version: 66.08
glider: 169
mission: 2
dive: 446
start: 11 8 110 16 6 26
data:
$ID,169
$MISSION,2
$DIVE,446
$N_DIVES,457
$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,-7312.8569
$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
$GPS1,081110,155907,2123.047,12559.707,26,1.2,26,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.0
$GPS2,081110,160556,2122.963,12559.746,16,1.4,16,-2.9
$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,146.5,3558,-27.7,-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,-0.74,-102.8,0.0,0.0,0,111,0.00,0.00,-94.15,0.000,2,0.000,0.000,144,2000,2994,0,0,0,0,0,0
$GC,115,-0.86,-202.2,3.3,-4.9,12,149,9.68,1.77,-17.45,0.000,4,0.236,0.069,2439,869,3918,0,0,0,0,0,0
$GC,258,-0.86,-202.2,52.7,-30.0,34,266,0.00,1.85,0.00,0.000,6,0.000,0.056,2438,2032,3919,0,0,0,0,0,0
$GC,621,-0.86,-202.2,176.1,-27.7,95,628,0.00,1.80,0.00,0.000,4,0.000,0.062,2438,3167,3920,0,0,0,0,0,0
$GC,682,-0.87,-202.2,191.7,-22.0,105,690,0.00,1.80,0.00,0.000,6,0.000,0.044,2439,2000,3921,0,0,0,0,0,0
$GC,1028,-0.87,-202.2,277.7,-22.1,166,1037,0.00,1.73,0.00,0.000,4,0.000,0.048,2438,873,3922,0,0,0,0,0,0
$GC,1063,-0.88,-202.2,285.1,-21.7,171,1070,0.00,1.77,0.00,0.000,6,0.000,0.050,2438,2039,3922,0,0,0,0,0,0
$GC,1398,-0.89,-202.2,356.2,-20.3,208,1401,0.00,1.75,0.00,0.000,4,0.000,0.060,2438,3168,3922,0,0,0,0,0,0
$GC,1436,-0.90,-202.2,362.8,-18.5,211,1440,0.00,1.75,0.00,0.000,6,0.000,0.041,2438,2002,3921,0,0,0,0,0,0
$GC,1768,-0.91,-202.2,423.6,-17.4,242,1771,0.00,1.70,0.00,0.000,4,0.000,0.047,2439,873,3920,0,0,0,0,0,0
$GC,1807,-0.92,-202.2,430.4,-15.8,245,1815,0.00,1.80,0.00,0.000,6,0.000,0.047,2439,2049,3920,0,0,0,0,0,0
$GC,2133,-0.93,-202.2,485.0,-16.6,276,2136,0.00,1.75,0.00,0.000,4,0.000,0.058,2439,3168,3919,0,0,0,0,0,0
$GC,2203,-0.95,-202.2,495.6,-14.2,282,2206,0.00,1.80,0.00,0.000,6,0.000,0.042,2438,1994,3918,0,0,0,0,0,0
$GC,2534,-0.96,-202.2,545.8,-14.7,313,2537,0.00,1.85,0.00,0.000,4,0.000,0.058,2438,3167,3915,0,0,0,0,0,0
$GC,2584,-0.98,-202.2,553.2,-13.9,317,2592,0.00,1.80,0.00,0.000,6,0.000,0.044,2439,2001,3915,0,0,0,0,0,0
$GC,2919,-1.00,-202.2,604.0,-15.9,348,2923,0.00,1.73,0.00,0.000,4,0.000,0.052,2439,879,3912,0,0,0,0,0,0
$GC,2947,-1.01,-202.2,608.5,-15.7,349,2951,0.10,1.80,0.00,0.000,6,0.131,0.051,2403,2041,3912,0,0,0,0,0,0
$GC,3274,-1.02,-202.2,666.7,-17.9,365,3277,0.00,1.75,0.00,0.000,4,0.000,0.060,2403,3167,3908,0,0,0,0,0,0
$GC,3323,-1.04,-202.2,675.5,-16.5,367,3327,0.00,1.83,0.00,0.000,6,0.000,0.044,2403,2002,3907,0,0,0,0,0,0
$GC,3651,-1.05,-202.2,730.4,-16.4,383,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2001,3904,0,0,0,0,0,0
$GC,3961,-1.06,-202.2,782.6,-17.1,398,3964,0.00,1.85,0.00,0.000,4,0.000,0.060,2403,3167,3900,0,0,0,0,0,0
$GC,4010,-1.07,-202.2,791.3,-15.8,400,4014,0.00,1.83,0.00,0.000,6,0.000,0.044,2403,2003,3900,0,0,0,0,0,0
$GC,4338,-1.08,-202.2,847.6,-17.6,416,4339,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2002,3897,0,0,0,0,0,0
$GC,4647,-1.10,-202.2,901.5,-17.4,431,4651,0.00,1.85,0.00,0.000,4,0.000,0.060,2403,3167,3894,0,0,0,0,0,0
$GC,4708,-1.11,-202.2,912.3,-17.2,433,4716,0.00,1.83,0.00,0.000,6,0.000,0.044,2403,2004,3893,0,0,0,0,0,0
$GC,5024,-1.12,-202.2,967.6,-17.3,449,5029,0.10,1.77,0.00,0.000,4,0.127,0.056,2365,885,3890,0,0,0,0,0,0
$GC,5056,-1.13,-202.2,974.2,-19.3,450,5060,0.00,1.83,0.00,0.000,6,0.000,0.054,2365,2035,3890,0,0,0,0,0,0
$STATE,5190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5191,begin apogee
$GC,5196,-0.18,0.0,1001.5,20.6,457,5376,1.00,0.08,173.23,1.262,6,0.164,0.109,2660,2093,3091,0,0,0,0,0,0
$STATE,5376,end apogee,CONTROL_FINISHED_OK
$STATE,5377,begin climb
$GC,5379,0.86,202.2,1013.1,0.0,465,5578,0.95,2.03,190.20,1.242,4,0.059,0.044,3004,3268,2265,0,0,0,0,0,0
$GC,5651,0.86,202.2,987.2,20.3,478,5655,0.00,1.85,0.00,0.000,6,0.000,0.037,3013,2094,2256,0,0,0,0,0,0
$GC,5979,0.85,202.2,922.2,19.8,494,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2092,2250,0,0,0,0,0,0
$GC,6288,0.84,202.2,860.3,20.0,509,6292,0.00,1.83,0.00,0.000,4,0.000,0.044,3005,3273,2246,0,0,0,0,0,0
$GC,6322,0.84,202.2,853.5,20.3,510,6326,0.00,1.80,0.00,0.000,6,0.000,0.037,3013,2085,2246,0,0,0,0,0,0
$GC,6645,0.83,202.2,789.9,19.9,526,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2083,2245,0,0,0,0,0,0
$GC,6953,0.82,202.2,728.0,19.4,541,6956,0.00,1.80,0.00,0.000,4,0.000,0.044,3013,3271,2243,0,0,0,0,0,0
$GC,7021,0.82,202.2,713.4,21.6,544,7025,0.00,1.80,0.00,0.000,6,0.000,0.036,3022,2094,2242,0,0,0,0,0,0
$GC,7355,0.81,202.2,649.3,19.0,560,7360,0.12,1.80,0.00,0.000,4,0.213,0.044,2990,3275,2241,0,0,0,0,0,0
$GC,7439,0.81,202.2,633.3,17.2,563,7446,0.00,1.83,0.00,0.000,6,0.000,0.036,2998,2082,2241,0,0,0,0,0,0
$GC,7758,0.81,202.2,583.2,15.3,584,7762,0.00,1.65,0.00,0.000,4,0.000,0.047,3007,966,2240,0,0,0,0,0,0
$GC,7807,0.81,202.2,574.7,17.1,588,7814,0.00,1.80,0.00,0.000,6,0.000,0.038,3005,2151,2240,0,0,0,0,0,0
$GC,8133,0.81,202.2,522.5,15.6,619,8137,0.00,1.67,0.00,0.000,4,0.000,0.046,3003,3271,2239,0,0,0,0,0,0
$GC,8228,0.80,202.2,506.6,16.7,627,8235,0.00,1.80,0.00,0.000,6,0.000,0.035,3012,2088,2237,0,0,0,0,0,0
$GC,8555,0.80,202.2,456.5,15.0,658,8556,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2087,2238,0,0,0,0,0,0
$GC,8873,0.80,202.2,409.6,14.5,688,8877,0.00,1.83,0.00,0.000,4,0.000,0.044,3012,3274,2237,0,0,0,0,0,0
$GC,8978,0.79,202.2,393.6,15.0,697,8982,0.12,1.77,0.00,0.000,6,0.203,0.034,2991,2086,2237,0,0,0,0,0,0
$GC,9309,0.82,221.8,350.8,12.1,728,9328,0.00,1.77,14.05,0.789,4,0.000,0.044,2999,956,2185,0,0,0,0,0,0
$GC,9478,0.85,243.4,330.3,11.9,742,9503,0.00,1.80,20.77,0.793,6,0.000,0.037,2991,2156,2098,0,0,0,0,0,0
$GC,9829,0.88,260.5,287.3,12.3,783,9851,0.00,1.90,15.45,0.740,4,0.000,0.044,3000,957,2027,0,0,0,0,0,0
$GC,9928,0.90,275.0,274.9,12.6,799,9950,0.00,1.80,14.25,0.719,6,0.000,0.037,2999,2153,1967,0,0,0,0,0,0
$GC,10293,0.91,275.0,222.1,15.4,862,10302,0.00,1.80,0.00,0.000,4,0.000,0.041,3008,969,1962,0,0,0,0,0,0
$GC,10340,0.92,275.0,215.2,14.6,869,10348,0.00,1.77,0.00,0.000,6,0.000,0.035,3007,2149,1961,0,0,0,0,0,0
$GC,10693,0.97,303.9,169.0,11.3,930,10723,0.10,1.85,24.88,0.665,4,0.100,0.041,3070,963,1851,0,0,0,0,0,0
$GC,10828,0.97,303.9,147.3,16.2,952,10836,0.00,1.80,0.00,0.000,6,0.000,0.034,3069,2154,1847,0,0,0,0,0,0
$GC,11192,1.01,332.2,94.3,11.3,1013,11225,0.00,1.73,24.85,0.604,4,0.000,0.038,3069,3278,1734,0,0,0,0,0,0
$GC,11243,1.04,354.1,88.9,11.9,1019,11268,0.00,1.80,19.55,0.588,6,0.000,0.031,3079,2088,1645,0,0,0,0,0,0
$GC,11620,1.05,354.1,34.8,17.0,1082,11629,0.00,1.67,0.00,0.000,4,0.000,0.037,3088,962,1639,0,0,0,0,0,0
$GC,11698,1.10,386.0,24.4,11.0,1094,11732,0.00,1.77,26.48,0.548,6,0.000,0.031,3088,2158,1516,0,0,0,0,0,0
$STATE,11851,end climb,SURFACE_DEPTH_REACHED
$STATE,11851,begin surface coast
$FINISH,0.3,1.022422
$STATE,11870,end surface coast,CONTROL_FINISHED_OK
$STATE,11870,begin surface
$SM_CCo,11887,163.10,0.057,0,0,481,640.23
$SM_GC,1.15,0.00,0.00,163.10,0.000,0.000,0.057,150,1998,481,-8.06,-0.76,640.23
$IRIDIUM_FIX,2117.95,12559.43,081110,111119
$TT8_MAMPS,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.20
$XPDR_PINGS,0
$24V_AH,22.6,71.059
$10V_AH,9.9,57.288
$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,20.500,90.175,523.700,163.100,0.000,23.455,41.263,196.534,0.000,0.000,18.140,2774.406,5532.141,716.747,3142.313,285.272,0.000,1824.632,0.000,2894.887,0.000,0.543,0.000
$DEVICE_MAMPS,236.385,108.630,1262.250,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.767,0.000,1638.559,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,66936,1121
$CAP_FILE_SIZE,135346,0
$CFSIZE,260165632,227278848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.133,109.4,1
$GPS,081110,192831,2121.124,12601.773,45,1.4,46,-2.9