version: 66.08
glider: 169
mission: 2
dive: 418
start: 11 3 110 16 7 37
data:
$ID,169
$MISSION,2
$DIVE,418
$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,-7259.0835
$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
$GPS1,031110,160035,2221.582,12545.623,36,1.6,40,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.5
$GPS2,031110,160708,2221.620,12545.576,11,1.7,11,-3.1
$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,171.1,114377,-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,-204.4,0.0,0.0,0,119,0.00,0.00,-102.18,0.000,2,0.000,0.000,146,1978,3275,0,0,0,0,0,0
$GC,123,-0.69,-204.4,4.5,-7.7,13,150,10.35,1.80,-10.88,0.000,4,0.249,0.071,2495,867,3929,0,0,0,0,0,0
$GC,247,-0.68,-204.4,47.6,-23.5,32,256,0.00,1.85,0.00,0.000,6,0.000,0.054,2495,2034,3930,0,0,0,0,0,0
$GC,609,-0.67,-204.4,137.5,-20.6,93,617,0.00,1.80,0.00,0.000,4,0.000,0.046,2495,866,3931,0,0,0,0,0,0
$GC,638,-0.66,-204.4,143.9,-21.0,97,647,0.00,1.83,0.00,0.000,6,0.000,0.049,2495,2037,3931,0,0,0,0,0,0
$GC,997,-0.65,-204.4,214.6,-19.0,158,1006,0.00,1.75,0.00,0.000,4,0.000,0.055,2495,3165,3932,0,0,0,0,0,0
$GC,1114,-0.66,-204.4,232.7,-15.2,177,1120,0.00,1.75,0.00,0.000,6,0.000,0.039,2495,1990,3932,0,0,0,0,0,0
$GC,1469,-0.66,-204.4,292.3,-16.5,238,1478,0.00,1.88,0.00,0.000,4,0.000,0.057,2495,3164,3932,0,0,0,0,0,0
$GC,1543,-0.67,-204.4,303.5,-13.9,248,1547,0.00,1.75,0.00,0.000,6,0.000,0.040,2495,1997,3932,0,0,0,0,0,0
$GC,1877,-0.67,-204.4,352.8,-14.7,279,1881,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3168,3931,0,0,0,0,0,0
$GC,1903,-0.67,-204.4,356.4,-13.7,281,1906,0.00,1.75,0.00,0.000,6,0.000,0.039,2496,2000,3931,0,0,0,0,0,0
$GC,2234,-0.68,-204.4,400.7,-12.5,312,2238,0.00,1.83,0.00,0.000,4,0.000,0.053,2495,3174,3930,0,0,0,0,0,0
$GC,2294,-0.69,-204.4,407.5,-10.8,317,2298,0.00,1.77,0.00,0.000,6,0.000,0.039,2495,1987,3930,0,0,0,0,0,0
$GC,2626,-0.70,-204.4,444.6,-10.7,348,2629,0.00,1.85,0.00,0.000,4,0.000,0.055,2495,3168,3928,0,0,0,0,0,0
$GC,2695,-0.71,-204.4,451.2,-8.8,354,2699,0.00,1.80,0.00,0.000,6,0.000,0.038,2495,1999,3927,0,0,0,0,0,0
$GC,3028,-0.72,-204.4,484.5,-10.7,385,3031,0.00,1.83,0.00,0.000,4,0.000,0.054,2495,3168,3925,0,0,0,0,0,0
$GC,3065,-0.73,-204.4,488.3,-9.9,388,3068,0.00,1.75,0.00,0.000,6,0.000,0.038,2495,2000,3925,0,0,0,0,0,0
$GC,3396,-0.74,-204.4,523.5,-10.2,419,3400,0.00,1.83,0.00,0.000,4,0.000,0.053,2495,3171,3922,0,0,0,0,0,0
$GC,3424,-0.76,-204.4,526.8,-10.4,421,3431,0.00,1.77,0.00,0.000,6,0.000,0.041,2495,1988,3922,0,0,0,0,0,0
$GC,3750,-0.77,-204.4,561.0,-10.7,452,3754,0.00,1.85,0.00,0.000,4,0.000,0.055,2495,3168,3919,0,0,0,0,0,0
$GC,3841,-0.78,-204.4,569.8,-9.9,460,3845,0.00,1.75,0.00,0.000,6,0.000,0.039,2495,2002,3918,0,0,0,0,0,0
$GC,4182,-0.79,-204.4,605.3,-10.4,490,4186,0.00,1.85,0.00,0.000,4,0.000,0.054,2496,3161,3915,0,0,0,0,0,0
$GC,4237,-0.81,-204.4,610.5,-8.4,492,4241,0.00,1.75,0.00,0.000,6,0.000,0.039,2495,1998,3915,0,0,0,0,0,0
$GC,4559,-0.82,-204.4,641.4,-9.5,508,4563,0.00,1.83,0.00,0.000,4,0.000,0.055,2495,3168,3913,0,0,0,0,0,0
$GC,4632,-0.84,-204.4,647.7,-8.1,511,4636,0.10,1.77,0.00,0.000,6,0.121,0.040,2458,2002,3911,0,0,0,0,0,0
$GC,4961,-0.84,-204.4,687.7,-12.9,527,4965,0.00,1.88,0.00,0.000,4,0.000,0.057,2457,3167,3909,0,0,0,0,0,0
$GC,5011,-0.85,-204.4,694.2,-11.8,529,5014,0.00,1.77,0.00,0.000,6,0.000,0.043,2456,1999,3909,0,0,0,0,0,0
$GC,5338,-0.86,-204.4,738.2,-13.8,545,5342,0.00,1.85,0.00,0.000,4,0.000,0.059,2457,3172,3906,0,0,0,0,0,0
$GC,5366,-0.86,-204.4,742.2,-13.7,546,5370,0.00,1.83,0.00,0.000,6,0.000,0.045,2457,2004,3905,0,0,0,0,0,0
$GC,5695,-0.87,-204.4,785.8,-13.3,562,5699,0.00,1.83,0.00,0.000,4,0.000,0.059,2457,3167,3903,0,0,0,0,0,0
$GC,5723,-0.88,-204.4,789.8,-12.5,563,5727,0.00,1.83,0.00,0.000,6,0.000,0.043,2457,1998,3903,0,0,0,0,0,0
$GC,6051,-0.88,-204.4,830.4,-12.2,579,6055,0.00,1.88,0.00,0.000,4,0.000,0.059,2457,3162,3901,0,0,0,0,0,0
$GC,6134,-0.89,-204.4,839.9,-11.1,582,6142,0.00,1.80,0.00,0.000,6,0.000,0.043,2457,1993,3900,0,0,0,0,0,0
$GC,6451,-0.90,-204.4,876.2,-11.5,598,6455,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3167,3898,0,0,0,0,0,0
$GC,6478,-0.91,-204.4,879.5,-11.7,599,6482,0.00,1.80,0.00,0.000,6,0.000,0.044,2457,1999,3898,0,0,0,0,0,0
$GC,6806,-0.91,-204.4,916.9,-11.6,615,6810,0.00,1.85,0.00,0.000,4,0.000,0.060,2457,3171,3896,0,0,0,0,0,0
$GC,6856,-0.93,-204.4,922.5,-9.8,617,6859,0.00,1.80,0.00,0.000,6,0.000,0.046,2457,1999,3896,0,0,0,0,0,0
$GC,7183,-0.93,-204.4,958.9,-11.3,633,7187,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3171,3894,0,0,0,0,0,0
$GC,7231,-0.94,-204.4,963.9,-10.2,635,7234,0.00,1.80,0.00,0.000,6,0.000,0.046,2457,1994,3893,0,0,0,0,0,0
$STATE,7562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7562,begin apogee
$GC,7567,-0.18,0.0,1002.0,11.7,651,7751,0.68,0.08,175.98,1.274,6,0.144,0.105,2668,2092,3091,0,0,0,0,0,0
$STATE,7752,end apogee,CONTROL_FINISHED_OK
$STATE,7752,begin climb
$GC,7754,0.69,204.4,1012.3,0.0,659,7960,0.77,1.95,197.00,1.248,4,0.048,0.044,2969,963,2255,0,0,0,0,0,0
$GC,8072,0.67,204.4,984.0,17.1,674,8075,0.00,1.80,0.00,0.000,6,0.000,0.038,2963,2146,2246,0,0,0,0,0,0
$GC,8393,0.66,204.4,930.3,16.7,690,8397,0.00,1.73,0.00,0.000,4,0.000,0.048,2964,3277,2240,0,0,0,0,0,0
$GC,8432,0.64,204.4,923.2,17.6,691,8440,0.12,1.80,0.00,0.000,6,0.197,0.035,2941,2082,2239,0,0,0,0,0,0
$GC,8748,0.63,204.4,877.4,14.3,707,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2081,2238,0,0,0,0,0,0
$GC,9057,0.62,204.4,833.6,13.9,722,9061,0.00,1.67,0.00,0.000,4,0.000,0.047,2950,966,2236,0,0,0,0,0,0
$GC,9149,0.62,208.4,820.8,13.7,726,9152,0.00,1.75,0.00,0.000,6,0.000,0.040,2948,2147,2236,0,0,0,0,0,0
$GC,9481,0.61,208.4,773.1,14.5,742,9485,0.00,1.70,0.00,0.000,4,0.000,0.049,2948,3277,2234,0,0,0,0,0,0
$GC,9514,0.60,208.4,768.0,15.4,743,9518,0.10,1.80,0.00,0.000,6,0.168,0.036,2926,2096,2233,0,0,0,0,0,0
$GC,9837,0.61,224.3,726.2,13.2,759,9860,0.00,1.75,16.30,1.049,4,0.000,0.046,2934,959,2174,0,0,0,0,0,0
$GC,9934,0.61,228.3,713.0,13.7,763,9943,0.00,1.80,4.75,0.753,6,0.000,0.041,2934,2155,2160,0,0,0,0,0,0
$GC,10262,0.61,234.9,668.3,13.6,779,10275,0.00,1.88,7.40,0.891,4,0.000,0.047,2942,968,2132,0,0,0,0,0,0
$GC,10344,0.64,258.0,656.6,12.8,782,10374,0.00,1.77,23.08,1.027,6,0.000,0.041,2938,2153,2037,0,0,0,0,0,0
$GC,10682,0.63,258.0,607.7,14.7,799,10686,0.00,1.83,0.00,0.000,4,0.000,0.046,2947,959,2028,0,0,0,0,0,0
$GC,10752,0.63,258.0,597.6,15.0,802,10755,0.00,1.77,0.00,0.000,6,0.000,0.041,2947,2153,2027,0,0,0,0,0,0
$GC,11082,0.63,258.0,546.1,14.9,833,11083,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2154,2026,0,0,0,0,0,0
$GC,11403,0.62,258.0,499.6,14.0,863,11406,0.00,1.77,0.00,0.000,4,0.000,0.046,2956,969,2024,0,0,0,0,0,0
$GC,11451,0.62,261.7,493.1,13.7,867,11455,0.00,1.75,0.00,0.000,6,0.000,0.041,2954,2148,2024,0,0,0,0,0,0
$GC,11783,0.62,261.7,446.0,13.9,898,11786,0.00,1.80,0.00,0.000,4,0.000,0.046,2962,962,2023,0,0,0,0,0,0
$GC,11865,0.63,278.4,435.3,13.1,905,11889,0.00,1.80,17.58,0.872,6,0.000,0.041,2961,2140,1955,0,0,0,0,0,0
$GC,12208,0.65,299.0,389.6,12.9,937,12233,0.00,1.83,18.98,0.840,4,0.000,0.046,2961,3278,1871,0,0,0,0,0,0
$GC,12261,0.66,311.6,381.8,13.3,941,12281,0.00,1.80,12.88,0.793,6,0.000,0.034,2970,2076,1819,0,0,0,0,0,0
$GC,12598,0.66,311.6,333.8,14.6,973,12602,0.00,1.70,0.00,0.000,4,0.000,0.045,2978,964,1813,0,0,0,0,0,0
$GC,12728,0.68,331.6,315.6,13.0,984,12751,0.00,1.80,17.98,0.770,6,0.000,0.037,2974,2146,1738,0,0,0,0,0,0
$GC,13087,0.68,331.6,262.4,14.7,1038,13096,0.00,1.80,0.00,0.000,4,0.000,0.044,2983,972,1732,0,0,0,0,0,0
$GC,13154,0.68,332.1,252.7,13.9,1049,13161,0.12,1.75,0.00,0.000,6,0.169,0.037,2946,2159,1731,0,0,0,0,0,0
$GC,13503,0.74,374.9,212.2,11.9,1110,13546,0.00,1.90,37.03,0.710,4,0.000,0.045,2947,969,1561,0,0,0,0,0,0
$GC,13679,0.85,457.6,193.5,10.1,1139,13757,0.12,1.80,69.62,0.695,6,0.044,0.034,3020,2154,1223,0,0,0,0,0,0
$GC,14109,0.85,457.6,117.9,17.0,1210,14118,0.00,1.83,0.00,0.000,4,0.000,0.043,3027,964,1218,0,0,0,0,0,0
$GC,14239,0.89,478.6,100.1,12.9,1231,14265,0.00,1.77,17.48,0.591,6,0.000,0.035,3026,2146,1139,0,0,0,0,0,0
$GC,14618,0.93,511.6,53.2,12.4,1294,14652,0.00,1.85,28.12,0.571,4,0.000,0.041,3029,962,1004,0,0,0,0,0,0
$GC,14684,1.02,574.1,45.1,11.0,1303,14742,0.00,1.80,51.28,0.567,6,0.000,0.034,3029,2155,749,0,0,0,0,0,0
$GC,15096,1.11,632.2,4.6,11.2,1370,15115,0.15,0.00,16.42,0.505,2,0.080,0.000,3108,2154,670,0,0,0,0,0,0
$STATE,15116,end climb,SURFACE_DEPTH_REACHED
$STATE,15116,begin surface coast
$FINISH,0.1,1.010281
$STATE,15146,end surface coast,CONTROL_FINISHED_OK
$STATE,15146,begin surface
$SM_CCo,15163,35.83,0.058,0,0,480,640.23
$SM_GC,1.08,0.00,0.00,35.83,0.000,0.000,0.058,148,1977,480,-8.07,-1.39,640.23
$IRIDIUM_FIX,2216.01,12545.54,031110,111134
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.40
$XPDR_PINGS,0
$24V_AH,22.3,64.965
$10V_AH,9.8,53.012
$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,20.825,123.100,711.850,35.825,0.000,29.121,17.301,208.987,0.000,0.000,12.573,3436.316,7287.991,719.081,3817.319,321.124,0.000,2134.312,0.000,3570.239,0.000,0.544,0.000
$DEVICE_MAMPS,249.390,104.805,1274.490,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.145,0.000,1942.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80234,1377
$CAP_FILE_SIZE,174394,0
$CFSIZE,260165632,229523456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,  6.2,1
$GPS,031110,202207,2220.676,12545.614,41,1.5,41,-3.1