version: 66.08
glider: 169
mission: 2
dive: 462
start: 11 11 110 8 43 2
data:
$ID,169
$MISSION,2
$DIVE,462
$N_DIVES,471
$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,-7333.082
$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
$GPS1,111110,083536,2122.311,12601.320,30,1.4,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-65.4
$GPS2,111110,084232,2122.269,12601.313,12,1.5,12,-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,169.7,1253,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.74,-102.8,0.0,0.0,0,120,0.00,0.00,-101.82,0.000,2,0.000,0.000,147,2002,3232,0,0,0,0,0,0
$GC,123,-0.83,-174.6,4.1,-7.4,13,150,10.27,1.80,-9.95,0.000,4,0.250,0.067,2453,875,3806,0,0,0,0,0,0
$GC,280,-0.83,-174.6,61.1,-27.9,38,289,0.00,1.83,0.00,0.000,6,0.000,0.054,2453,2031,3807,0,0,0,0,0,0
$GC,639,-0.83,-174.6,168.6,-23.7,99,646,0.00,1.77,0.00,0.000,4,0.000,0.057,2452,3168,3808,0,0,0,0,0,0
$GC,712,-0.84,-174.6,184.6,-20.3,111,721,0.00,1.80,0.00,0.000,6,0.000,0.044,2453,2002,3808,0,0,0,0,0,0
$GC,1062,-0.84,-174.6,257.2,-19.4,172,1071,0.00,1.73,0.00,0.000,4,0.000,0.047,2453,870,3809,0,0,0,0,0,0
$GC,1089,-0.85,-174.6,262.6,-18.8,176,1098,0.00,1.83,0.00,0.000,6,0.000,0.047,2453,2049,3809,0,0,0,0,0,0
$GC,1430,-0.86,-174.6,323.8,-15.7,224,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2049,3809,0,0,0,0,0,0
$GC,1749,-0.87,-174.6,375.0,-15.9,254,1752,0.00,1.73,0.00,0.000,4,0.000,0.057,2453,3170,3809,0,0,0,0,0,0
$GC,1787,-0.89,-174.6,380.5,-14.4,257,1791,0.00,1.80,0.00,0.000,6,0.000,0.043,2453,1992,3808,0,0,0,0,0,0
$GC,2119,-0.90,-174.6,432.4,-16.0,288,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1990,3808,0,0,0,0,0,0
$GC,2439,-0.91,-174.6,482.4,-15.7,318,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1989,3806,0,0,0,0,0,0
$GC,2758,-0.93,-174.6,528.7,-14.4,348,2762,0.00,1.88,0.00,0.000,4,0.000,0.057,2453,3167,3804,0,0,0,0,0,0
$GC,2831,-0.96,-186.7,539.0,-12.8,354,2838,0.00,1.77,0.00,0.000,6,0.000,0.042,2453,1999,3803,0,0,0,0,0,0
$GC,3157,-0.98,-186.7,586.1,-14.7,385,3161,0.12,1.88,0.00,0.000,4,0.120,0.057,2408,3177,3801,0,0,0,0,0,0
$GC,3191,-0.99,-186.7,591.7,-17.4,388,3195,0.00,1.80,0.00,0.000,6,0.000,0.044,2408,1999,3800,0,0,0,0,0,0
$GC,3514,-1.00,-186.7,649.9,-17.7,406,3518,0.00,1.70,0.00,0.000,4,0.000,0.051,2408,867,3797,0,0,0,0,0,0
$GC,3538,-1.01,-186.7,654.2,-18.0,407,3541,0.00,1.80,0.00,0.000,6,0.000,0.050,2408,2047,3797,0,0,0,0,0,0
$GC,3871,-1.01,-186.7,712.8,-17.4,423,3875,0.00,1.75,0.00,0.000,4,0.000,0.059,2408,3168,3794,0,0,0,0,0,0
$GC,3926,-1.03,-186.7,722.2,-15.6,425,3930,0.00,1.80,0.00,0.000,6,0.000,0.044,2408,2004,3794,0,0,0,0,0,0
$GC,4249,-1.04,-186.7,774.5,-16.2,441,4252,0.00,1.73,0.00,0.000,4,0.000,0.053,2408,875,3791,0,0,0,0,0,0
$GC,4272,-1.05,-186.7,778.6,-16.6,442,4276,0.00,1.80,0.00,0.000,6,0.000,0.050,2408,2052,3790,0,0,0,0,0,0
$GC,4605,-1.06,-186.7,832.6,-16.5,458,4609,0.00,1.75,0.00,0.000,4,0.000,0.060,2408,3168,3786,0,0,0,0,0,0
$GC,4629,-1.07,-186.7,836.3,-15.9,459,4633,0.00,1.83,0.00,0.000,6,0.000,0.044,2408,2002,3786,0,0,0,0,0,0
$GC,4961,-1.09,-186.7,889.9,-16.1,475,4965,0.00,1.75,0.00,0.000,4,0.000,0.053,2408,877,3783,0,0,0,0,0,0
$GC,5007,-1.10,-186.7,896.9,-14.5,477,5011,0.00,1.83,0.00,0.000,6,0.000,0.052,2408,2033,3783,0,0,0,0,0,0
$GC,5340,-1.11,-186.7,947.6,-15.0,493,5342,0.10,0.00,0.00,0.000,6,0.134,0.000,2374,2034,3780,0,0,0,0,0,0
$STATE,5647,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5647,begin apogee
$GC,5652,-0.18,0.0,1001.8,17.3,508,5810,0.98,0.05,150.35,1.273,6,0.164,0.067,2661,2097,3090,0,0,0,0,0,0
$STATE,5811,end apogee,CONTROL_FINISHED_OK
$STATE,5811,begin climb
$GC,5813,0.84,186.7,1010.1,0.0,515,6001,0.90,1.90,179.15,1.250,4,0.051,0.046,3009,974,2329,0,0,0,0,0,0
$GC,6159,0.84,186.7,971.0,19.0,531,6162,0.00,1.83,0.00,0.000,6,0.000,0.038,3001,2155,2318,0,0,0,0,0,0
$GC,6480,0.83,186.7,911.9,18.7,547,6484,0.00,1.80,0.00,0.000,4,0.000,0.047,3010,964,2313,0,0,0,0,0,0
$GC,6507,0.83,186.7,906.3,19.6,548,6511,0.00,1.80,0.00,0.000,6,0.000,0.038,3002,2146,2313,0,0,0,0,0,0
$GC,6835,0.82,186.7,847.4,18.0,564,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2146,2310,0,0,0,0,0,0
$GC,7144,0.82,186.7,790.4,18.3,579,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2146,2308,0,0,0,0,0,0
$GC,7453,0.81,186.7,734.6,17.8,594,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2146,2307,0,0,0,0,0,0
$GC,7763,0.81,186.7,684.3,15.9,609,7766,0.00,1.73,0.00,0.000,4,0.000,0.047,3001,3271,2306,0,0,0,0,0,0
$GC,7812,0.80,186.7,675.9,17.2,611,7816,0.00,1.83,0.00,0.000,6,0.000,0.037,3010,2079,2306,0,0,0,0,0,0
$GC,8140,0.80,186.7,622.0,16.8,627,8144,0.00,1.70,0.00,0.000,4,0.000,0.048,3019,957,2304,0,0,0,0,0,0
$GC,8196,0.79,186.7,612.1,16.6,629,8200,0.08,1.83,0.00,0.000,6,0.185,0.040,2994,2156,2303,0,0,0,0,0,0
$GC,8524,0.79,186.7,560.7,15.0,656,8528,0.00,1.67,0.00,0.000,4,0.000,0.046,2989,3272,2303,0,0,0,0,0,0
$GC,8552,0.79,186.7,556.3,14.8,658,8558,0.00,1.77,0.00,0.000,6,0.000,0.036,2998,2076,2302,0,0,0,0,0,0
$GC,8877,0.80,189.9,511.5,13.6,689,8881,0.00,1.88,0.00,0.000,4,0.000,0.045,2990,3275,2302,0,0,0,0,0,0
$GC,8992,0.79,189.9,495.7,14.5,699,8996,0.00,1.80,0.00,0.000,6,0.000,0.036,2999,2086,2301,0,0,0,0,0,0
$GC,9324,0.79,189.9,448.5,14.4,730,9327,0.00,1.67,0.00,0.000,4,0.000,0.047,3007,960,2301,0,0,0,0,0,0
$GC,9383,0.79,191.7,440.2,13.7,735,9387,0.00,1.77,0.00,0.000,6,0.000,0.038,3003,2158,2301,0,0,0,0,0,0
$GC,9715,0.80,192.9,392.7,13.8,766,9717,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2158,2300,0,0,0,0,0,0
$GC,10036,0.82,208.9,351.0,12.4,796,10061,0.00,1.88,16.55,0.806,4,0.000,0.045,3012,964,2238,0,0,0,0,0,0
$GC,10131,0.83,221.2,338.6,12.8,804,10148,0.00,1.77,12.85,0.770,6,0.000,0.038,3004,2155,2188,0,0,0,0,0,0
$GC,10471,0.84,222.7,294.9,13.8,838,10479,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2155,2181,0,0,0,0,0,0
$GC,10821,0.85,228.2,250.1,13.4,899,10837,0.00,1.85,6.82,0.624,4,0.000,0.041,3013,964,2160,0,0,0,0,0,0
$GC,10999,0.88,247.4,227.6,12.2,929,11029,0.00,1.75,18.58,0.711,6,0.000,0.037,3013,2152,2081,0,0,0,0,0,0
$GC,11375,0.89,257.6,177.5,13.0,993,11391,0.00,1.88,9.70,0.621,4,0.000,0.042,3022,960,2039,0,0,0,0,0,0
$GC,11416,0.92,270.4,172.3,12.7,999,11433,0.00,1.77,12.55,0.637,6,0.000,0.035,3022,2153,1988,0,0,0,0,0,0
$GC,11786,0.98,310.7,130.2,10.2,1061,11827,0.00,1.83,34.83,0.648,4,0.000,0.039,3030,954,1824,0,0,0,0,0,0
$GC,11860,1.04,353.6,122.8,10.0,1071,11903,0.00,1.83,36.67,0.637,6,0.000,0.033,3030,2159,1649,0,0,0,0,0,0
$GC,12255,1.10,390.9,79.3,10.5,1136,12297,0.15,1.88,30.75,0.596,4,0.076,0.039,3118,960,1495,0,0,0,0,0,0
$GC,12343,1.11,390.9,65.1,17.7,1148,12353,0.08,1.80,0.00,0.000,6,0.172,0.034,3092,2153,1492,0,0,0,0,0,0
$GC,12712,1.12,390.9,4.3,20.8,1209,12721,0.00,1.80,0.00,0.000,4,0.000,0.041,3102,968,1490,0,0,0,0,0,0
$STATE,12727,end climb,SURFACE_DEPTH_REACHED
$STATE,12727,begin surface coast
$FINISH,0.4,1.011841
$STATE,12748,end surface coast,CONTROL_FINISHED_OK
$STATE,12748,begin surface
$SM_CCo,12766,164.98,0.057,0,0,481,640.23
$SM_GC,1.05,0.00,0.00,164.98,0.000,0.000,0.057,142,2051,481,-8.07,0.74,640.23
$IRIDIUM_FIX,2113.32,12558.07,111110,040408
$TT8_MAMPS,0.026964
$HUMID,43.62
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.6,74.380
$10V_AH,9.9,59.655
$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,21.000,86.175,508.800,164.975,0.000,27.153,17.607,231.095,0.000,0.000,13.666,2995.570,6011.011,688.730,3334.367,310.776,0.000,1854.285,0.000,3093.771,0.000,0.542,0.000
$DEVICE_MAMPS,250.155,94.860,1272.960,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.547,0.000,1785.775,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334044
$DATA_FILE_SIZE,73585,1214
$CAP_FILE_SIZE,139807,0
$CFSIZE,260165632,226025472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,234.3,1
$GPS,111110,121937,2120.240,12601.381,34,1.2,34,-2.9