version: 66.08
glider: 169
mission: 2
dive: 423
start: 11 4 110 13 31 44
data:
$ID,169
$MISSION,2
$DIVE,423
$N_DIVES,434
$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,-7269.6406
$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
$GPS1,041110,132437,2213.262,12544.573,25,1.7,25,-3.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.5
$GPS2,041110,133116,2213.287,12544.518,15,2.9,34,-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,158.8,99954,-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,16,-0.69,-204.4,0.0,0.0,0,116,0.00,0.00,-97.72,0.000,2,0.000,0.000,146,1999,3103,0,0,0,0,0,0
$GC,119,-0.69,-204.4,3.3,-4.5,12,153,10.30,1.75,-14.77,0.000,4,0.248,0.063,2496,880,3926,0,0,0,0,0,0
$GC,239,-0.67,-204.4,41.1,-26.5,30,248,0.00,1.83,0.00,0.000,6,0.000,0.054,2496,2034,3927,0,0,0,0,0,0
$GC,602,-0.67,-204.4,138.9,-19.8,91,610,0.00,1.77,0.00,0.000,4,0.000,0.048,2496,883,3928,0,0,0,0,0,0
$GC,638,-0.66,-204.4,145.8,-18.4,96,647,0.00,1.80,0.00,0.000,6,0.000,0.047,2497,2050,3929,0,0,0,0,0,0
$GC,1001,-0.66,-204.4,211.4,-15.6,157,1007,0.00,1.73,0.00,0.000,4,0.000,0.057,2497,3168,3930,0,0,0,0,0,0
$GC,1055,-0.67,-204.4,219.5,-14.3,166,1065,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,2003,3930,0,0,0,0,0,0
$GC,1418,-0.67,-204.4,278.1,-15.9,227,1425,0.00,1.70,0.00,0.000,4,0.000,0.049,2497,871,3929,0,0,0,0,0,0
$GC,1480,-0.67,-204.4,287.1,-12.7,237,1487,0.00,1.77,0.00,0.000,6,0.000,0.047,2497,2042,3929,0,0,0,0,0,0
$GC,1820,-0.68,-204.4,333.8,-13.8,276,1824,0.00,1.75,0.00,0.000,4,0.000,0.057,2497,3164,3929,0,0,0,0,0,0
$GC,1879,-0.69,-204.4,340.6,-11.4,281,1883,0.00,1.77,0.00,0.000,6,0.000,0.040,2497,1988,3928,0,0,0,0,0,0
$GC,2210,-0.69,-204.4,387.7,-14.0,312,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1986,3927,0,0,0,0,0,0
$GC,2532,-0.70,-204.4,429.9,-12.1,342,2536,0.00,1.88,0.00,0.000,4,0.000,0.057,2497,3171,3926,0,0,0,0,0,0
$GC,2602,-0.71,-204.4,438.3,-10.3,348,2606,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,2002,3925,0,0,0,0,0,0
$GC,2936,-0.72,-204.4,475.5,-10.9,379,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,2000,3924,0,0,0,0,0,0
$GC,3263,-0.73,-204.4,511.6,-11.1,410,3267,0.00,1.83,0.00,0.000,4,0.000,0.054,2497,3173,3921,0,0,0,0,0,0
$GC,3324,-0.74,-204.4,517.9,-9.5,415,3330,0.00,1.77,0.00,0.000,6,0.000,0.040,2498,2001,3921,0,0,0,0,0,0
$GC,3652,-0.75,-204.4,553.4,-11.4,446,3655,0.00,1.83,0.00,0.000,4,0.000,0.054,2496,3174,3919,0,0,0,0,0,0
$GC,3701,-0.77,-204.4,559.1,-9.9,450,3709,0.00,1.80,0.00,0.000,6,0.000,0.041,2497,1984,3918,0,0,0,0,0,0
$GC,4027,-0.78,-204.4,594.9,-10.9,481,4030,0.00,1.85,0.00,0.000,4,0.000,0.056,2497,3168,3915,0,0,0,0,0,0
$GC,4073,-0.80,-204.4,599.5,-9.4,485,4076,0.00,1.77,0.00,0.000,6,0.000,0.038,2496,1990,3915,0,0,0,0,0,0
$GC,4395,-0.81,-204.4,632.6,-10.3,501,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1988,3912,0,0,0,0,0,0
$GC,4704,-0.82,-204.4,663.8,-10.2,516,4708,0.00,1.90,0.00,0.000,4,0.000,0.056,2497,3167,3910,0,0,0,0,0,0
$GC,4760,-0.84,-204.4,669.3,-9.5,518,4764,0.10,1.75,0.00,0.000,6,0.122,0.040,2458,2001,3910,0,0,0,0,0,0
$GC,5082,-0.85,-204.4,711.3,-13.3,534,5086,0.00,1.73,0.00,0.000,4,0.000,0.051,2458,865,3906,0,0,0,0,0,0
$GC,5098,-0.85,-204.4,713.9,-13.2,534,5106,0.00,1.80,0.00,0.000,6,0.000,0.050,2458,2043,3906,0,0,0,0,0,0
$GC,5415,-0.86,-204.4,754.8,-12.9,550,5419,0.00,1.75,0.00,0.000,4,0.000,0.059,2458,3174,3903,0,0,0,0,0,0
$GC,5461,-0.87,-204.4,760.2,-11.4,552,5464,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2004,3903,0,0,0,0,0,0
$GC,5794,-0.87,-204.4,802.3,-12.8,568,5798,0.00,1.83,0.00,0.000,4,0.000,0.059,2458,3167,3901,0,0,0,0,0,0
$GC,5822,-0.88,-204.4,806.1,-12.6,569,5825,0.00,1.77,0.00,0.000,6,0.000,0.043,2458,1992,3901,0,0,0,0,0,0
$GC,6149,-0.89,-204.4,847.2,-12.8,585,6153,0.00,1.88,0.00,0.000,4,0.000,0.060,2458,3167,3898,0,0,0,0,0,0
$GC,6199,-0.90,-204.4,853.2,-11.3,587,6203,0.00,1.77,0.00,0.000,6,0.000,0.044,2458,2000,3898,0,0,0,0,0,0
$GC,6527,-0.91,-204.4,892.3,-11.8,603,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1998,3896,0,0,0,0,0,0
$GC,6837,-0.91,-204.4,926.8,-11.2,618,6840,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3168,3894,0,0,0,0,0,0
$GC,6909,-0.93,-204.4,934.6,-10.0,621,6913,0.00,1.80,0.00,0.000,6,0.000,0.044,2458,2002,3893,0,0,0,0,0,0
$GC,7237,-0.93,-204.4,971.8,-11.7,637,7241,0.00,1.85,0.00,0.000,4,0.000,0.060,2458,3169,3892,0,0,0,0,0,0
$GC,7272,-0.95,-204.4,975.8,-11.4,638,7275,0.00,1.77,0.00,0.000,6,0.000,0.045,2458,2004,3892,0,0,0,0,0,0
$STATE,7488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7488,begin apogee
$GC,7493,-0.18,0.0,1000.0,11.0,649,7675,0.65,0.05,175.85,1.270,6,0.141,0.068,2662,2099,3090,0,0,0,0,0,0
$STATE,7676,end apogee,CONTROL_FINISHED_OK
$STATE,7676,begin climb
$GC,7678,0.69,204.4,1010.0,0.0,657,7885,0.80,1.95,197.10,1.245,4,0.060,0.045,2960,969,2256,0,0,0,0,0,0
$GC,7957,0.67,204.4,989.9,15.6,670,7965,0.00,1.85,0.00,0.000,6,0.000,0.037,2960,2153,2248,0,0,0,0,0,0
$GC,8273,0.66,204.4,938.8,15.9,686,8277,0.00,1.67,0.00,0.000,4,0.000,0.046,2960,3270,2241,0,0,0,0,0,0
$GC,8328,0.64,204.4,929.6,16.4,688,8332,0.08,1.80,0.00,0.000,6,0.173,0.034,2945,2096,2239,0,0,0,0,0,0
$GC,8650,0.63,204.4,882.8,14.5,704,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2093,2238,0,0,0,0,0,0
$GC,8959,0.62,204.4,837.1,15.0,719,8963,0.00,1.67,0.00,0.000,4,0.000,0.046,2954,960,2236,0,0,0,0,0,0
$GC,9005,0.61,204.4,830.1,15.7,721,9009,0.00,1.77,0.00,0.000,6,0.000,0.038,2948,2161,2236,0,0,0,0,0,0
$GC,9338,0.60,204.4,779.5,15.1,737,9342,0.00,1.67,0.00,0.000,4,0.000,0.047,2948,3270,2235,0,0,0,0,0,0
$GC,9417,0.59,204.4,766.7,15.7,740,9422,0.12,1.75,0.00,0.000,6,0.186,0.035,2926,2087,2234,0,0,0,0,0,0
$GC,9740,0.60,220.8,723.6,13.1,756,9762,0.00,1.77,12.70,1.020,4,0.000,0.046,2934,958,2189,0,0,0,0,0,0
$GC,9789,0.61,228.2,716.7,13.6,758,9808,0.00,1.77,8.98,0.946,6,0.000,0.037,2934,2149,2158,0,0,0,0,0,0
$GC,10118,0.62,242.2,672.8,13.3,774,10141,0.00,1.88,13.93,0.996,4,0.000,0.047,2941,962,2101,0,0,0,0,0,0
$GC,10191,0.63,251.6,662.3,13.5,777,10208,0.00,1.83,9.82,0.931,6,0.000,0.038,2938,2152,2064,0,0,0,0,0,0
$GC,10519,0.63,253.4,617.0,13.8,793,10523,0.00,1.67,0.00,0.000,4,0.000,0.047,2939,3270,2056,0,0,0,0,0,0
$GC,10542,0.62,253.4,613.4,14.8,794,10546,0.00,1.77,0.00,0.000,6,0.000,0.036,2947,2083,2056,0,0,0,0,0,0
$GC,10871,0.61,253.4,565.4,14.9,820,10875,0.00,1.65,0.00,0.000,4,0.000,0.047,2956,968,2054,0,0,0,0,0,0
$GC,10895,0.61,253.4,561.9,15.6,822,10898,0.00,1.77,0.00,0.000,6,0.000,0.040,2954,2150,2054,0,0,0,0,0,0
$GC,11226,0.60,253.4,511.2,15.5,853,11227,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2151,2053,0,0,0,0,0,0
$GC,11548,0.59,253.4,465.2,14.3,883,11552,0.12,1.75,0.00,0.000,4,0.180,0.047,2920,3272,2053,0,0,0,0,0,0
$GC,11582,0.61,265.9,460.2,13.3,886,11601,0.00,1.75,12.62,0.862,6,0.000,0.034,2930,2084,2006,0,0,0,0,0,0
$GC,11926,0.71,346.6,420.8,10.2,918,12003,0.00,1.75,71.80,0.894,4,0.000,0.045,2932,963,1676,0,0,0,0,0,0
$GC,12064,0.79,404.0,404.9,11.3,929,12119,0.15,1.80,49.67,0.859,6,0.073,0.036,3008,2149,1444,0,0,0,0,0,0
$GC,12440,0.78,404.0,329.2,21.1,963,12444,0.00,1.83,0.00,0.000,4,0.000,0.044,3017,963,1434,0,0,0,0,0,0
$GC,12478,0.77,404.0,320.4,20.2,966,12488,0.10,1.80,0.00,0.000,6,0.150,0.037,2984,2148,1433,0,0,0,0,0,0
$GC,12824,0.77,404.0,259.5,16.3,1016,12832,0.00,1.73,0.00,0.000,4,0.000,0.044,2984,3277,1432,0,0,0,0,0,0
$GC,12858,0.77,404.0,253.6,18.3,1021,12865,0.00,1.77,0.00,0.000,6,0.000,0.034,2992,2073,1431,0,0,0,0,0,0
$GC,13215,0.77,404.0,195.7,16.4,1082,13224,0.00,1.67,0.00,0.000,4,0.000,0.045,3001,969,1430,0,0,0,0,0,0
$GC,13369,0.77,404.0,173.8,14.1,1107,13376,0.00,1.73,0.00,0.000,6,0.000,0.036,3000,2149,1430,0,0,0,0,0,0
$GC,13732,0.78,409.0,118.7,13.7,1168,13740,0.00,1.70,0.00,0.000,4,0.000,0.042,3001,3267,1430,0,0,0,0,0,0
$GC,13780,0.78,409.0,112.1,13.9,1175,13788,0.00,1.77,0.00,0.000,6,0.000,0.032,3010,2084,1430,0,0,0,0,0,0
$GC,14148,0.86,469.4,72.6,11.1,1236,14207,0.00,1.75,53.28,0.596,4,0.000,0.042,3013,967,1176,0,0,0,0,0,0
$GC,14388,0.98,555.2,47.3,10.0,1273,14470,0.00,1.77,69.65,0.572,6,0.000,0.033,3012,2150,826,0,0,0,0,0,0
$GC,14830,1.09,627.1,5.1,10.6,1343,14856,0.17,0.00,22.67,0.514,2,0.071,0.000,3105,2151,716,0,0,0,0,0,0
$STATE,14857,end climb,SURFACE_DEPTH_REACHED
$STATE,14857,begin surface coast
$FINISH,0.4,1.013748
$STATE,14888,end surface coast,CONTROL_FINISHED_OK
$STATE,14888,begin surface
$SM_CCo,14905,44.45,0.057,0,0,481,640.23
$SM_GC,1.04,0.00,0.00,44.45,0.000,0.000,0.057,150,1975,481,-8.06,-1.41,640.23
$IRIDIUM_FIX,2206.70,12542.82,041110,090901
$TT8_MAMPS,0.026215
$HUMID,46.02
$INTERNAL_PRESSURE,9.1836
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.2,66.055
$10V_AH,9.8,53.782
$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,20.975,110.750,698.075,44.450,0.000,24.391,16.340,196.034,0.000,0.000,36.926,3345.206,7217.670,739.637,3720.799,314.223,0.000,2100.930,0.000,3473.545,0.000,0.543,0.000
$DEVICE_MAMPS,247.860,75.735,1269.900,57.375,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.485,0.000,1932.945,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,80371,1351
$CAP_FILE_SIZE,166611,0
$CFSIZE,260165632,229117952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,  3.5,1
$GPS,041110,174206,2212.449,12545.315,43,1.5,43,-3.1