version: 66.08
glider: 169
mission: 2
dive: 456
start: 11 10 110 8 32 54
data:
$ID,169
$MISSION,2
$DIVE,456
$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,-7325.4375
$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
$GPS1,101110,082337,2118.948,12601.552,37,1.6,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-66.1
$GPS2,101110,083226,2118.828,12601.462,15,1.5,15,-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,10.7,10662,-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,-204.4,0.0,0.0,0,116,0.00,0.00,-97.57,0.000,2,0.000,0.000,150,1979,3116,0,0,0,0,0,0
$GC,119,-0.69,-204.4,3.7,-5.7,12,153,10.00,1.98,-14.70,0.000,4,0.237,0.076,2499,3167,3927,0,0,0,0,0,0
$GC,207,-0.67,-204.4,35.7,-26.2,25,216,0.00,1.83,0.00,0.000,6,0.000,0.045,2499,2006,3928,0,0,0,0,0,0
$GC,574,-0.66,-204.4,136.9,-21.2,86,583,0.00,1.88,0.00,0.000,4,0.000,0.060,2499,3165,3929,0,0,0,0,0,0
$GC,604,-0.66,-204.4,143.3,-21.7,90,614,0.00,1.80,0.00,0.000,6,0.000,0.041,2499,2003,3929,0,0,0,0,0,0
$GC,965,-0.66,-204.4,211.4,-16.2,151,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2002,3931,0,0,0,0,0,0
$GC,1321,-0.66,-204.4,269.3,-14.4,212,1330,0.00,1.85,0.00,0.000,4,0.000,0.056,2499,3166,3931,0,0,0,0,0,0
$GC,1357,-0.66,-204.4,273.9,-13.9,217,1364,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,1999,3931,0,0,0,0,0,0
$GC,1705,-0.66,-204.4,323.3,-14.9,264,1709,0.00,1.83,0.00,0.000,4,0.000,0.055,2499,3168,3930,0,0,0,0,0,0
$GC,1744,-0.67,-204.4,328.0,-13.3,267,1747,0.00,1.77,0.00,0.000,6,0.000,0.038,2499,2000,3929,0,0,0,0,0,0
$GC,2075,-0.67,-204.4,373.6,-13.3,298,2078,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3169,3928,0,0,0,0,0,0
$GC,2115,-0.68,-204.4,378.9,-12.1,301,2121,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2001,3928,0,0,0,0,0,0
$GC,2440,-0.69,-204.4,420.7,-13.0,332,2444,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3169,3926,0,0,0,0,0,0
$GC,2511,-0.71,-204.4,428.4,-10.9,338,2515,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2001,3925,0,0,0,0,0,0
$GC,2844,-0.72,-204.4,466.4,-11.1,369,2848,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3168,3923,0,0,0,0,0,0
$GC,2916,-0.73,-204.4,473.6,-9.6,375,2920,0.00,1.75,0.00,0.000,6,0.000,0.037,2499,1999,3923,0,0,0,0,0,0
$GC,3247,-0.74,-204.4,511.1,-11.0,406,3251,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3168,3920,0,0,0,0,0,0
$GC,3287,-0.76,-204.4,515.4,-10.3,409,3293,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2000,3920,0,0,0,0,0,0
$GC,3612,-0.77,-204.4,546.1,-9.0,440,3616,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3168,3916,0,0,0,0,0,0
$GC,3674,-0.78,-204.4,551.2,-7.9,445,3680,0.00,1.75,0.00,0.000,6,0.000,0.038,2499,2001,3916,0,0,0,0,0,0
$GC,3999,-0.80,-204.4,582.7,-10.2,476,4003,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3169,3914,0,0,0,0,0,0
$GC,4102,-0.81,-204.4,592.7,-8.9,485,4106,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,2001,3913,0,0,0,0,0,0
$GC,4427,-0.82,-204.4,627.0,-10.3,504,4432,0.10,1.85,0.00,0.000,4,0.126,0.055,2460,3168,3910,0,0,0,0,0,0
$GC,4500,-0.83,-204.4,635.7,-11.6,507,4504,0.00,1.77,0.00,0.000,6,0.000,0.041,2460,2003,3910,0,0,0,0,0,0
$GC,4828,-0.84,-204.4,676.8,-12.4,523,4832,0.00,1.85,0.00,0.000,4,0.000,0.057,2460,3168,3906,0,0,0,0,0,0
$GC,4879,-0.85,-204.4,682.8,-11.5,525,4883,0.00,1.77,0.00,0.000,6,0.000,0.042,2459,1997,3906,0,0,0,0,0,0
$GC,5207,-0.85,-204.4,720.5,-11.9,541,5210,0.00,1.88,0.00,0.000,4,0.000,0.058,2459,3174,3903,0,0,0,0,0,0
$GC,5262,-0.86,-204.4,726.9,-10.5,543,5265,0.00,1.83,0.00,0.000,6,0.000,0.044,2460,2005,3903,0,0,0,0,0,0
$GC,5585,-0.86,-204.4,765.3,-12.7,559,5589,0.00,1.88,0.00,0.000,4,0.000,0.058,2460,3166,3901,0,0,0,0,0,0
$GC,5631,-0.87,-204.4,771.1,-11.5,561,5635,0.00,1.80,0.00,0.000,6,0.000,0.043,2460,2007,3900,0,0,0,0,0,0
$GC,5964,-0.88,-204.4,812.4,-12.3,577,5968,0.00,1.88,0.00,0.000,4,0.000,0.060,2459,3166,3897,0,0,0,0,0,0
$GC,6011,-0.89,-204.4,817.9,-11.2,579,6015,0.00,1.83,0.00,0.000,6,0.000,0.044,2460,2001,3897,0,0,0,0,0,0
$GC,6345,-0.90,-204.4,858.3,-12.0,595,6349,0.00,1.88,0.00,0.000,4,0.000,0.059,2460,3163,3895,0,0,0,0,0,0
$GC,6392,-0.91,-204.4,863.5,-10.1,597,6396,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,2007,3894,0,0,0,0,0,0
$GC,6725,-0.91,-204.4,899.9,-10.5,613,6729,0.00,1.88,0.00,0.000,4,0.000,0.060,2460,3165,3893,0,0,0,0,0,0
$GC,6816,-0.92,-204.4,908.7,-9.1,617,6820,0.00,1.77,0.00,0.000,6,0.000,0.045,2460,2005,3892,0,0,0,0,0,0
$GC,7150,-0.93,-204.4,942.7,-10.3,633,7153,0.00,1.88,0.00,0.000,4,0.000,0.059,2460,3174,3890,0,0,0,0,0,0
$GC,7228,-0.94,-204.4,950.1,-9.3,636,7231,0.00,1.80,0.00,0.000,6,0.000,0.046,2459,2003,3890,0,0,0,0,0,0
$GC,7550,-0.95,-204.4,981.6,-10.0,652,7554,0.10,1.88,0.00,0.000,4,0.124,0.060,2422,3169,3888,0,0,0,0,0,0
$GC,7575,-0.96,-204.4,984.1,-10.6,653,7578,0.00,1.80,0.00,0.000,6,0.000,0.047,2423,2001,3888,0,0,0,0,0,0
$STATE,7700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7700,begin apogee
$GC,7705,-0.18,0.0,1001.0,13.3,659,7887,0.77,0.08,174.68,1.281,6,0.145,0.104,2662,2093,3090,0,0,0,0,0,0
$STATE,7888,end apogee,CONTROL_FINISHED_OK
$STATE,7888,begin climb
$GC,7891,0.69,204.4,1009.4,0.0,667,8093,0.80,2.00,194.00,1.262,4,0.059,0.043,2952,3275,2257,0,0,0,0,0,0
$GC,8121,0.67,204.4,994.1,17.8,678,8129,0.00,1.92,0.00,0.000,6,0.000,0.034,2961,2097,2250,0,0,0,0,0,0
$GC,8437,0.66,204.4,941.9,16.7,694,8441,0.00,1.70,0.00,0.000,4,0.000,0.047,2970,967,2241,0,0,0,0,0,0
$GC,8538,0.64,204.4,924.8,17.6,698,8542,0.00,1.75,0.00,0.000,6,0.000,0.037,2963,2150,2241,0,0,0,0,0,0
$GC,8860,0.63,204.4,871.8,16.4,714,8863,0.00,1.70,0.00,0.000,4,0.000,0.046,2964,3272,2238,0,0,0,0,0,0
$GC,8933,0.61,204.4,858.9,17.0,717,8937,0.15,1.77,0.00,0.000,6,0.187,0.036,2934,2078,2237,0,0,0,0,0,0
$GC,9260,0.62,214.2,812.9,13.4,733,9268,0.00,0.00,6.65,0.922,6,0.000,0.000,2934,2077,2217,0,0,0,0,0,0
$GC,9570,0.62,219.8,771.0,13.6,748,9581,0.00,1.75,6.85,0.916,4,0.000,0.047,2942,968,2195,0,0,0,0,0,0
$GC,9614,0.61,222.1,764.5,13.8,750,9623,0.00,1.77,4.15,0.704,6,0.000,0.037,2935,2150,2185,0,0,0,0,0,0
$GC,9943,0.61,223.8,719.2,13.8,766,9947,0.00,1.77,0.00,0.000,4,0.000,0.046,2945,968,2181,0,0,0,0,0,0
$GC,9970,0.60,223.8,714.9,14.6,767,9974,0.00,1.80,0.00,0.000,6,0.000,0.037,2944,2150,2181,0,0,0,0,0,0
$GC,10299,0.60,223.8,668.0,14.3,783,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2150,2180,0,0,0,0,0,0
$GC,10608,0.62,247.1,627.6,12.8,798,10634,0.00,0.00,24.35,1.024,6,0.000,0.000,2944,2150,2083,0,0,0,0,0,0
$GC,10942,0.64,269.8,583.6,12.9,819,10967,0.00,1.88,21.00,0.979,4,0.000,0.047,2953,973,1990,0,0,0,0,0,0
$GC,11009,0.65,278.6,574.3,13.5,825,11024,0.00,1.83,9.65,0.877,6,0.000,0.037,2953,2154,1954,0,0,0,0,0,0
$GC,11350,0.64,278.6,523.4,15.1,857,11354,0.00,1.80,0.00,0.000,4,0.000,0.046,2962,960,1947,0,0,0,0,0,0
$GC,11396,0.64,278.6,516.7,14.3,861,11400,0.00,1.77,0.00,0.000,6,0.000,0.037,2961,2156,1946,0,0,0,0,0,0
$GC,11728,0.64,282.8,468.8,13.7,892,11732,0.00,1.77,0.00,0.000,4,0.000,0.045,2970,968,1944,0,0,0,0,0,0
$GC,11789,0.65,298.4,460.4,13.2,897,11814,0.00,1.80,17.73,0.891,6,0.000,0.037,2970,2154,1873,0,0,0,0,0,0
$GC,12132,0.65,298.4,408.2,14.7,929,12136,0.12,1.85,0.00,0.000,4,0.173,0.044,2945,968,1867,0,0,0,0,0,0
$GC,12170,0.71,349.7,402.5,11.5,932,12227,0.00,1.80,45.75,0.881,6,0.000,0.036,2945,2155,1662,0,0,0,0,0,0
$GC,12547,0.75,379.0,354.4,12.6,967,12576,0.00,1.90,24.95,0.822,4,0.000,0.045,2952,966,1545,0,0,0,0,0,0
$GC,12682,0.80,412.7,337.7,12.4,978,12721,0.10,1.75,30.30,0.815,6,0.095,0.034,3010,2152,1407,0,0,0,0,0,0
$GC,13051,0.79,412.7,265.2,19.6,1025,13058,0.00,1.77,0.00,0.000,4,0.000,0.043,3019,962,1401,0,0,0,0,0,0
$GC,13079,0.79,412.7,259.9,19.7,1029,13087,0.12,1.75,0.00,0.000,6,0.164,0.034,2983,2155,1400,0,0,0,0,0,0
$GC,13438,0.79,412.7,205.3,14.0,1090,13447,0.00,1.70,0.00,0.000,4,0.000,0.041,2983,3276,1399,0,0,0,0,0,0
$GC,13537,0.88,484.8,193.2,10.6,1106,13603,0.00,1.80,60.35,0.711,6,0.000,0.033,2992,2083,1113,0,0,0,0,0,0
$GC,13958,0.97,545.3,140.6,11.1,1175,14016,0.12,1.73,50.50,0.657,4,0.078,0.040,3075,961,866,0,0,0,0,0,0
$GC,14168,0.97,545.3,104.6,15.7,1207,14177,0.08,1.80,0.00,0.000,6,0.142,0.032,3048,2156,863,0,0,0,0,0,0
$GC,14536,1.02,584.1,49.0,12.1,1268,14578,0.00,1.85,32.20,0.573,4,0.000,0.040,3056,967,707,0,0,0,0,0,0
$GC,14692,1.04,584.1,27.4,16.3,1292,14701,0.00,1.77,0.00,0.000,6,0.000,0.030,3055,2161,705,0,0,0,0,0,0
$STATE,14837,end climb,SURFACE_DEPTH_REACHED
$STATE,14837,begin surface coast
$FINISH,0.3,1.022657
$STATE,14851,end surface coast,CONTROL_FINISHED_OK
$STATE,14851,begin surface
$SM_CCo,14869,41.28,0.058,0,0,481,640.23
$SM_GC,1.03,0.00,0.00,41.28,0.000,0.000,0.058,152,1979,481,-8.06,-1.30,640.23
$IRIDIUM_FIX,2111.01,12559.43,101110,080847
$TT8_MAMPS,0.026964
$HUMID,46.92
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.3,73.176
$10V_AH,9.8,58.789
$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,20.825,120.025,703.100,41.275,0.000,50.965,60.668,221.216,0.000,0.000,15.907,3280.437,7404.565,732.901,3684.415,330.927,0.000,2093.801,0.000,3373.428,0.000,0.543,0.000
$DEVICE_MAMPS,237.150,104.040,1281.375,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.360,0.000,1750.584,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,76862,1318
$CAP_FILE_SIZE,169455,0
$CFSIZE,260165632,226451456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,239.5,1
$GPS,101110,124231,2120.677,12601.872,37,1.3,37,-2.9