version: 66.08
glider: 169
mission: 2
dive: 358
start: 10 23 110 23 49 18
data:
$ID,169
$MISSION,2
$DIVE,358
$N_DIVES,367
$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,-7145.1738
$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
$GPS1,231010,234237,2338.160,12609.247,40,0.9,40,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.7
$GPS2,231010,234850,2338.229,12609.234,12,1.0,12,-3.5
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP
$TGT_LATLONG,2121.600,12601.200
$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,185.8,253415,-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,15,-0.69,-204.4,0.0,0.0,0,115,0.00,0.00,-97.57,0.000,2,0.000,0.000,145,1995,3150,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.2,-7.5,12,153,10.02,1.90,-12.82,0.000,4,0.244,0.070,2490,3171,3929,0,0,0,0,0,0
$GC,161,-0.61,-204.4,28.0,-54.6,17,171,0.12,1.85,0.00,0.000,6,0.190,0.048,2526,2002,3929,0,0,0,0,0,0
$GC,528,-0.61,-204.4,118.0,-17.0,78,538,0.00,1.85,0.00,0.000,4,0.000,0.057,2525,3162,3931,0,0,0,0,0,0
$GC,581,-0.61,-204.4,127.3,-16.4,86,591,0.00,1.80,0.00,0.000,6,0.000,0.043,2526,2002,3931,0,0,0,0,0,0
$GC,946,-0.61,-204.4,187.6,-15.1,147,952,0.00,1.83,0.00,0.000,4,0.000,0.055,2526,3168,3932,0,0,0,0,0,0
$GC,1092,-0.62,-204.4,207.0,-12.4,171,1099,0.00,1.75,0.00,0.000,6,0.000,0.041,2526,1999,3932,0,0,0,0,0,0
$GC,1448,-0.63,-204.4,253.1,-12.0,232,1457,0.00,1.85,0.00,0.000,4,0.000,0.055,2526,3167,3931,0,0,0,0,0,0
$GC,1533,-0.64,-204.4,262.2,-10.3,246,1543,0.00,1.77,0.00,0.000,6,0.000,0.039,2526,2003,3931,0,0,0,0,0,0
$GC,1890,-0.65,-204.4,304.6,-13.0,304,1894,0.00,1.83,0.00,0.000,4,0.000,0.054,2526,3171,3930,0,0,0,0,0,0
$GC,1930,-0.67,-204.4,309.7,-12.0,307,1937,0.00,1.77,0.00,0.000,6,0.000,0.041,2526,2001,3930,0,0,0,0,0,0
$GC,2256,-0.68,-204.4,348.7,-11.3,338,2259,0.00,1.83,0.00,0.000,4,0.000,0.054,2526,3168,3929,0,0,0,0,0,0
$GC,2327,-0.69,-204.4,355.3,-8.8,344,2330,0.00,1.75,0.00,0.000,6,0.000,0.039,2526,1998,3929,0,0,0,0,0,0
$GC,2660,-0.71,-204.4,389.2,-10.9,375,2664,0.00,1.85,0.00,0.000,4,0.000,0.054,2526,3166,3927,0,0,0,0,0,0
$GC,2754,-0.72,-204.4,398.7,-9.0,383,2758,0.00,1.75,0.00,0.000,6,0.000,0.038,2526,1985,3926,0,0,0,0,0,0
$GC,3087,-0.74,-204.4,434.7,-10.9,414,3090,0.00,1.85,0.00,0.000,4,0.000,0.055,2526,3168,3924,0,0,0,0,0,0
$GC,3157,-0.76,-204.4,441.7,-9.3,420,3161,0.08,1.77,0.00,0.000,6,0.078,0.038,2486,2003,3924,0,0,0,0,0,0
$GC,3490,-0.76,-204.4,486.3,-12.8,451,3493,0.00,1.83,0.00,0.000,4,0.000,0.055,2486,3168,3922,0,0,0,0,0,0
$GC,3549,-0.77,-204.4,493.7,-10.4,456,3552,0.00,1.75,0.00,0.000,6,0.000,0.039,2486,2000,3921,0,0,0,0,0,0
$GC,3880,-0.78,-204.4,534.3,-11.2,487,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1998,3920,0,0,0,0,0,0
$GC,4200,-0.78,-204.4,568.9,-10.5,517,4204,0.00,1.85,0.00,0.000,4,0.000,0.055,2486,3162,3917,0,0,0,0,0,0
$GC,4269,-0.80,-204.4,575.4,-8.5,523,4272,0.00,1.75,0.00,0.000,6,0.000,0.040,2487,1999,3916,0,0,0,0,0,0
$GC,4599,-0.80,-204.4,608.1,-9.6,550,4600,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1997,3914,0,0,0,0,0,0
$GC,4907,-0.81,-204.4,640.2,-11.0,565,4910,0.00,1.85,0.00,0.000,4,0.000,0.055,2485,3170,3913,0,0,0,0,0,0
$GC,4986,-0.83,-204.4,648.5,-9.8,568,4989,0.00,1.77,0.00,0.000,6,0.000,0.041,2486,1993,3912,0,0,0,0,0,0
$GC,5308,-0.84,-204.4,685.9,-12.1,584,5311,0.00,1.88,0.00,0.000,4,0.000,0.057,2486,3166,3909,0,0,0,0,0,0
$GC,5392,-0.85,-204.4,695.7,-11.7,587,5398,0.00,1.75,0.00,0.000,6,0.000,0.041,2486,2002,3908,0,0,0,0,0,0
$GC,5708,-0.86,-204.4,733.0,-11.5,603,5712,0.00,1.85,0.00,0.000,4,0.000,0.056,2486,3176,3905,0,0,0,0,0,0
$GC,5758,-0.88,-204.4,738.7,-10.7,605,5763,0.12,1.80,0.00,0.000,6,0.104,0.042,2437,2002,3905,0,0,0,0,0,0
$GC,6085,-0.88,-204.4,785.9,-15.1,621,6089,0.00,1.85,0.00,0.000,4,0.000,0.059,2436,3167,3903,0,0,0,0,0,0
$GC,6135,-0.88,-204.4,793.1,-13.9,623,6139,0.00,1.77,0.00,0.000,6,0.000,0.044,2436,2000,3902,0,0,0,0,0,0
$GC,6463,-0.88,-204.4,839.6,-13.9,639,6466,0.00,1.88,0.00,0.000,4,0.000,0.059,2436,3172,3900,0,0,0,0,0,0
$GC,6525,-0.89,-204.4,847.9,-12.5,641,6532,0.00,1.77,0.00,0.000,6,0.000,0.047,2436,2004,3900,0,0,0,0,0,0
$GC,6842,-0.89,-204.4,889.8,-13.0,657,6846,0.00,1.88,0.00,0.000,4,0.000,0.060,2436,3166,3897,0,0,0,0,0,0
$GC,6925,-0.90,-204.4,900.3,-11.9,660,6932,0.00,1.77,0.00,0.000,6,0.000,0.044,2436,2002,3897,0,0,0,0,0,0
$GC,7242,-0.90,-204.4,942.1,-13.6,676,7246,0.00,1.88,0.00,0.000,4,0.000,0.060,2436,3175,3895,0,0,0,0,0,0
$GC,7288,-0.91,-204.4,948.3,-13.5,678,7292,0.00,1.80,0.00,0.000,6,0.000,0.047,2436,2001,3895,0,0,0,0,0,0
$GC,7621,-0.91,-204.4,991.3,-12.8,694,7625,0.00,1.85,0.00,0.000,4,0.000,0.060,2436,3167,3893,0,0,0,0,0,0
$GC,7683,-0.92,-204.4,998.6,-11.1,696,7690,0.00,1.77,0.00,0.000,6,0.000,0.044,2436,2003,3892,0,0,0,0,0,0
$STATE,7708,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7708,begin apogee
$GC,7713,-0.18,0.0,1001.8,11.5,698,7892,0.73,0.08,172.55,1.274,6,0.143,0.106,2662,2091,3091,0,0,0,0,0,0
$STATE,7892,end apogee,CONTROL_FINISHED_OK
$STATE,7892,begin climb
$GC,7894,0.69,204.4,1009.7,0.0,706,8093,0.80,0.00,195.12,1.248,6,0.056,0.000,2954,2091,2257,0,0,0,0,0,0
$GC,8391,0.67,204.4,947.9,16.9,731,8395,0.00,1.73,0.00,0.000,4,0.000,0.045,2964,957,2242,0,0,0,0,0,0
$GC,8486,0.66,204.4,931.8,15.9,735,8490,0.00,1.83,0.00,0.000,6,0.000,0.037,2961,2154,2240,0,0,0,0,0,0
$GC,8814,0.65,204.4,877.1,17.0,751,8818,0.00,1.80,0.00,0.000,4,0.000,0.044,2969,964,2238,0,0,0,0,0,0
$GC,8928,0.63,204.4,858.3,16.5,756,8932,0.12,1.75,0.00,0.000,6,0.185,0.038,2938,2152,2237,0,0,0,0,0,0
$GC,9261,0.64,213.2,810.9,13.5,772,9271,0.00,1.80,5.60,0.852,4,0.000,0.044,2947,960,2220,0,0,0,0,0,0
$GC,9301,0.63,213.2,804.8,15.3,774,9304,0.00,1.77,0.00,0.000,6,0.000,0.038,2947,2160,2220,0,0,0,0,0,0
$GC,9633,0.62,213.2,756.4,14.5,790,9637,0.00,1.80,0.00,0.000,4,0.000,0.046,2956,959,2218,0,0,0,0,0,0
$GC,9705,0.61,213.2,745.5,15.7,793,9709,0.00,1.77,0.00,0.000,6,0.000,0.039,2951,2159,2217,0,0,0,0,0,0
$GC,10032,0.60,213.2,697.0,14.4,809,10036,0.00,1.80,0.00,0.000,4,0.000,0.046,2960,969,2217,0,0,0,0,0,0
$GC,10101,0.59,213.2,687.2,14.7,812,10105,0.15,1.75,0.00,0.000,6,0.171,0.039,2920,2156,2216,0,0,0,0,0,0
$GC,10434,0.63,252.8,645.8,12.1,828,10478,0.00,1.92,37.15,1.037,4,0.000,0.046,2929,961,2057,0,0,0,0,0,0
$GC,10516,0.64,262.7,634.7,13.4,831,10531,0.00,1.83,9.77,0.900,6,0.000,0.040,2929,2169,2018,0,0,0,0,0,0
$GC,10847,0.65,265.7,587.9,13.8,851,10850,0.00,1.85,0.00,0.000,4,0.000,0.047,2937,960,2009,0,0,0,0,0,0
$GC,10941,0.67,285.3,575.3,13.0,859,10970,0.00,1.83,20.40,0.959,6,0.000,0.041,2938,2151,1925,0,0,0,0,0,0
$GC,11287,0.69,296.8,528.4,13.4,892,11302,0.00,1.83,10.40,0.862,4,0.000,0.046,2946,969,1881,0,0,0,0,0,0
$GC,11404,0.75,344.9,513.6,11.7,902,11457,0.00,1.77,43.72,0.942,6,0.000,0.039,2946,2156,1682,0,0,0,0,0,0
$GC,11775,0.75,344.9,458.6,16.2,937,11779,0.00,1.83,0.00,0.000,4,0.000,0.046,2955,958,1673,0,0,0,0,0,0
$GC,11916,0.75,344.9,436.6,15.3,949,11919,0.00,1.77,0.00,0.000,6,0.000,0.040,2955,2153,1672,0,0,0,0,0,0
$GC,12246,0.75,344.9,383.7,15.0,980,12250,0.00,1.83,0.00,0.000,4,0.000,0.044,2964,960,1669,0,0,0,0,0,0
$GC,12317,0.75,344.9,373.1,13.9,986,12328,0.00,1.80,0.00,0.000,6,0.000,0.037,2963,2151,1670,0,0,0,0,0,0
$GC,12645,0.75,344.9,324.7,15.0,1017,12648,0.00,1.80,0.00,0.000,4,0.000,0.044,2972,960,1669,0,0,0,0,0,0
$GC,12741,0.76,349.8,310.5,13.7,1025,12748,0.00,1.75,0.00,0.000,6,0.000,0.038,2972,2151,1669,0,0,0,0,0,0
$GC,13093,0.76,356.9,260.2,13.6,1079,13108,0.00,1.85,9.45,0.667,4,0.000,0.043,2981,963,1634,0,0,0,0,0,0
$GC,13185,0.79,378.4,247.5,12.9,1094,13209,0.00,1.80,19.50,0.714,6,0.000,0.036,2981,2156,1548,0,0,0,0,0,0
$GC,13560,0.79,378.4,194.0,14.1,1157,13567,0.00,1.80,0.00,0.000,4,0.000,0.042,2990,958,1542,0,0,0,0,0,0
$GC,13717,0.80,382.2,172.1,13.7,1183,13724,0.00,1.75,0.00,0.000,6,0.000,0.036,2990,2154,1541,0,0,0,0,0,0
$GC,14081,0.83,404.0,122.0,12.9,1244,14108,0.00,1.85,22.00,0.621,4,0.000,0.041,2998,964,1443,0,0,0,0,0,0
$GC,14252,0.95,496.4,104.3,9.7,1271,14334,0.08,1.77,76.10,0.621,6,0.054,0.033,3056,2149,1066,0,0,0,0,0,0
$GC,14693,0.97,504.5,42.5,13.5,1341,14711,0.00,1.83,7.28,0.474,4,0.000,0.041,3061,964,1033,0,0,0,0,0,0
$GC,14766,1.00,524.7,33.1,13.0,1352,14792,0.00,1.77,17.90,0.531,6,0.000,0.031,3061,2158,950,0,0,0,0,0,0
$STATE,14984,end climb,SURFACE_DEPTH_REACHED
$STATE,14984,begin surface coast
$FINISH,0.1,1.009353
$STATE,15009,end surface coast,CONTROL_FINISHED_OK
$STATE,15009,begin surface
$SM_CCo,15026,78.07,0.057,0,0,481,640.23
$SM_GC,0.96,0.00,0.00,78.07,0.000,0.000,0.057,151,1994,481,-8.06,-0.88,640.23
$IRIDIUM_FIX,2333.28,12612.19,231010,191919
$TT8_MAMPS,0.026215
$HUMID,44.60
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,25.90
$XPDR_PINGS,0
$24V_AH,22.6,51.942
$10V_AH,10.0,43.774
$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,20.650,119.875,646.950,78.075,0.000,22.246,19.487,198.526,0.000,0.000,13.047,3480.718,7069.377,769.240,3862.139,285.265,0.000,2138.586,0.000,3626.936,0.000,0.544,0.000
$DEVICE_MAMPS,244.035,105.570,1273.725,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.459,0.000,1974.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333644
$DATA_FILE_SIZE,83438,1392
$CAP_FILE_SIZE,171033,0
$CFSIZE,260165632,234418176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,  7.0,1
$GPS,241010,040207,2336.928,12608.436,36,1.0,36,-3.5