version: 66.08
glider: 169
mission: 2
dive: 411
start: 11 2 110 10 21 18
data:
$ID,169
$MISSION,2
$DIVE,411
$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,-7246.0811
$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
$GPS1,021110,101354,2230.950,12546.484,25,1.7,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.2
$GPS2,021110,102050,2231.045,12546.388,14,1.6,14,-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,160.7,131125,-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,-96.05,0.000,2,0.000,0.000,148,2057,3110,0,0,0,0,0,0
$GC,116,-0.69,-204.4,4.1,-7.4,12,151,10.40,1.90,-13.80,0.000,4,0.252,0.069,2496,873,3930,0,0,0,0,0,0
$GC,194,-0.67,-204.4,37.6,-34.7,23,203,0.00,1.85,0.00,0.000,6,0.000,0.052,2496,2044,3930,0,0,0,0,0,0
$GC,561,-0.65,-204.4,133.0,-22.1,84,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2045,3931,0,0,0,0,0,0
$GC,924,-0.65,-204.4,202.6,-17.1,145,931,0.00,1.75,0.00,0.000,4,0.000,0.058,2496,3162,3932,0,0,0,0,0,0
$GC,986,-0.66,-204.4,212.2,-13.9,155,993,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,2000,3933,0,0,0,0,0,0
$GC,1342,-0.66,-204.4,269.2,-14.5,216,1350,0.00,1.88,0.00,0.000,4,0.000,0.056,2496,3170,3932,0,0,0,0,0,0
$GC,1377,-0.66,-204.4,274.2,-15.2,221,1384,0.00,1.77,0.00,0.000,6,0.000,0.042,2496,2002,3933,0,0,0,0,0,0
$GC,1719,-0.66,-204.4,326.6,-14.7,266,1723,0.00,1.83,0.00,0.000,4,0.000,0.056,2496,3171,3932,0,0,0,0,0,0
$GC,1747,-0.67,-204.4,331.0,-14.3,268,1756,0.00,1.80,0.00,0.000,6,0.000,0.041,2496,2003,3932,0,0,0,0,0,0
$GC,2075,-0.67,-204.4,372.8,-12.5,299,2079,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3161,3930,0,0,0,0,0,0
$GC,2114,-0.68,-204.4,378.2,-12.6,302,2123,0.00,1.77,0.00,0.000,6,0.000,0.039,2496,2004,3930,0,0,0,0,0,0
$GC,2441,-0.69,-204.4,418.5,-12.6,333,2445,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3162,3928,0,0,0,0,0,0
$GC,2470,-0.70,-204.4,422.5,-12.0,335,2476,0.00,1.77,0.00,0.000,6,0.000,0.039,2496,1994,3928,0,0,0,0,0,0
$GC,2795,-0.70,-204.4,461.3,-11.4,366,2799,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3168,3925,0,0,0,0,0,0
$GC,2857,-0.72,-204.4,467.5,-9.4,371,2860,0.00,1.80,0.00,0.000,6,0.000,0.040,2496,1998,3926,0,0,0,0,0,0
$GC,3188,-0.73,-204.4,501.0,-10.4,402,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1997,3924,0,0,0,0,0,0
$GC,3508,-0.74,-204.4,534.8,-11.0,432,3512,0.00,1.85,0.00,0.000,4,0.000,0.057,2496,3175,3921,0,0,0,0,0,0
$GC,3569,-0.75,-204.4,541.5,-9.8,437,3576,0.00,1.80,0.00,0.000,6,0.000,0.042,2496,2001,3920,0,0,0,0,0,0
$GC,3895,-0.76,-204.4,577.5,-11.0,468,3899,0.00,1.83,0.00,0.000,4,0.000,0.055,2497,3168,3917,0,0,0,0,0,0
$GC,3934,-0.78,-204.4,581.8,-10.0,471,3940,0.00,1.77,0.00,0.000,6,0.000,0.041,2496,1987,3917,0,0,0,0,0,0
$GC,4267,-0.79,-204.4,614.9,-9.7,496,4271,0.00,1.85,0.00,0.000,4,0.000,0.056,2496,3169,3914,0,0,0,0,0,0
$GC,4306,-0.81,-204.4,619.0,-9.8,497,4313,0.00,1.77,0.00,0.000,6,0.000,0.040,2496,1999,3913,0,0,0,0,0,0
$GC,4622,-0.82,-204.4,649.8,-10.2,513,4626,0.00,1.85,0.00,0.000,4,0.000,0.055,2496,3175,3911,0,0,0,0,0,0
$GC,4670,-0.83,-204.4,654.3,-8.8,515,4674,0.10,1.80,0.00,0.000,6,0.123,0.042,2459,2000,3911,0,0,0,0,0,0
$GC,5004,-0.84,-204.4,696.8,-13.1,531,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1998,3908,0,0,0,0,0,0
$GC,5312,-0.84,-204.4,736.6,-12.7,546,5316,0.00,1.88,0.00,0.000,4,0.000,0.059,2458,3174,3905,0,0,0,0,0,0
$GC,5351,-0.85,-204.4,741.4,-11.3,547,5357,0.00,1.80,0.00,0.000,6,0.000,0.044,2459,2003,3905,0,0,0,0,0,0
$GC,5670,-0.86,-204.4,779.6,-12.0,563,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,2002,3902,0,0,0,0,0,0
$GC,5976,-0.86,-204.4,815.4,-11.6,578,5980,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3167,3900,0,0,0,0,0,0
$GC,6022,-0.87,-204.4,820.5,-10.6,580,6025,0.00,1.77,0.00,0.000,6,0.000,0.044,2459,2002,3900,0,0,0,0,0,0
$GC,6355,-0.88,-204.4,859.0,-11.7,596,6359,0.00,1.85,0.00,0.000,4,0.000,0.059,2458,3169,3897,0,0,0,0,0,0
$GC,6389,-0.89,-204.4,863.0,-11.1,597,6392,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2004,3897,0,0,0,0,0,0
$GC,6711,-0.90,-204.4,898.5,-11.1,613,6715,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3167,3895,0,0,0,0,0,0
$GC,6744,-0.91,-204.4,902.1,-10.0,614,6748,0.00,1.80,0.00,0.000,6,0.000,0.044,2458,2002,3895,0,0,0,0,0,0
$GC,7066,-0.91,-204.4,937.3,-11.2,630,7070,0.00,1.85,0.00,0.000,4,0.000,0.060,2459,3168,3893,0,0,0,0,0,0
$GC,7094,-0.92,-204.4,940.4,-11.4,631,7097,0.00,1.77,0.00,0.000,6,0.000,0.046,2458,2004,3893,0,0,0,0,0,0
$GC,7422,-0.93,-204.4,976.9,-11.1,647,7425,0.00,1.85,0.00,0.000,4,0.000,0.061,2458,3169,3891,0,0,0,0,0,0
$GC,7457,-0.94,-204.4,980.8,-10.5,648,7460,0.00,1.80,0.00,0.000,6,0.000,0.046,2458,1993,3891,0,0,0,0,0,0
$STATE,7631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7631,begin apogee
$GC,7637,-0.18,0.0,1000.6,11.4,657,7819,0.65,0.05,174.48,1.279,6,0.143,0.067,2661,2102,3091,0,0,0,0,0,0
$STATE,7820,end apogee,CONTROL_FINISHED_OK
$STATE,7820,begin climb
$GC,7822,0.69,204.4,1010.1,0.0,665,8026,0.80,2.00,195.68,1.251,4,0.063,0.047,2946,3264,2256,0,0,0,0,0,0
$GC,8098,0.67,204.4,988.2,17.2,678,8106,0.00,1.88,0.00,0.000,6,0.000,0.035,2956,2091,2246,0,0,0,0,0,0
$GC,8415,0.66,204.4,935.9,16.6,694,8418,0.00,1.67,0.00,0.000,4,0.000,0.047,2964,968,2240,0,0,0,0,0,0
$GC,8448,0.65,204.4,930.3,16.1,695,8451,0.00,1.80,0.00,0.000,6,0.000,0.041,2962,2154,2240,0,0,0,0,0,0
$GC,8770,0.63,204.4,877.2,16.3,711,8773,0.00,1.70,0.00,0.000,4,0.000,0.048,2962,3269,2238,0,0,0,0,0,0
$GC,8793,0.62,204.4,873.0,17.0,712,8797,0.15,1.77,0.00,0.000,6,0.184,0.036,2933,2077,2237,0,0,0,0,0,0
$GC,9126,0.61,204.4,823.4,15.1,728,9127,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2077,2236,0,0,0,0,0,0
$GC,9435,0.60,204.4,776.0,15.3,743,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2077,2235,0,0,0,0,0,0
$GC,9744,0.59,204.4,730.7,14.2,758,9748,0.00,1.65,0.00,0.000,4,0.000,0.048,2941,968,2234,0,0,0,0,0,0
$GC,9783,0.59,204.4,724.9,14.3,759,9790,0.00,1.75,0.00,0.000,6,0.000,0.040,2937,2151,2233,0,0,0,0,0,0
$GC,10100,0.60,220.1,682.7,13.2,775,10116,0.00,1.80,11.60,0.988,4,0.000,0.048,2938,3275,2193,0,0,0,0,0,0
$GC,10140,0.59,220.1,677.0,14.4,776,10144,0.00,1.77,0.00,0.000,6,0.000,0.036,2946,2087,2192,0,0,0,0,0,0
$GC,10473,0.58,220.1,630.0,14.2,792,10474,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2086,2189,0,0,0,0,0,0
$GC,10786,0.57,220.1,585.9,14.0,811,10788,0.12,0.00,0.00,0.000,6,0.190,0.000,2914,2086,2188,0,0,0,0,0,0
$GC,11103,0.63,264.3,547.2,11.9,841,11149,0.00,1.95,40.70,0.982,4,0.000,0.045,2909,3268,2012,0,0,0,0,0,0
$GC,11174,0.66,290.7,538.7,12.7,847,11207,0.00,1.80,24.85,0.939,6,0.000,0.034,2918,2083,1903,0,0,0,0,0,0
$GC,11526,0.72,336.7,496.3,11.8,880,11576,0.12,1.77,40.38,0.934,4,0.083,0.046,2995,970,1716,0,0,0,0,0,0
$GC,11615,0.71,336.7,481.4,18.3,887,11619,0.12,1.80,0.00,0.000,6,0.173,0.039,2959,2155,1713,0,0,0,0,0,0
$GC,11945,0.70,336.7,427.0,16.5,918,11949,0.00,1.77,0.00,0.000,4,0.000,0.045,2967,969,1707,0,0,0,0,0,0
$GC,11982,0.70,336.7,421.3,15.8,921,11986,0.00,1.75,0.00,0.000,6,0.000,0.037,2967,2148,1706,0,0,0,0,0,0
$GC,12313,0.70,336.7,366.7,16.5,952,12317,0.00,1.80,0.00,0.000,4,0.000,0.044,2976,960,1705,0,0,0,0,0,0
$GC,12375,0.70,336.7,357.3,16.1,957,12378,0.00,1.80,0.00,0.000,6,0.000,0.038,2974,2161,1704,0,0,0,0,0,0
$GC,12705,0.69,336.7,301.2,16.7,988,12709,0.00,1.83,0.00,0.000,4,0.000,0.044,2984,961,1703,0,0,0,0,0,0
$GC,12801,0.69,336.7,286.3,15.8,1003,12809,0.12,1.77,0.00,0.000,6,0.163,0.038,2949,2161,1703,0,0,0,0,0,0
$GC,13163,0.77,398.5,239.1,11.1,1064,13220,0.00,1.92,51.05,0.743,4,0.000,0.044,2958,960,1465,0,0,0,0,0,0
$GC,13301,0.84,447.5,222.5,11.6,1085,13351,0.12,1.80,42.38,0.718,6,0.080,0.036,3025,2150,1265,0,0,0,0,0,0
$GC,13705,0.83,447.5,140.5,19.6,1152,13713,0.00,1.83,0.00,0.000,4,0.000,0.044,3029,965,1259,0,0,0,0,0,0
$GC,13804,0.83,447.5,122.4,16.0,1168,13813,0.08,1.77,0.00,0.000,6,0.145,0.036,3003,2147,1257,0,0,0,0,0,0
$GC,14172,0.92,509.5,75.6,11.1,1229,14231,0.00,1.83,50.58,0.604,4,0.000,0.041,3003,967,1012,0,0,0,0,0,0
$GC,14310,1.10,641.3,64.3,7.9,1249,14425,0.17,1.80,105.32,0.588,6,0.050,0.036,3091,2146,475,0,0,0,0,0,0
$STATE,14672,end climb,SURFACE_DEPTH_REACHED
$STATE,14672,begin surface coast
$FINISH,0.4,1.022351
$STATE,14692,end surface coast,CONTROL_FINISHED_OK
$STATE,14692,begin surface
$SM_CCo,14769,0.00,0.000,0,0,469,643.18
$SM_GC,1.00,8.43,0.00,0.00,0.087,0.000,0.000,149,1986,469,-8.04,-1.10,643.18
$IRIDIUM_FIX,2225.34,12548.26,021110,050533
$TT8_MAMPS,0.026215
$HUMID,47.67
$INTERNAL_PRESSURE,9.16407
$TCM_TEMP,24.10
$XPDR_PINGS,0
$24V_AH,22.3,63.455
$10V_AH,9.8,51.924
$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,21.400,109.175,737.000,0.000,0.000,29.449,43.133,200.925,0.000,0.000,16.818,3204.591,7445.418,714.011,3505.353,300.950,0.000,2021.781,0.000,3241.473,0.000,0.543,0.000
$DEVICE_MAMPS,252.450,74.205,1279.080,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.012,0.000,1750.560,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333676
$DATA_FILE_SIZE,76768,1308
$CAP_FILE_SIZE,160695,0
$CFSIZE,260165632,230109184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,332.4,1
$GPS,021110,142855,2229.685,12546.438,62,1.3,62,-3.2