version: 66.08
glider: 169
mission: 2
dive: 416
start: 11 3 110 7 31 29
data:
$ID,169
$MISSION,2
$DIVE,416
$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,-7255.5142
$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
$GPS1,031110,072230,2223.914,12545.935,37,1.0,42,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-67.4
$GPS2,031110,073102,2223.970,12545.878,15,1.1,15,-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,164.3,118493,-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,-97.55,0.000,2,0.000,0.000,151,1978,3144,0,0,0,0,0,0
$GC,118,-0.69,-204.4,3.9,-7.0,12,152,10.27,1.75,-13.75,0.000,4,0.249,0.072,2498,884,3929,0,0,0,0,0,0
$GC,214,-0.68,-204.4,37.6,-21.8,26,224,0.00,1.83,0.00,0.000,6,0.000,0.051,2498,2043,3930,0,0,0,0,0,0
$GC,577,-0.67,-204.4,129.5,-20.6,87,585,0.00,1.77,0.00,0.000,4,0.000,0.060,2499,3168,3931,0,0,0,0,0,0
$GC,637,-0.67,-204.4,139.6,-15.2,96,645,0.00,1.80,0.00,0.000,6,0.000,0.043,2499,2004,3931,0,0,0,0,0,0
$GC,999,-0.66,-204.4,203.5,-18.7,157,1005,0.00,1.70,0.00,0.000,4,0.000,0.049,2499,875,3932,0,0,0,0,0,0
$GC,1073,-0.67,-204.4,216.6,-15.9,169,1080,0.00,1.77,0.00,0.000,6,0.000,0.048,2498,2052,3932,0,0,0,0,0,0
$GC,1430,-0.67,-204.4,274.1,-15.2,230,1440,0.00,1.75,0.00,0.000,4,0.000,0.057,2498,3171,3932,0,0,0,0,0,0
$GC,1490,-0.68,-204.4,282.2,-13.6,239,1496,0.00,1.77,0.00,0.000,6,0.000,0.042,2498,2002,3932,0,0,0,0,0,0
$GC,1827,-0.68,-204.4,330.6,-13.4,280,1830,0.00,1.85,0.00,0.000,4,0.000,0.055,2499,3175,3931,0,0,0,0,0,0
$GC,1900,-0.69,-204.4,339.4,-11.0,286,1909,0.00,1.83,0.00,0.000,6,0.000,0.041,2499,1999,3931,0,0,0,0,0,0
$GC,2227,-0.70,-204.4,381.0,-11.9,317,2231,0.00,1.88,0.00,0.000,4,0.000,0.054,2498,3172,3929,0,0,0,0,0,0
$GC,2262,-0.71,-204.4,385.1,-11.3,320,2266,0.00,1.77,0.00,0.000,6,0.000,0.041,2499,2003,3929,0,0,0,0,0,0
$GC,2596,-0.71,-204.4,423.4,-11.2,351,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2001,3927,0,0,0,0,0,0
$GC,2924,-0.72,-204.4,461.2,-11.5,382,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2499,2001,3926,0,0,0,0,0,0
$GC,3253,-0.73,-204.4,498.7,-11.2,413,3257,0.00,1.88,0.00,0.000,4,0.000,0.054,2499,3169,3924,0,0,0,0,0,0
$GC,3333,-0.75,-204.4,507.0,-9.2,420,3336,0.00,1.75,0.00,0.000,6,0.000,0.040,2499,2002,3923,0,0,0,0,0,0
$GC,3664,-0.76,-204.4,540.6,-9.8,451,3668,0.00,1.83,0.00,0.000,4,0.000,0.054,2499,3169,3920,0,0,0,0,0,0
$GC,3692,-0.77,-204.4,543.5,-9.2,453,3699,0.00,1.77,0.00,0.000,6,0.000,0.040,2499,1984,3920,0,0,0,0,0,0
$GC,4018,-0.79,-204.4,573.2,-9.3,484,4022,0.00,1.90,0.00,0.000,4,0.000,0.057,2499,3174,3917,0,0,0,0,0,0
$GC,4075,-0.80,-204.4,578.0,-8.1,489,4079,0.00,1.77,0.00,0.000,6,0.000,0.042,2499,2000,3916,0,0,0,0,0,0
$GC,4405,-0.81,-204.4,608.1,-9.5,516,4406,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1999,3914,0,0,0,0,0,0
$GC,4714,-0.83,-204.4,640.0,-10.7,531,4719,0.10,1.90,0.00,0.000,4,0.128,0.057,2460,3167,3911,0,0,0,0,0,0
$GC,4786,-0.84,-204.4,649.3,-12.3,534,4790,0.00,1.77,0.00,0.000,6,0.000,0.043,2460,1997,3910,0,0,0,0,0,0
$GC,5114,-0.84,-204.4,695.1,-13.8,550,5117,0.00,1.85,0.00,0.000,4,0.000,0.059,2460,3168,3908,0,0,0,0,0,0
$GC,5147,-0.85,-204.4,699.8,-13.7,551,5151,0.00,1.80,0.00,0.000,6,0.000,0.044,2460,1999,3907,0,0,0,0,0,0
$GC,5470,-0.86,-204.4,742.6,-12.9,567,5473,0.00,1.83,0.00,0.000,4,0.000,0.058,2460,3168,3905,0,0,0,0,0,0
$GC,5503,-0.86,-204.4,747.0,-12.2,568,5507,0.00,1.77,0.00,0.000,6,0.000,0.044,2460,1999,3904,0,0,0,0,0,0
$GC,5825,-0.87,-204.4,784.5,-11.0,584,5829,0.00,1.85,0.00,0.000,4,0.000,0.059,2460,3169,3902,0,0,0,0,0,0
$GC,5853,-0.88,-204.4,787.6,-10.4,585,5857,0.00,1.83,0.00,0.000,6,0.000,0.045,2460,2003,3902,0,0,0,0,0,0
$GC,6181,-0.89,-204.4,822.5,-10.5,601,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,2002,3900,0,0,0,0,0,0
$GC,6490,-0.89,-204.4,855.7,-10.8,616,6493,0.00,1.85,0.00,0.000,4,0.000,0.060,2461,3171,3897,0,0,0,0,0,0
$GC,6540,-0.91,-204.4,861.1,-10.0,618,6544,0.00,1.77,0.00,0.000,6,0.000,0.046,2460,2004,3897,0,0,0,0,0,0
$GC,6868,-0.91,-204.4,898.0,-11.7,634,6871,0.00,1.85,0.00,0.000,4,0.000,0.060,2460,3175,3895,0,0,0,0,0,0
$GC,6906,-0.92,-204.4,902.5,-10.7,635,6913,0.00,1.80,0.00,0.000,6,0.000,0.046,2460,1993,3895,0,0,0,0,0,0
$GC,7224,-0.93,-204.4,940.3,-12.5,651,7225,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1992,3893,0,0,0,0,0,0
$GC,7532,-0.94,-204.4,977.3,-11.8,666,7536,0.00,1.88,0.00,0.000,4,0.000,0.061,2460,3170,3891,0,0,0,0,0,0
$GC,7588,-0.95,-204.4,983.5,-10.3,668,7592,0.12,1.80,0.00,0.000,6,0.112,0.047,2414,1999,3891,0,0,0,0,0,0
$STATE,7700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7701,begin apogee
$GC,7706,-0.18,0.0,1000.1,15.3,674,7887,0.82,0.08,175.40,1.275,6,0.153,0.105,2663,2092,3091,0,0,0,0,0,0
$STATE,7888,end apogee,CONTROL_FINISHED_OK
$STATE,7888,begin climb
$GC,7890,0.69,204.4,1010.0,0.0,682,8096,0.80,2.08,196.27,1.247,4,0.055,0.046,2958,3266,2256,0,0,0,0,0,0
$GC,8247,0.67,204.4,973.1,18.6,699,8251,0.00,1.83,0.00,0.000,6,0.000,0.035,2967,2094,2243,0,0,0,0,0,0
$GC,8575,0.66,204.4,916.5,17.5,715,8578,0.00,1.73,0.00,0.000,4,0.000,0.047,2975,965,2240,0,0,0,0,0,0
$GC,8635,0.64,204.4,905.6,16.7,717,8642,0.10,1.80,0.00,0.000,6,0.167,0.041,2943,2142,2239,0,0,0,0,0,0
$GC,8952,0.63,204.4,856.7,15.5,733,8955,0.00,1.73,0.00,0.000,4,0.000,0.048,2943,3277,2236,0,0,0,0,0,0
$GC,8986,0.62,204.4,850.9,16.3,734,8989,0.00,1.77,0.00,0.000,6,0.000,0.035,2951,2082,2236,0,0,0,0,0,0
$GC,9307,0.61,204.4,800.1,16.0,750,9311,0.00,1.70,0.00,0.000,4,0.000,0.047,2960,965,2236,0,0,0,0,0,0
$GC,9341,0.60,204.4,794.5,16.0,751,9345,0.12,1.77,0.00,0.000,6,0.177,0.041,2927,2154,2235,0,0,0,0,0,0
$GC,9663,0.59,204.4,748.4,14.0,767,9666,0.00,1.70,0.00,0.000,4,0.000,0.048,2927,3268,2234,0,0,0,0,0,0
$GC,9713,0.58,204.4,740.6,15.2,769,9716,0.00,1.77,0.00,0.000,6,0.000,0.035,2937,2086,2233,0,0,0,0,0,0
$GC,10040,0.58,207.4,694.8,13.7,785,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2084,2233,0,0,0,0,0,0
$GC,10349,0.58,214.4,653.2,13.6,800,10360,0.00,1.70,6.15,0.840,4,0.000,0.044,2945,957,2216,0,0,0,0,0,0
$GC,10405,0.60,239.8,645.6,12.7,802,10437,0.00,1.83,25.60,1.033,6,0.000,0.040,2945,2146,2112,0,0,0,0,0,0
$GC,10755,0.59,239.8,594.5,14.6,821,10759,0.00,1.83,0.00,0.000,4,0.000,0.047,2954,970,2105,0,0,0,0,0,0
$GC,10806,0.59,239.8,587.0,14.5,825,10813,0.12,1.80,0.00,0.000,6,0.167,0.041,2920,2155,2104,0,0,0,0,0,0
$GC,11133,0.63,274.7,546.9,12.3,856,11167,0.00,0.00,31.45,0.975,6,0.000,0.000,2920,2155,1970,0,0,0,0,0,0
$GC,11484,0.66,295.5,502.9,12.9,889,11508,0.00,1.90,18.35,0.916,4,0.000,0.047,2930,969,1885,0,0,0,0,0,0
$GC,11581,0.68,315.3,490.8,13.0,897,11608,0.00,1.77,19.00,0.901,6,0.000,0.040,2930,2148,1804,0,0,0,0,0,0
$GC,11924,0.68,315.3,442.8,14.1,929,11928,0.00,1.77,0.00,0.000,4,0.000,0.047,2934,971,1797,0,0,0,0,0,0
$GC,11975,0.72,340.4,435.5,12.7,933,12007,0.00,1.75,22.55,0.877,6,0.000,0.038,2934,2148,1702,0,0,0,0,0,0
$GC,12325,0.73,349.2,387.8,13.5,966,12341,0.00,1.83,8.23,0.737,4,0.000,0.046,2935,966,1665,0,0,0,0,0,0
$GC,12426,0.81,403.5,375.6,11.4,974,12485,0.12,1.80,47.83,0.852,6,0.038,0.038,3016,2144,1445,0,0,0,0,0,0
$GC,12802,0.80,403.5,300.0,21.0,1009,12808,0.00,1.77,0.00,0.000,4,0.000,0.045,3025,964,1438,0,0,0,0,0,0
$GC,12829,0.79,403.5,294.3,21.6,1013,12836,0.15,1.80,0.00,0.000,6,0.171,0.038,2984,2162,1437,0,0,0,0,0,0
$GC,13188,0.79,403.5,232.1,17.3,1074,13198,0.00,1.83,0.00,0.000,4,0.000,0.046,2993,975,1436,0,0,0,0,0,0
$GC,13271,0.79,403.5,218.5,16.1,1087,13278,0.00,1.75,0.00,0.000,6,0.000,0.037,2990,2149,1436,0,0,0,0,0,0
$GC,13630,0.79,403.5,161.8,14.6,1148,13638,0.00,1.80,0.00,0.000,4,0.000,0.044,2999,974,1435,0,0,0,0,0,0
$GC,13735,0.83,430.5,147.7,12.7,1165,13769,0.00,1.77,22.58,0.655,6,0.000,0.037,2999,2152,1335,0,0,0,0,0,0
$GC,14121,0.87,458.0,93.9,12.6,1229,14154,0.00,0.00,24.05,0.611,6,0.000,0.000,2999,2152,1222,0,0,0,0,0,0
$GC,14508,1.04,590.5,55.9,7.8,1293,14623,0.17,1.85,106.53,0.586,4,0.065,0.040,3105,968,681,0,0,0,0,0,0
$GC,14732,1.05,590.5,12.3,19.1,1325,14742,0.10,1.80,0.00,0.000,6,0.132,0.034,3070,2158,679,0,0,0,0,0,0
$STATE,14797,end climb,SURFACE_DEPTH_REACHED
$STATE,14797,begin surface coast
$FINISH,0.0,1.022394
$STATE,14816,end surface coast,CONTROL_FINISHED_OK
$STATE,14816,begin surface
$SM_CCo,14833,38.83,0.060,0,0,481,640.23
$SM_GC,0.81,0.00,0.00,38.83,0.000,0.000,0.060,152,1977,481,-8.06,-1.36,640.23
$IRIDIUM_FIX,2218.34,12546.90,031110,030342
$TT8_MAMPS,0.026215
$HUMID,47.28
$INTERNAL_PRESSURE,9.17383
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,22.3,64.539
$10V_AH,9.8,52.693
$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,21.450,108.700,703.975,38.825,0.000,57.587,46.187,205.265,0.000,0.000,16.522,3305.573,7335.546,746.426,3680.797,305.194,0.000,2103.801,0.000,3377.583,0.000,0.543,0.000
$DEVICE_MAMPS,248.625,104.805,1275.255,60.435,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.746,0.000,1827.363,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80335,1338
$CAP_FILE_SIZE,166582,0
$CFSIZE,260165632,229695488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.145,320.5,1
$GPS,031110,114031,2222.490,12545.502,40,1.2,40,-3.1