8634,0.64,204.4,871.7,16.2,707,8637,0.00,1.70,0.00,0.000,4,0.000,0.048,2941,3274,2238,0,0,0,0,0,0
$GC,8661,0.63,204.4,866.7,17.1,708,8665,0.00,1.80,0.00,0.000,6,0.000,0.035,2949,2085,2237,0,0,0,0,0,0
$GC,8989,0.61,204.4,815.2,15.3,724,8992,0.00,1.83,0.00,0.000,4,0.000,0.045,2948,3271,2237,0,0,0,0,0,0
$GC,9022,0.60,204.4,809.5,16.4,725,9026,0.12,1.77,0.00,0.000,6,0.185,0.035,2926,2080,2236,0,0,0,0,0,0
$GC,9343,0.61,214.4,765.7,13.4,741,9354,0.00,1.75,6.60,0.910,4,0.000,0.047,2934,968,2216,0,0,0,0,0,0
$GC,9385,0.60,214.4,760.1,13.9,743,9388,0.00,1.77,0.00,0.000,6,0.000,0.040,2934,2159,2215,0,0,0,0,0,0
$GC,9718,0.60,215.9,715.1,13.8,759,9720,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2160,2213,0,0,0,0,0,0
$GC,10028,0.61,232.2,673.4,13.1,774,10051,0.00,1.90,18.42,1.037,4,0.000,0.046,2943,968,2143,0,0,0,0,0,0
$GC,10076,0.61,237.2,666.8,13.7,776,10086,0.00,1.80,5.97,0.815,6,0.000,0.040,2939,2151,2124,0,0,0,0,0,0
$GC,10404,0.62,243.1,621.0,13.6,792,10414,0.00,1.83,6.00,0.815,4,0.000,0.044,2947,967,2101,0,0,0,0,0,0
$GC,10454,0.63,254.2,613.8,13.4,794,10471,0.00,1.77,12.52,0.955,6,0.000,0.040,2947,2153,2054,0,0,0,0,0,0
$GC,10791,0.62,254.2,565.4,14.4,821,10795,0.00,1.70,0.00,0.000,4,0.000,0.049,2947,3275,2045,0,0,0,0,0,0
$GC,10827,0.61,254.2,559.9,15.6,824,10831,0.00,1.77,0.00,0.000,6,0.000,0.034,2956,2082,2045,0,0,0,0,0,0
$GC,11159,0.61,255.1,511.8,13.8,855,11163,0.00,1.65,0.00,0.000,4,0.000,0.046,2965,968,2044,0,0,0,0,0,0
$GC,11240,0.61,255.5,500.2,13.9,862,11244,0.12,1.75,0.00,0.000,6,0.167,0.039,2930,2147,2043,0,0,0,0,0,0
$GC,11572,0.68,317.4,460.3,11.1,893,11635,0.00,1.90,55.95,0.932,4,0.000,0.047,2937,972,1796,0,0,0,0,0,0
$GC,11704,0.75,366.6,444.5,11.6,904,11752,0.00,1.83,43.45,0.899,6,0.000,0.038,2937,2151,1595,0,0,0,0,0,0
$GC,12072,0.77,378.1,395.6,13.4,938,12089,0.10,1.88,9.85,0.775,4,0.097,0.045,3002,969,1549,0,0,0,0,0,0
$GC,12195,0.76,378.1,375.5,15.4,948,12198,0.00,1.77,0.00,0.000,6,0.000,0.039,3002,2158,1546,0,0,0,0,0,0
$GC,12528,0.76,378.1,315.0,17.9,979,12532,0.00,1.77,0.00,0.000,4,0.000,0.044,3011,968,1543,0,0,0,0,0,0
$GC,12623,0.75,378.1,298.4,17.0,987,12630,0.12,1.75,0.00,0.000,6,0.164,0.037,2977,2153,1543,0,0,0,0,0,0
$GC,12983,0.75,378.1,241.5,15.5,1048,12992,0.00,1.83,0.00,0.000,4,0.000,0.044,2986,962,1542,0,0,0,0,0,0
$GC,13010,0.75,378.1,237.2,14.6,1052,13019,0.00,1.80,0.00,0.000,6,0.000,0.036,2986,2153,1542,0,0,0,0,0,0
$GC,13370,0.75,378.1,185.6,15.0,1113,13376,0.00,1.77,0.00,0.000,4,0.000,0.042,2995,960,1542,0,0,0,0,0,0
$GC,13532,0.76,379.6,162.6,13.8,1140,13541,0.00,1.80,0.00,0.000,6,0.000,0.035,2994,2156,1542,0,0,0,0,0,0
$GC,13893,0.85,447.6,120.7,10.8,1201,13959,0.00,1.85,58.70,0.646,4,0.000,0.040,2999,963,1264,0,0,0,0,0,0
$GC,14109,1.03,576.5,100.4,8.0,1234,14223,0.12,1.80,104.82,0.623,6,0.045,0.034,3076,2153,739,0,0,0,0,0,0
$GC,14576,1.03,576.5,23.4,18.2,1308,14585,0.00,1.70,0.00,0.000,4,0.000,0.039,3076,3278,735,0,0,0,0,0,0
$GC,14683,1.03,576.5,4.1,18.6,1325,14692,0.00,1.80,0.00,0.000,6,0.000,0.031,3083,2081,735,0,0,0,0,0,0
$STATE,14699,end climb,SURFACE_DEPTH_REACHED
$STATE,14699,begin surface coast
$FINISH,0.4,1.014493
$STATE,14718,end surface coast,CONTROL_FINISHED_OK
$STATE,14718,begin surface
$SM_CCo,14736,46.12,0.058,0,0,481,640.23
$SM_GC,1.09,0.00,0.00,46.12,0.000,0.000,0.058,150,2000,481,-8.06,-0.71,640.23
$IRIDIUM_FIX,2106.38,12743.98,101110,000025
$TT8_MAMPS,0.026215
$HUMID,47.00
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.3,72.773
$10V_AH,9.8,58.503
$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,21.100,123.325,691.400,46.125,0.000,47.841,53.998,237.297,0.000,0.000,13.352,3318.424,7189.265,715.222,3750.619,342.458,0.000,2097.096,0.000,3428.907,0.000,0.543,0.000
$DEVICE_MAMPS,249.390,106.335,1284.435,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.571,0.000,1827.367,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80357,1330
$CAP_FILE_SIZE,169943,0
$CFSIZE,260165632,226598912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,240.1,1
$GPS,101110,045007,2120.126,12600.491,33,1.0,33,-2.9