version: 66.08
glider: 169
mission: 2
dive: 413
start: 11 2 110 18 48 23
data:
$ID,169
$MISSION,2
$DIVE,413
$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,-7249.6411
$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
$GPS1,021110,184056,2228.929,12546.746,27,2.1,46,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-66.0
$GPS2,021110,184755,2229.035,12546.683,32,2.0,43,-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,178.5,127375,-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,-96.72,0.000,2,0.000,0.000,140,1977,3127,0,0,0,0,0,0
$GC,118,-0.69,-204.4,4.0,-6.6,12,152,10.05,1.75,-13.73,0.000,4,0.240,0.070,2499,884,3928,0,0,0,0,0,0
$GC,277,-0.68,-204.4,58.5,-26.1,37,287,0.00,1.80,0.00,0.000,6,0.000,0.050,2500,2033,3929,0,0,0,0,0,0
$GC,644,-0.67,-204.4,147.2,-23.4,98,652,0.00,1.77,0.00,0.000,4,0.000,0.044,2500,869,3930,0,0,0,0,0,0
$GC,700,-0.67,-204.4,158.9,-17.7,107,707,0.00,1.83,0.00,0.000,6,0.000,0.049,2500,2042,3931,0,0,0,0,0,0
$GC,1046,-0.67,-204.4,218.6,-16.4,168,1056,0.00,1.77,0.00,0.000,4,0.000,0.060,2500,3168,3931,0,0,0,0,0,0
$GC,1116,-0.67,-204.4,228.1,-13.7,179,1122,0.00,1.77,0.00,0.000,6,0.000,0.040,2500,1997,3932,0,0,0,0,0,0
$GC,1460,-0.67,-204.4,281.4,-15.8,240,1469,0.00,1.88,0.00,0.000,4,0.000,0.057,2500,3168,3931,0,0,0,0,0,0
$GC,1494,-0.67,-204.4,286.6,-16.0,245,1502,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,1998,3931,0,0,0,0,0,0
$GC,1827,-0.68,-204.4,336.4,-14.0,283,1831,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3162,3930,0,0,0,0,0,0
$GC,1863,-0.69,-204.4,341.1,-12.2,286,1867,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,1984,3930,0,0,0,0,0,0
$GC,2196,-0.69,-204.4,381.8,-12.7,317,2200,0.00,1.90,0.00,0.000,4,0.000,0.056,2500,3170,3929,0,0,0,0,0,0
$GC,2257,-0.70,-204.4,389.5,-11.5,322,2265,0.00,1.80,0.00,0.000,6,0.000,0.041,2500,2001,3929,0,0,0,0,0,0
$GC,2584,-0.71,-204.4,429.0,-12.1,353,2588,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3164,3927,0,0,0,0,0,0
$GC,2622,-0.72,-204.4,433.9,-11.5,356,2631,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,2003,3927,0,0,0,0,0,0
$GC,2951,-0.73,-204.4,469.9,-10.8,387,2955,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3164,3924,0,0,0,0,0,0
$GC,3008,-0.75,-204.4,475.9,-10.2,392,3011,0.00,1.75,0.00,0.000,6,0.000,0.038,2500,1990,3924,0,0,0,0,0,0
$GC,3339,-0.76,-204.4,514.3,-11.5,423,3343,0.00,1.88,0.00,0.000,4,0.000,0.055,2500,3177,3921,0,0,0,0,0,0
$GC,3388,-0.77,-204.4,519.7,-10.0,427,3395,0.00,1.80,0.00,0.000,6,0.000,0.040,2500,1983,3921,0,0,0,0,0,0
$GC,3714,-0.78,-204.4,553.4,-10.3,458,3718,0.00,1.88,0.00,0.000,4,0.000,0.057,2500,3170,3918,0,0,0,0,0,0
$GC,3764,-0.80,-204.4,558.2,-8.8,462,3771,0.00,1.75,0.00,0.000,6,0.000,0.041,2500,2001,3918,0,0,0,0,0,0
$GC,4089,-0.81,-204.4,590.6,-9.7,493,4093,0.00,1.85,0.00,0.000,4,0.000,0.055,2500,3177,3915,0,0,0,0,0,0
$GC,4168,-0.83,-204.4,597.6,-8.7,500,4172,0.10,1.77,0.00,0.000,6,0.122,0.041,2460,1999,3915,0,0,0,0,0,0
$GC,4491,-0.83,-204.4,640.0,-14.0,517,4494,0.00,1.85,0.00,0.000,4,0.000,0.057,2460,3168,3911,0,0,0,0,0,0
$GC,4560,-0.84,-204.4,648.8,-12.2,520,4563,0.00,1.77,0.00,0.000,6,0.000,0.043,2460,1993,3911,0,0,0,0,0,0
$GC,4893,-0.84,-204.4,696.1,-14.2,536,4896,0.00,1.85,0.00,0.000,4,0.000,0.059,2460,3169,3908,0,0,0,0,0,0
$GC,4932,-0.85,-204.4,701.6,-13.3,537,4939,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,1996,3908,0,0,0,0,0,0
$GC,5248,-0.86,-204.4,744.8,-13.3,553,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1995,3906,0,0,0,0,0,0
$GC,5558,-0.86,-204.4,783.5,-12.1,568,5561,0.00,1.88,0.00,0.000,4,0.000,0.060,2460,3168,3902,0,0,0,0,0,0
$GC,5591,-0.87,-204.4,787.7,-12.0,569,5594,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2000,3903,0,0,0,0,0,0
$GC,5913,-0.88,-204.4,825.8,-12.1,585,5916,0.00,1.83,0.00,0.000,4,0.000,0.059,2460,3168,3900,0,0,0,0,0,0
$GC,5952,-0.89,-204.4,830.4,-11.3,586,5959,0.00,1.77,0.00,0.000,6,0.000,0.045,2460,2002,3900,0,0,0,0,0,0
$GC,6269,-0.89,-204.4,865.6,-10.6,602,6272,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3167,3897,0,0,0,0,0,0
$GC,6308,-0.90,-204.4,869.7,-9.4,603,6315,0.00,1.77,0.00,0.000,6,0.000,0.045,2460,2003,3897,0,0,0,0,0,0
$GC,6624,-0.91,-204.4,902.6,-10.3,619,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3895,0,0,0,0,0,0
$GC,6934,-0.92,-204.4,934.3,-10.1,634,6938,0.00,1.88,0.00,0.000,4,0.000,0.060,2461,3166,3893,0,0,0,0,0,0
$GC,6968,-0.93,-204.4,937.8,-9.7,635,6971,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,2003,3893,0,0,0,0,0,0
$GC,7290,-0.93,-204.4,969.6,-10.1,651,7293,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3169,3891,0,0,0,0,0,0
$GC,7318,-0.94,-204.4,972.5,-9.9,652,7322,0.10,1.77,0.00,0.000,6,0.119,0.045,2420,2004,3890,0,0,0,0,0,0
$STATE,7539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7539,begin apogee
$GC,7544,-0.18,0.0,1002.3,14.1,663,7723,0.80,0.08,173.38,1.276,6,0.146,0.107,2667,2092,3091,0,0,0,0,0,0
$STATE,7724,end apogee,CONTROL_FINISHED_OK
$STATE,7724,begin climb
$GC,7726,0.69,204.4,1010.9,0.0,671,7929,0.77,1.95,195.25,1.248,4,0.055,0.045,2960,965,2256,0,0,0,0,0,0
$GC,8169,0.67,204.4,961.3,16.7,692,8172,0.00,1.77,0.00,0.000,6,0.000,0.038,2961,2153,2243,0,0,0,0,0,0
$GC,8501,0.66,204.4,903.4,17.4,708,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2152,2239,0,0,0,0,0,0
$GC,8811,0.65,204.4,849.7,17.3,723,8814,0.00,1.80,0.00,0.000,4,0.000,0.046,2969,964,2237,0,0,0,0,0,0
$GC,8866,0.64,204.4,839.7,18.0,725,8871,0.12,1.77,0.00,0.000,6,0.184,0.040,2935,2157,2237,0,0,0,0,0,0
$GC,9188,0.63,204.4,792.9,14.2,741,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2158,2235,0,0,0,0,0,0
$GC,9498,0.62,204.4,748.7,14.6,756,9501,0.00,1.80,0.00,0.000,4,0.000,0.047,2944,962,2235,0,0,0,0,0,0
$GC,9544,0.61,204.4,742.0,14.5,758,9548,0.00,1.77,0.00,0.000,6,0.000,0.041,2944,2154,2235,0,0,0,0,0,0
$GC,9877,0.60,204.4,693.6,14.7,774,9881,0.00,1.77,0.00,0.000,4,0.000,0.046,2953,966,2233,0,0,0,0,0,0
$GC,9901,0.59,204.4,690.1,14.3,775,9905,0.12,1.77,0.00,0.000,6,0.176,0.041,2920,2148,2233,0,0,0,0,0,0
$GC,10235,0.63,236.3,647.4,12.4,791,10267,0.00,1.73,26.73,1.039,4,0.000,0.047,2920,3267,2126,0,0,0,0,0,0
$GC,10330,0.63,243.2,634.6,13.6,795,10342,0.00,1.77,7.35,0.859,6,0.000,0.036,2929,2088,2098,0,0,0,0,0,0
$GC,10655,0.64,251.0,590.5,13.5,814,10665,0.00,0.00,8.27,0.870,6,0.000,0.000,2929,2087,2067,0,0,0,0,0,0
$GC,10981,0.68,287.0,547.9,12.2,845,11021,0.00,0.00,33.12,0.975,6,0.000,0.000,2929,2087,1920,0,0,0,0,0,0
$GC,11340,0.70,304.6,500.7,13.1,879,11365,0.00,1.75,16.08,0.900,4,0.000,0.047,2935,975,1848,0,0,0,0,0,0
$GC,11450,0.74,332.6,486.4,12.6,888,11483,0.00,1.80,26.00,0.914,6,0.000,0.038,2935,2144,1733,0,0,0,0,0,0
$GC,11801,0.75,340.3,438.2,13.5,921,11814,0.10,1.85,7.30,0.750,4,0.095,0.047,3001,970,1703,0,0,0,0,0,0
$GC,11833,0.74,340.3,432.9,16.5,924,11837,0.10,1.77,0.00,0.000,6,0.184,0.040,2974,2157,1702,0,0,0,0,0,0
$GC,12165,0.74,340.3,378.2,16.2,955,12169,0.00,1.80,0.00,0.000,4,0.000,0.046,2983,969,1698,0,0,0,0,0,0
$GC,12204,0.73,340.3,371.4,16.8,958,12212,0.00,1.80,0.00,0.000,6,0.000,0.038,2981,2154,1698,0,0,0,0,0,0
$GC,12531,0.73,340.3,318.1,16.4,989,12535,0.00,1.80,0.00,0.000,4,0.000,0.045,2989,963,1696,0,0,0,0,0,0
$GC,12556,0.72,340.3,313.9,16.5,991,12560,0.00,1.77,0.00,0.000,6,0.000,0.038,2987,2149,1697,0,0,0,0,0,0
$GC,12897,0.72,340.3,258.4,15.8,1044,12905,0.00,1.80,0.00,0.000,4,0.000,0.046,2996,973,1696,0,0,0,0,0,0
$GC,12991,0.71,340.3,244.0,14.8,1060,13000,0.10,1.77,0.00,0.000,6,0.145,0.038,2963,2149,1696,0,0,0,0,0,0
$GC,13341,0.81,420.7,202.2,10.2,1121,13418,0.00,1.90,67.95,0.711,4,0.000,0.043,2971,963,1373,0,0,0,0,0,0
$GC,13484,0.90,482.6,186.1,11.1,1143,13542,0.10,1.83,52.00,0.687,6,0.044,0.035,3039,2151,1122,0,0,0,0,0,0
$GC,13895,0.90,482.6,110.6,16.8,1211,13904,0.00,1.80,0.00,0.000,4,0.000,0.044,3042,976,1115,0,0,0,0,0,0
$GC,14025,0.90,482.6,91.3,14.7,1232,14033,0.00,1.77,0.00,0.000,6,0.000,0.034,3042,2157,1115,0,0,0,0,0,0
$GC,14388,0.91,482.6,42.8,15.1,1293,14398,0.00,1.80,0.00,0.000,4,0.000,0.041,3043,971,1115,0,0,0,0,0,0
$GC,14499,0.92,482.6,26.2,15.7,1311,14508,0.00,1.75,0.00,0.000,6,0.000,0.031,3042,2153,1115,0,0,0,0,0,0
$STATE,14681,end climb,SURFACE_DEPTH_REACHED
$STATE,14681,begin surface coast
$FINISH,0.3,1.022357
$STATE,14713,end surface coast,CONTROL_FINISHED_OK
$STATE,14713,begin surface
$SM_CCo,14731,107.32,0.058,0,0,481,640.23
$SM_GC,1.09,0.00,0.00,107.32,0.000,0.000,0.058,148,1979,481,-8.07,-1.30,640.23
$IRIDIUM_FIX,2223.01,12545.01,021110,141459
$TT8_MAMPS,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.90
$XPDR_PINGS,0
$24V_AH,22.3,63.874
$10V_AH,9.8,52.231
$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,20.650,112.425,613.425,107.325,0.000,29.503,17.865,200.478,0.000,0.000,45.211,3331.644,7170.231,761.804,3671.292,311.827,0.000,2082.848,0.000,3407.974,0.000,0.544,0.000
$DEVICE_MAMPS,240.210,107.100,1276.020,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.554,0.000,1840.165,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333656
$DATA_FILE_SIZE,80236,1346
$CAP_FILE_SIZE,165317,0
$CFSIZE,260165632,229941248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108,  7.1,1
$GPS,021110,225637,2227.538,12546.590,27,1.3,27,-3.2