version: 66.08
glider: 169
mission: 2
dive: 407
start: 11 1 110 17 1 42
data:
$ID,169
$MISSION,2
$DIVE,407
$N_DIVES,414
$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,-7238.958
$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
$GPS1,011110,165400,2236.631,12547.490,36,1.0,42,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.7
$GPS2,011110,170113,2236.738,12547.396,23,1.5,40,-3.2
$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,172.0,141177,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.69,-204.4,0.0,0.0,0,113,0.00,0.00,-95.60,0.000,2,0.000,0.000,142,2055,3050,0,0,0,0,0,0
$GC,116,-0.69,-204.4,3.5,-4.6,12,150,10.27,1.88,-15.98,0.000,4,0.249,0.065,2497,877,3927,0,0,0,0,0,0
$GC,264,-0.67,-204.4,51.7,-26.8,35,273,0.00,1.83,0.00,0.000,6,0.000,0.052,2498,2035,3928,0,0,0,0,0,0
$GC,631,-0.66,-204.4,144.5,-20.8,96,639,0.00,1.80,0.00,0.000,4,0.000,0.047,2498,868,3929,0,0,0,0,0,0
$GC,649,-0.66,-204.4,148.3,-21.3,98,658,0.00,1.83,0.00,0.000,6,0.000,0.048,2497,2038,3929,0,0,0,0,0,0
$GC,1011,-0.65,-204.4,220.7,-18.6,159,1017,0.00,1.75,0.00,0.000,4,0.000,0.058,2497,3171,3930,0,0,0,0,0,0
$GC,1050,-0.65,-204.4,227.5,-16.1,165,1056,0.00,1.77,0.00,0.000,6,0.000,0.043,2497,1996,3929,0,0,0,0,0,0
$GC,1404,-0.65,-204.4,287.1,-15.8,226,1413,0.00,1.73,0.00,0.000,4,0.000,0.050,2498,871,3929,0,0,0,0,0,0
$GC,1443,-0.66,-204.4,293.1,-14.5,232,1452,0.00,1.80,0.00,0.000,6,0.000,0.047,2498,2038,3929,0,0,0,0,0,0
$GC,1783,-0.66,-204.4,340.9,-14.0,267,1787,0.00,1.73,0.00,0.000,4,0.000,0.055,2498,3176,3928,0,0,0,0,0,0
$GC,1835,-0.67,-204.4,347.9,-12.6,271,1841,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,1997,3928,0,0,0,0,0,0
$GC,2160,-0.68,-204.4,389.9,-12.1,302,2164,0.00,1.67,0.00,0.000,4,0.000,0.050,2498,875,3926,0,0,0,0,0,0
$GC,2177,-0.68,-204.4,392.3,-12.1,303,2184,0.00,1.77,0.00,0.000,6,0.000,0.047,2498,2044,3926,0,0,0,0,0,0
$GC,2503,-0.69,-204.4,428.7,-11.0,334,2507,0.00,1.70,0.00,0.000,4,0.000,0.055,2497,3168,3925,0,0,0,0,0,0
$GC,2550,-0.70,-204.4,433.7,-10.8,338,2554,0.00,1.75,0.00,0.000,6,0.000,0.040,2497,2000,3924,0,0,0,0,0,0
$GC,2884,-0.71,-204.4,473.5,-11.7,369,2888,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3173,3921,0,0,0,0,0,0
$GC,2924,-0.72,-204.4,478.3,-10.4,372,2932,0.00,1.80,0.00,0.000,6,0.000,0.041,2498,2003,3921,0,0,0,0,0,0
$GC,3251,-0.73,-204.4,512.4,-10.3,403,3254,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3177,3919,0,0,0,0,0,0
$GC,3274,-0.74,-204.4,514.9,-9.9,405,3278,0.00,1.77,0.00,0.000,6,0.000,0.041,2498,1997,3919,0,0,0,0,0,0
$GC,3606,-0.75,-204.4,548.8,-10.8,436,3609,0.00,1.83,0.00,0.000,4,0.000,0.056,2497,3168,3916,0,0,0,0,0,0
$GC,3642,-0.76,-204.4,552.6,-10.0,439,3645,0.00,1.75,0.00,0.000,6,0.000,0.041,2498,2002,3916,0,0,0,0,0,0
$GC,3973,-0.78,-204.4,589.0,-10.7,470,3976,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3914,0,0,0,0,0,0
$GC,4001,-0.79,-204.4,592.1,-10.2,472,4007,0.00,1.75,0.00,0.000,6,0.000,0.041,2497,2002,3913,0,0,0,0,0,0
$GC,4320,-0.80,-204.4,622.0,-9.2,492,4323,0.00,1.83,0.00,0.000,4,0.000,0.054,2498,3168,3911,0,0,0,0,0,0
$GC,4344,-0.81,-204.4,624.0,-8.5,493,4347,0.00,1.77,0.00,0.000,6,0.000,0.041,2497,1989,3910,0,0,0,0,0,0
$GC,4677,-0.83,-204.4,654.7,-9.8,509,4680,0.00,1.88,0.00,0.000,4,0.000,0.057,2498,3172,3908,0,0,0,0,0,0
$GC,4716,-0.84,-204.4,658.6,-9.4,510,4724,0.12,1.80,0.00,0.000,6,0.109,0.043,2450,2002,3907,0,0,0,0,0,0
$GC,5032,-0.84,-204.4,702.5,-14.0,526,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2000,3905,0,0,0,0,0,0
$GC,5341,-0.85,-204.4,745.7,-14.1,541,5345,0.00,1.88,0.00,0.000,4,0.000,0.060,2449,3160,3902,0,0,0,0,0,0
$GC,5374,-0.85,-204.4,750.4,-13.2,542,5378,0.00,1.77,0.00,0.000,6,0.000,0.045,2449,2002,3902,0,0,0,0,0,0
$GC,5696,-0.86,-204.4,792.3,-12.9,558,5700,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3174,3899,0,0,0,0,0,0
$GC,5720,-0.86,-204.4,795.4,-13.2,559,5724,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,2000,3899,0,0,0,0,0,0
$GC,6055,-0.86,-204.4,839.2,-13.4,575,6058,0.00,1.85,0.00,0.000,4,0.000,0.060,2449,3172,3897,0,0,0,0,0,0
$GC,6093,-0.87,-204.4,844.5,-12.2,576,6100,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,1999,3896,0,0,0,0,0,0
$GC,6410,-0.88,-204.4,884.3,-12.4,592,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1997,3894,0,0,0,0,0,0
$GC,6719,-0.88,-204.4,922.3,-11.7,607,6723,0.00,1.88,0.00,0.000,4,0.000,0.061,2449,3168,3892,0,0,0,0,0,0
$GC,6754,-0.89,-204.4,926.3,-11.3,608,6757,0.00,1.80,0.00,0.000,6,0.000,0.047,2449,1996,3891,0,0,0,0,0,0
$GC,7076,-0.90,-204.4,964.4,-12.0,624,7077,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1995,3890,0,0,0,0,0,0
$STATE,7362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7362,begin apogee
$GC,7367,-0.18,0.0,1000.3,12.6,638,7549,0.70,0.03,174.48,1.269,6,0.145,0.086,2665,2114,3090,0,0,0,0,0,0
$STATE,7549,end apogee,CONTROL_FINISHED_OK
$STATE,7550,begin climb
$GC,7551,0.69,204.4,1010.8,0.0,646,7754,0.80,1.98,194.90,1.245,4,0.064,0.046,2950,3268,2255,0,0,0,0,0,0
$GC,7879,0.67,204.4,981.4,16.4,662,7883,0.00,1.80,0.00,0.000,6,0.000,0.035,2959,2094,2244,0,0,0,0,0,0
$GC,8212,0.66,204.4,927.6,16.1,678,8216,0.00,1.67,0.00,0.000,4,0.000,0.047,2967,969,2239,0,0,0,0,0,0
$GC,8245,0.65,204.4,922.0,16.1,679,8249,0.00,1.80,0.00,0.000,6,0.000,0.041,2968,2139,2238,0,0,0,0,0,0
$GC,8568,0.63,204.4,866.8,17.7,695,8570,0.12,0.00,0.00,0.000,6,0.188,0.000,2936,2141,2236,0,0,0,0,0,0
$GC,8876,0.62,204.4,819.6,14.7,710,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2141,2235,0,0,0,0,0,0
$GC,9186,0.62,204.4,774.9,14.1,725,9189,0.00,1.73,0.00,0.000,4,0.000,0.049,2936,3268,2234,0,0,0,0,0,0
$GC,9224,0.61,204.4,768.9,15.6,726,9232,0.00,1.77,0.00,0.000,6,0.000,0.036,2944,2076,2233,0,0,0,0,0,0
$GC,9541,0.61,210.4,724.7,13.6,742,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2075,2232,0,0,0,0,0,0
$GC,9850,0.60,210.4,681.2,14.0,757,9851,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2075,2232,0,0,0,0,0,0
$GC,10159,0.59,210.4,635.4,14.7,772,10163,0.00,1.85,0.00,0.000,4,0.000,0.047,2944,3268,2231,0,0,0,0,0,0
$GC,10249,0.58,210.4,621.7,15.5,776,10254,0.12,1.77,0.00,0.000,6,0.185,0.036,2922,2076,2230,0,0,0,0,0,0
$GC,10577,0.64,259.9,580.6,11.6,799,10633,0.00,1.77,47.03,1.003,4,0.000,0.047,2930,966,2029,0,0,0,0,0,0
$GC,10673,0.68,293.8,569.0,12.3,807,10714,0.00,1.80,30.95,0.966,6,0.000,0.039,2925,2149,1891,0,0,0,0,0,0
$GC,11031,0.71,322.9,524.3,12.6,841,11066,0.10,1.90,25.77,0.937,4,0.100,0.046,2988,963,1772,0,0,0,0,0,0
$GC,11079,0.71,322.9,516.6,17.6,845,11083,0.00,1.80,0.00,0.000,6,0.000,0.040,2987,2145,1771,0,0,0,0,0,0
$GC,11410,0.70,322.9,455.0,18.6,876,11414,0.12,1.75,0.00,0.000,4,0.182,0.047,2948,3268,1764,0,0,0,0,0,0
$GC,11447,0.69,322.9,449.1,16.3,879,11451,0.00,1.77,0.00,0.000,6,0.000,0.035,2957,2080,1763,0,0,0,0,0,0
$GC,11778,0.69,322.9,395.1,16.6,910,11782,0.00,1.70,0.00,0.000,4,0.000,0.047,2965,966,1762,0,0,0,0,0,0
$GC,11815,0.69,322.9,389.7,15.1,913,11818,0.00,1.77,0.00,0.000,6,0.000,0.039,2965,2150,1762,0,0,0,0,0,0
$GC,12147,0.69,322.9,337.9,15.4,944,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2150,1762,0,0,0,0,0,0
$GC,12473,0.69,329.0,291.0,13.6,979,12480,0.00,0.00,4.60,0.541,6,0.000,0.000,2965,2150,1749,0,0,0,0,0,0
$GC,12832,0.71,340.7,241.2,13.4,1040,12855,0.00,1.85,12.10,0.689,4,0.000,0.044,2973,965,1700,0,0,0,0,0,0
$GC,12990,0.75,371.4,221.2,12.5,1066,13028,0.00,1.80,26.95,0.713,6,0.000,0.037,2973,2148,1577,0,0,0,0,0,0
$GC,13380,0.78,393.3,169.2,12.9,1131,13410,0.00,1.85,19.45,0.654,4,0.000,0.042,2974,962,1486,0,0,0,0,0,0
$GC,13476,0.87,461.8,157.9,10.8,1146,13542,0.08,1.80,58.28,0.665,6,0.052,0.035,3029,2149,1207,0,0,0,0,0,0
$GC,13895,0.88,461.8,87.9,15.6,1215,13904,0.00,1.83,0.00,0.000,4,0.000,0.042,3029,962,1200,0,0,0,0,0,0
$GC,13990,0.96,520.4,75.8,11.2,1230,14049,0.00,1.77,47.78,0.594,6,0.000,0.033,3029,2151,967,0,0,0,0,0,0
$GC,14402,1.09,611.0,31.6,9.8,1297,14485,0.15,1.88,72.00,0.552,4,0.072,0.037,3122,960,597,0,0,0,0,0,0
$STATE,14570,end climb,SURFACE_DEPTH_REACHED
$STATE,14570,begin surface coast
$FINISH,0.3,1.022205
$STATE,14589,end surface coast,CONTROL_FINISHED_OK
$STATE,14589,begin surface
$SM_CCo,14607,23.83,0.060,0,0,481,640.23
$SM_GC,0.90,0.00,0.00,23.83,0.000,0.000,0.060,148,2057,481,-8.07,0.90,640.23
$IRIDIUM_FIX,2232.34,12547.74,011110,121235
$TT8_MAMPS,0.026964
$HUMID,46.14
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.30
$XPDR_PINGS,0
$24V_AH,22.4,62.574
$10V_AH,9.8,51.308
$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,21.150,104.450,714.275,23.825,0.000,24.051,42.499,199.647,0.000,0.000,40.966,3224.967,7242.778,732.101,3559.401,296.854,0.000,2036.304,0.000,3276.928,0.000,0.543,0.000
$DEVICE_MAMPS,248.625,86.445,1269.135,59.670,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,895.621,0.000,1808.189,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333636
$DATA_FILE_SIZE,77030,1324
$CAP_FILE_SIZE,159757,0
$CFSIZE,260165632,230432768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$CURRENT,0.141,  5.0,1
$GPS,011110,210637,2235.480,12547.878,34,0.9,34,-3.2