version: 66.08
glider: 169
mission: 2
dive: 415
start: 11 3 110 3 17 29
data:
$ID,169
$MISSION,2
$DIVE,415
$N_DIVES,428
$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,-7254.2573
$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
$GPS1,031110,031037,2225.674,12546.582,66,1.1,66,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-67.7
$GPS2,031110,031701,2225.719,12546.500,9,1.3,14,-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,175.0,121426,-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,-204.4,0.0,0.0,0,114,0.00,0.00,-96.35,0.000,2,0.000,0.000,146,2069,3073,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.4,-4.7,12,152,10.40,1.90,-15.32,0.000,4,0.252,0.067,2499,883,3925,0,0,0,0,0,0
$GC,249,-0.68,-204.4,45.8,-21.1,32,258,0.00,1.80,0.00,0.000,6,0.000,0.050,2499,2034,3925,0,0,0,0,0,0
$GC,615,-0.67,-204.4,136.7,-20.4,93,625,0.00,1.80,0.00,0.000,4,0.000,0.050,2499,881,3927,0,0,0,0,0,0
$GC,652,-0.66,-204.4,143.6,-18.9,98,661,0.00,1.80,0.00,0.000,6,0.000,0.049,2499,2038,3927,0,0,0,0,0,0
$GC,1002,-0.66,-204.4,208.2,-17.2,159,1009,0.00,1.77,0.00,0.000,4,0.000,0.056,2499,3168,3928,0,0,0,0,0,0
$GC,1029,-0.66,-204.4,212.7,-17.0,163,1036,0.00,1.75,0.00,0.000,6,0.000,0.041,2499,2003,3928,0,0,0,0,0,0
$GC,1377,-0.66,-204.4,269.4,-15.8,224,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2001,3928,0,0,0,0,0,0
$GC,1719,-0.67,-204.4,318.3,-13.9,273,1723,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3174,3927,0,0,0,0,0,0
$GC,1745,-0.67,-204.4,321.9,-14.6,275,1748,0.00,1.77,0.00,0.000,6,0.000,0.039,2499,2001,3927,0,0,0,0,0,0
$GC,2078,-0.68,-204.4,369.1,-13.4,306,2082,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3171,3925,0,0,0,0,0,0
$GC,2117,-0.69,-204.4,374.0,-10.9,309,2125,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,2001,3926,0,0,0,0,0,0
$GC,2443,-0.69,-204.4,409.5,-11.1,340,2446,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3171,3923,0,0,0,0,0,0
$GC,2493,-0.71,-204.4,415.3,-10.9,344,2502,0.00,1.80,0.00,0.000,6,0.000,0.039,2499,2001,3923,0,0,0,0,0,0
$GC,2821,-0.72,-204.4,455.0,-12.4,375,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1999,3921,0,0,0,0,0,0
$GC,3141,-0.73,-204.4,491.1,-11.0,405,3144,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3171,3920,0,0,0,0,0,0
$GC,3212,-0.74,-204.4,498.7,-9.4,411,3219,0.00,1.80,0.00,0.000,6,0.000,0.040,2499,2003,3919,0,0,0,0,0,0
$GC,3538,-0.75,-204.4,533.1,-10.7,442,3541,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3170,3916,0,0,0,0,0,0
$GC,3562,-0.76,-204.4,535.6,-10.8,444,3565,0.00,1.80,0.00,0.000,6,0.000,0.039,2499,1999,3916,0,0,0,0,0,0
$GC,3893,-0.77,-204.4,569.4,-9.9,475,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,1998,3913,0,0,0,0,0,0
$GC,4213,-0.79,-204.4,600.2,-9.6,505,4216,0.00,1.85,0.00,0.000,4,0.000,0.054,2499,3168,3911,0,0,0,0,0,0
$GC,4314,-0.80,-204.4,608.9,-7.5,509,4317,0.00,1.75,0.00,0.000,6,0.000,0.039,2499,1999,3910,0,0,0,0,0,0
$GC,4636,-0.82,-204.4,639.2,-9.8,525,4639,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3169,3908,0,0,0,0,0,0
$GC,4686,-0.83,-204.4,644.1,-9.4,527,4690,0.12,1.75,0.00,0.000,6,0.112,0.040,2451,2001,3907,0,0,0,0,0,0
$GC,5013,-0.84,-204.4,688.2,-14.1,543,5017,0.00,1.85,0.00,0.000,4,0.000,0.057,2451,3167,3904,0,0,0,0,0,0
$GC,5060,-0.84,-204.4,694.4,-13.1,545,5064,0.00,1.77,0.00,0.000,6,0.000,0.042,2451,1993,3904,0,0,0,0,0,0
$GC,5393,-0.85,-204.4,739.3,-13.1,561,5394,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,1991,3901,0,0,0,0,0,0
$GC,5702,-0.85,-204.4,779.0,-12.7,576,5706,0.00,1.88,0.00,0.000,4,0.000,0.059,2451,3167,3899,0,0,0,0,0,0
$GC,5764,-0.86,-204.4,786.3,-10.8,578,5770,0.00,1.80,0.00,0.000,6,0.000,0.044,2451,2001,3899,0,0,0,0,0,0
$GC,6081,-0.86,-204.4,824.4,-11.9,594,6084,0.00,1.85,0.00,0.000,4,0.000,0.059,2450,3168,3896,0,0,0,0,0,0
$GC,6105,-0.87,-204.4,827.2,-11.2,595,6108,0.00,1.80,0.00,0.000,6,0.000,0.045,2451,2004,3896,0,0,0,0,0,0
$GC,6438,-0.88,-204.4,866.9,-12.0,611,6441,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3170,3894,0,0,0,0,0,0
$GC,6477,-0.88,-204.4,871.7,-11.5,612,6483,0.00,1.77,0.00,0.000,6,0.000,0.046,2451,2004,3894,0,0,0,0,0,0
$GC,6793,-0.89,-204.4,910.2,-12.5,628,6797,0.00,1.85,0.00,0.000,4,0.000,0.060,2450,3167,3892,0,0,0,0,0,0
$GC,6832,-0.90,-204.4,915.1,-11.6,629,6840,0.00,1.77,0.00,0.000,6,0.000,0.045,2451,2004,3892,0,0,0,0,0,0
$GC,7149,-0.90,-204.4,953.7,-12.4,645,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2003,3890,0,0,0,0,0,0
$GC,7458,-0.91,-204.4,991.1,-12.2,660,7461,0.00,1.88,0.00,0.000,4,0.000,0.060,2451,3166,3888,0,0,0,0,0,0
$GC,7520,-0.92,-204.4,998.3,-11.2,662,7527,0.00,1.77,0.00,0.000,6,0.000,0.045,2451,2004,3887,0,0,0,0,0,0
$STATE,7545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7545,begin apogee
$GC,7551,-0.18,0.0,1001.3,11.1,664,7733,0.70,0.08,174.48,1.272,6,0.147,0.102,2665,2091,3090,0,0,0,0,0,0
$STATE,7733,end apogee,CONTROL_FINISHED_OK
$STATE,7734,begin climb
$GC,7736,0.69,204.4,1011.4,0.0,672,7941,0.80,1.92,196.45,1.248,4,0.060,0.044,2964,973,2256,0,0,0,0,0,0
$GC,8164,0.67,204.4,965.3,16.2,692,8168,0.00,1.80,0.00,0.000,6,0.000,0.038,2962,2147,2244,0,0,0,0,0,0
$GC,8487,0.66,204.4,909.5,17.7,708,8490,0.00,1.77,0.00,0.000,4,0.000,0.046,2970,962,2240,0,0,0,0,0,0
$GC,8525,0.65,204.4,902.4,17.5,709,8532,0.00,1.80,0.00,0.000,6,0.000,0.038,2966,2159,2239,0,0,0,0,0,0
$GC,8841,0.63,204.4,845.3,17.7,725,8845,0.12,1.73,0.00,0.000,4,0.195,0.045,2934,3275,2237,0,0,0,0,0,0
$GC,8902,0.62,204.4,834.6,17.5,727,8908,0.00,1.77,0.00,0.000,6,0.000,0.034,2943,2084,2236,0,0,0,0,0,0
$GC,9218,0.61,204.4,784.9,15.3,743,9221,0.00,1.67,0.00,0.000,4,0.000,0.047,2952,957,2236,0,0,0,0,0,0
$GC,9251,0.60,204.4,779.5,15.7,744,9255,0.00,1.80,0.00,0.000,6,0.000,0.038,2949,2143,2235,0,0,0,0,0,0
$GC,9572,0.59,204.4,732.1,14.6,760,9573,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2143,2235,0,0,0,0,0,0
$GC,9882,0.58,204.4,687.7,14.4,775,9883,0.12,0.00,0.00,0.000,6,0.184,0.000,2917,2144,2233,0,0,0,0,0,0
$GC,10192,0.63,246.8,648.9,11.9,790,10238,0.00,0.00,38.35,1.001,6,0.000,0.000,2917,2144,2084,0,0,0,0,1,0
$GC,10542,0.67,280.0,605.8,12.4,807,10577,0.00,1.90,29.92,1.004,4,0.000,0.047,2926,967,1948,0,0,0,0,0,0
$GC,10643,0.73,328.5,593.7,11.7,813,10692,0.12,1.80,43.72,0.998,6,0.083,0.037,2992,2149,1750,0,0,0,0,0,0
$GC,11012,0.72,328.5,521.4,19.4,847,11016,0.00,1.80,0.00,0.000,4,0.000,0.047,3000,960,1741,0,0,0,0,0,0
$GC,11062,0.71,328.5,511.2,19.9,851,11069,0.10,1.83,0.00,0.000,6,0.158,0.039,2968,2152,1740,0,0,0,0,0,0
$GC,11388,0.71,328.5,458.5,16.2,882,11389,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2152,1737,0,0,0,0,0,0
$GC,11707,0.70,328.5,407.4,16.2,912,11711,0.00,1.80,0.00,0.000,4,0.000,0.047,2976,965,1736,0,0,0,0,0,0
$GC,11801,0.70,328.5,391.7,15.4,920,11810,0.00,1.80,0.00,0.000,6,0.000,0.038,2974,2148,1735,0,0,0,0,0,0
$GC,12129,0.70,328.5,341.4,15.6,951,12133,0.00,1.83,0.00,0.000,4,0.000,0.045,2983,965,1734,0,0,0,0,0,0
$GC,12167,0.70,328.5,335.1,15.0,954,12176,0.00,1.80,0.00,0.000,6,0.000,0.037,2976,2152,1734,0,0,0,0,0,0
$GC,12499,0.69,328.5,282.4,16.3,994,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2152,1734,0,0,0,0,0,0
$GC,12854,0.73,362.6,231.2,12.3,1055,12888,0.00,1.85,28.02,0.725,4,0.000,0.042,2985,963,1611,0,0,0,0,0,0
$GC,12987,0.76,385.3,213.9,12.9,1077,13016,0.00,1.77,20.00,0.693,6,0.000,0.035,2985,2160,1519,0,0,0,0,0,0
$GC,13357,0.78,403.2,160.4,13.1,1141,13379,0.00,1.90,16.02,0.641,4,0.000,0.041,2994,956,1447,0,0,0,0,0,0
$GC,13451,0.83,437.2,148.3,12.3,1156,13486,0.00,1.80,30.00,0.652,6,0.000,0.034,2994,2146,1308,0,0,0,0,0,0
$GC,13837,0.83,437.2,93.6,14.1,1220,13845,0.00,1.80,0.00,0.000,4,0.000,0.042,2999,972,1303,0,0,0,0,0,0
$GC,13932,0.93,502.3,82.0,10.9,1235,13990,0.00,1.77,53.65,0.608,6,0.000,0.034,2999,2156,1043,0,0,0,0,0,0
$GC,14343,1.11,631.9,49.4,8.0,1302,14457,0.22,1.88,102.70,0.571,4,0.055,0.040,3122,971,514,0,0,0,0,0,0
$GC,14556,1.11,631.9,6.9,17.5,1332,14565,0.10,1.80,0.00,0.000,6,0.132,0.034,3087,2154,511,0,0,0,0,0,0
$STATE,14584,end climb,SURFACE_DEPTH_REACHED
$STATE,14584,begin surface coast
$FINISH,0.3,1.022343
$STATE,14604,end surface coast,CONTROL_FINISHED_OK
$STATE,14604,begin surface
$SM_CCo,14621,8.35,0.061,0,0,481,640.23
$SM_GC,0.85,0.00,0.00,8.35,0.000,0.000,0.061,152,1978,481,-8.06,-1.33,640.23
$IRIDIUM_FIX,2220.67,12543.64,021110,222235
$TT8_MAMPS,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.60
$XPDR_PINGS,0
$24V_AH,22.3,64.318
$10V_AH,9.8,52.540
$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,21.250,101.875,733.325,8.350,0.000,26.535,19.766,196.812,0.000,0.000,16.783,3284.487,7031.194,724.001,3649.802,313.885,0.000,2079.264,0.000,3422.850,0.000,0.543,0.000
$DEVICE_MAMPS,251.685,101.745,1272.195,61.200,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.217,0.000,1894.590,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80184,1339
$CAP_FILE_SIZE,162158,0
$CFSIZE,260165632,229781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.086,323.4,1
$GPS,031110,072230,2223.914,12545.935,37,1.0,42,-3.2