version: 66.08
glider: 169
mission: 2
dive: 455
start: 11 10 110 4 58 6
data:
$ID,169
$MISSION,2
$DIVE,455
$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,-7324.1812
$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
$GPS1,101110,045007,2120.126,12600.491,33,1.0,33,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.7
$GPS2,101110,045737,2120.024,12600.399,13,1.3,13,-2.9
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,119.3,2499,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.74,-102.8,0.0,0.0,0,114,0.00,0.00,-95.18,0.000,2,0.000,0.000,150,2000,3025,0,0,0,0,0,0
$GC,117,-0.86,-202.3,3.3,-4.9,12,151,9.93,1.75,-16.75,0.000,4,0.243,0.063,2439,866,3919,0,0,0,0,0,0
$GC,191,-0.86,-202.3,29.3,-32.1,22,199,0.00,1.88,0.00,0.000,6,0.000,0.057,2439,2037,3920,0,0,0,0,0,0
$GC,556,-0.86,-202.3,156.7,-28.9,83,563,0.00,1.77,0.00,0.000,4,0.000,0.059,2439,3166,3921,0,0,0,0,0,0
$GC,605,-0.86,-202.3,170.9,-25.2,91,611,0.00,1.77,0.00,0.000,6,0.000,0.041,2439,2003,3921,0,0,0,0,0,0
$GC,952,-0.86,-202.3,251.3,-21.6,152,960,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2001,3923,0,0,0,0,0,0
$GC,1296,-0.87,-202.3,321.4,-20.6,203,1299,0.00,1.83,0.00,0.000,4,0.000,0.056,2439,3177,3922,0,0,0,0,0,0
$GC,1345,-0.88,-202.3,331.0,-19.5,207,1348,0.00,1.80,0.00,0.000,6,0.000,0.042,2439,2001,3922,0,0,0,0,0,0
$GC,1676,-0.89,-202.3,392.2,-17.9,238,1680,0.00,1.83,0.00,0.000,4,0.000,0.056,2439,3168,3922,0,0,0,0,0,0
$GC,1748,-0.91,-202.3,404.9,-16.0,244,1757,0.00,1.80,0.00,0.000,6,0.000,0.040,2439,2002,3921,0,0,0,0,0,0
$GC,2077,-0.92,-202.3,460.0,-17.6,275,2081,0.00,1.88,0.00,0.000,4,0.000,0.056,2439,3168,3920,0,0,0,0,0,0
$GC,2115,-0.94,-202.3,467.5,-16.6,278,2123,0.00,1.80,0.00,0.000,6,0.000,0.040,2439,1999,3919,0,0,0,0,0,0
$GC,2440,-0.95,-202.3,524.5,-17.8,309,2444,0.00,1.85,0.00,0.000,4,0.000,0.057,2439,3172,3917,0,0,0,0,0,0
$GC,2553,-0.97,-202.3,542.2,-14.9,319,2557,0.00,1.77,0.00,0.000,6,0.000,0.043,2439,2002,3916,0,0,0,0,0,0
$GC,2885,-0.99,-202.3,595.0,-16.7,350,2888,0.00,1.85,0.00,0.000,4,0.000,0.055,2439,3167,3913,0,0,0,0,0,0
$GC,2923,-1.00,-202.3,601.3,-15.1,353,2931,0.00,1.80,0.00,0.000,6,0.000,0.041,2439,2004,3912,0,0,0,0,0,0
$GC,3240,-1.02,-202.3,651.4,-15.9,369,3244,0.12,1.85,0.00,0.000,4,0.125,0.056,2394,3168,3910,0,0,0,0,0,0
$GC,3309,-1.03,-202.3,663.3,-17.8,372,3312,0.00,1.80,0.00,0.000,6,0.000,0.042,2394,1992,3908,0,0,0,0,0,0
$GC,3642,-1.04,-202.3,725.1,-18.2,388,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,1991,3905,0,0,0,0,0,0
$GC,3951,-1.05,-202.3,779.8,-17.5,403,3955,0.00,1.90,0.00,0.000,4,0.000,0.060,2394,3160,3902,0,0,0,0,0,0
$GC,4020,-1.07,-202.3,791.3,-16.6,406,4023,0.00,1.77,0.00,0.000,6,0.000,0.044,2394,2001,3901,0,0,0,0,0,0
$GC,4354,-1.08,-202.3,847.8,-16.3,422,4355,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2000,3898,0,0,0,0,0,0
$GC,4662,-1.09,-202.3,898.2,-16.4,437,4663,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2000,3895,0,0,0,0,0,0
$GC,4972,-1.10,-202.3,947.2,-15.5,452,4976,0.00,1.88,0.00,0.000,4,0.000,0.059,2394,3172,3892,0,0,0,0,0,0
$GC,5028,-1.12,-203.3,955.6,-13.8,454,5031,0.00,1.85,0.00,0.000,6,0.000,0.047,2394,2004,3891,0,0,0,0,0,0
$STATE,5326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5326,begin apogee
$GC,5332,-0.18,0.0,1001.5,15.7,469,5512,0.90,0.08,174.40,1.271,6,0.154,0.106,2667,2092,3091,0,0,0,0,0,0
$STATE,5513,end apogee,CONTROL_FINISHED_OK
$STATE,5513,begin climb
$GC,5516,0.86,203.3,1010.7,0.0,477,5722,0.95,1.90,192.32,1.250,4,0.060,0.044,3021,967,2260,0,0,0,0,0,0
$GC,5772,0.86,203.3,987.6,20.2,489,5776,0.00,1.85,0.00,0.000,6,0.000,0.037,3018,2140,2254,0,0,0,0,0,0
$GC,6101,0.85,203.3,922.0,19.4,505,6104,0.00,1.70,0.00,0.000,4,0.000,0.044,3015,3278,2246,0,0,0,0,0,0
$GC,6141,0.84,203.3,913.4,21.4,506,6148,0.00,1.80,0.00,0.000,6,0.000,0.034,3024,2080,2245,0,0,0,0,0,0
$GC,6457,0.84,203.3,850.6,19.6,522,6461,0.00,1.70,0.00,0.000,4,0.000,0.046,3033,961,2243,0,0,0,0,0,0
$GC,6525,0.83,203.3,836.6,20.6,525,6529,0.12,1.77,0.00,0.000,6,0.203,0.039,3000,2150,2242,0,0,0,0,0,0
$GC,6858,0.82,203.3,776.8,18.0,541,6861,0.00,1.77,0.00,0.000,4,0.000,0.044,3009,962,2240,0,0,0,0,0,0
$GC,6885,0.82,203.3,771.5,18.1,542,6889,0.00,1.80,0.00,0.000,6,0.000,0.037,3003,2149,2240,0,0,0,0,0,0
$GC,7213,0.82,203.3,714.1,17.6,558,7217,0.00,1.70,0.00,0.000,4,0.000,0.046,3000,3273,2239,0,0,0,0,0,0
$GC,7241,0.81,203.3,708.8,19.1,559,7244,0.00,1.77,0.00,0.000,6,0.000,0.034,3009,2088,2238,0,0,0,0,0,0
$GC,7569,0.81,203.3,655.7,16.5,575,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2086,2237,0,0,0,0,0,0
$GC,7878,0.80,203.3,604.2,17.2,590,7881,0.00,1.83,0.00,0.000,4,0.000,0.045,3003,3278,2236,0,0,0,0,0,0
$GC,7927,0.80,203.3,595.0,16.9,593,7934,0.00,1.83,0.00,0.000,6,0.000,0.035,3012,2085,2236,0,0,0,0,0,0
$GC,8253,0.80,203.3,538.5,17.0,624,8257,0.00,1.80,0.00,0.000,4,0.000,0.045,3004,3270,2235,0,0,0,0,0,0
$GC,8291,0.79,203.3,531.8,16.9,627,8298,0.00,1.80,0.00,0.000,6,0.000,0.035,3013,2073,2235,0,0,0,0,0,0
$GC,8617,0.79,203.3,477.5,16.2,658,8618,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2072,2235,0,0,0,0,0,0
$GC,8937,0.79,203.3,424.1,17.2,688,8941,0.00,1.65,0.00,0.000,4,0.000,0.045,3022,959,2234,0,0,0,0,0,0
$GC,9010,0.79,203.3,412.2,15.7,694,9020,0.10,1.80,0.00,0.000,6,0.173,0.037,2987,2152,2233,0,0,0,0,0,0
$GC,9337,0.80,212.1,369.5,13.1,725,9341,0.00,1.70,0.00,0.000,4,0.000,0.044,2987,3265,2233,0,0,0,0,0,0
$GC,9408,0.80,212.1,359.5,14.1,731,9412,0.00,1.77,0.00,0.000,6,0.000,0.034,2995,2077,2232,0,0,0,0,0,0
$GC,9740,0.82,230.2,317.7,12.2,762,9762,0.00,0.00,20.75,0.791,6,0.000,0.000,2995,2076,2152,0,0,0,0,0,0
$GC,10099,0.84,236.7,267.1,13.3,813,10115,0.00,1.70,6.03,0.610,4,0.000,0.041,3004,968,2127,0,0,0,0,0,0
$GC,10304,0.86,250.1,239.6,12.7,847,10325,0.00,1.77,14.10,0.700,6,0.000,0.034,3003,2166,2070,0,0,0,0,0,0
$GC,10678,0.91,282.0,192.0,11.0,910,10716,0.00,1.88,28.02,0.692,4,0.000,0.040,3012,962,1941,0,0,0,0,0,0
$GC,10907,0.93,289.7,162.3,13.2,947,10922,0.00,1.75,7.75,0.576,6,0.000,0.034,3006,2156,1908,0,0,0,0,0,0
$GC,11281,1.01,341.1,120.6,9.2,1009,11332,0.12,1.88,44.25,0.639,4,0.087,0.040,3079,965,1698,0,0,0,0,0,0
$GC,11501,1.01,341.1,88.2,15.8,1043,11509,0.00,1.77,0.00,0.000,6,0.000,0.032,3076,2152,1692,0,0,0,0,0,0
$GC,11864,1.07,378.3,35.2,10.5,1104,11906,0.00,1.83,30.65,0.559,4,0.000,0.038,3085,967,1546,0,0,0,0,0,0
$GC,11993,1.08,378.3,14.6,19.0,1123,12001,0.00,1.77,0.00,0.000,6,0.000,0.031,3083,2157,1543,0,0,0,0,0,0
$STATE,12054,end climb,SURFACE_DEPTH_REACHED
$STATE,12054,begin surface coast
$FINISH,0.6,1.022556
$STATE,12075,end surface coast,CONTROL_FINISHED_OK
$STATE,12075,begin surface
$SM_CCo,12092,172.90,0.057,0,0,481,640.23
$SM_GC,1.07,0.00,0.00,172.90,0.000,0.000,0.057,151,1979,481,-8.06,-1.30,640.23
$IRIDIUM_FIX,2106.38,12743.98,101110,000025
$TT8_MAMPS,0.026964
$HUMID,43.77
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.5,72.951
$10V_AH,9.9,58.638
$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,20.700,83.275,518.275,172.900,0.000,27.647,49.428,230.622,0.000,0.000,13.946,2797.702,5696.607,718.677,3192.332,299.013,0.000,1831.578,0.000,2920.631,0.000,0.543,0.000
$DEVICE_MAMPS,242.505,105.570,1271.430,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.255,0.000,1657.751,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,66959,1136
$CAP_FILE_SIZE,133304,0
$CFSIZE,260165632,226570240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,285.0,1
$GPS,101110,082337,2118.948,12601.552,37,1.6,38,-2.9