version: 66.08
glider: 169
mission: 2
dive: 463
start: 11 11 110 12 27 31
data:
$ID,169
$MISSION,2
$DIVE,463
$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,-7334.3403
$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
$GPS1,111110,121937,2120.240,12601.381,34,1.2,34,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.1
$GPS2,111110,122702,2120.158,12601.329,17,1.2,17,-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,4.5,2680,-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,-102.8,0.0,0.0,0,115,0.00,0.00,-96.20,0.000,2,0.000,0.000,139,2053,3083,0,0,0,0,0,0
$GC,118,-0.85,-190.1,3.6,-6.0,12,152,9.90,1.83,-14.48,0.000,4,0.239,0.078,2446,3168,3869,0,0,0,0,0,0
$GC,169,-0.82,-190.1,24.4,-42.7,18,177,0.00,1.83,0.00,0.000,6,0.000,0.046,2446,2008,3870,0,0,0,0,0,0
$GC,534,-0.81,-190.1,154.6,-28.8,79,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2006,3871,0,0,0,0,0,0
$GC,881,-0.81,-190.1,238.7,-21.3,140,889,0.00,1.75,0.00,0.000,4,0.000,0.050,2446,872,3872,0,0,0,0,0,0
$GC,938,-0.82,-190.1,250.2,-20.0,149,945,0.00,1.77,0.00,0.000,6,0.000,0.051,2446,2037,3872,0,0,0,0,0,0
$GC,1280,-0.83,-190.1,318.3,-18.8,201,1283,0.00,1.75,0.00,0.000,4,0.000,0.057,2446,3167,3872,0,0,0,0,0,0
$GC,1341,-0.84,-190.1,329.9,-15.9,206,1350,0.00,1.80,0.00,0.000,6,0.000,0.042,2446,2000,3872,0,0,0,0,0,0
$GC,1669,-0.85,-190.1,389.3,-17.6,237,1672,0.00,1.73,0.00,0.000,4,0.000,0.048,2446,875,3872,0,0,0,0,0,0
$GC,1696,-0.87,-190.1,394.8,-18.1,239,1703,0.00,1.77,0.00,0.000,6,0.000,0.050,2446,2049,3872,0,0,0,0,0,0
$GC,2022,-0.88,-190.1,451.4,-17.8,270,2025,0.00,1.73,0.00,0.000,4,0.000,0.057,2446,3174,3871,0,0,0,0,0,0
$GC,2104,-0.90,-190.1,464.9,-15.8,277,2108,0.00,1.77,0.00,0.000,6,0.000,0.044,2446,2002,3871,0,0,0,0,0,0
$GC,2435,-0.91,-190.1,519.4,-15.7,308,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2000,3869,0,0,0,0,0,0
$GC,2756,-0.93,-190.1,569.5,-15.7,338,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2000,3866,0,0,0,0,0,0
$GC,3078,-0.94,-190.1,620.4,-15.6,363,3082,0.00,1.88,0.00,0.000,4,0.000,0.056,2446,3175,3864,0,0,0,0,0,0
$GC,3101,-0.96,-190.1,624.0,-15.2,364,3105,0.00,1.80,0.00,0.000,6,0.000,0.042,2446,2004,3863,0,0,0,0,0,0
$GC,3435,-0.98,-190.1,672.7,-14.2,380,3438,0.00,1.83,0.00,0.000,4,0.000,0.056,2446,3166,3861,0,0,0,0,0,0
$GC,3482,-1.02,-204.0,679.0,-12.6,382,3486,0.12,1.75,0.00,0.000,6,0.116,0.041,2399,2004,3861,0,0,0,0,0,0
$GC,3815,-1.03,-204.0,736.8,-17.6,398,3819,0.00,1.75,0.00,0.000,4,0.000,0.051,2399,874,3857,0,0,0,0,0,0
$GC,3842,-1.03,-204.0,741.9,-17.6,399,3845,0.00,1.83,0.00,0.000,6,0.000,0.050,2398,2037,3856,0,0,0,0,0,0
$GC,4169,-1.04,-204.0,796.9,-16.6,415,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2037,3852,0,0,0,0,0,0
$GC,4479,-1.06,-204.0,848.3,-16.5,430,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2037,3850,0,0,0,0,0,0
$GC,4790,-1.07,-204.0,896.3,-15.1,445,4794,0.00,1.75,0.00,0.000,4,0.000,0.059,2397,3168,3847,0,0,0,0,0,0
$GC,4829,-1.08,-204.0,902.5,-14.7,446,4836,0.00,1.80,0.00,0.000,6,0.000,0.044,2397,2004,3847,0,0,0,0,0,0
$GC,5146,-1.09,-204.0,949.6,-15.0,462,5150,0.00,1.90,0.00,0.000,4,0.000,0.060,2397,3168,3843,0,0,0,0,0,0
$GC,5170,-1.10,-204.0,953.2,-14.7,463,5173,0.00,1.77,0.00,0.000,6,0.000,0.044,2397,2005,3843,0,0,0,0,0,0
$STATE,5480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5480,begin apogee
$GC,5486,-0.18,0.0,1000.8,15.6,478,5657,0.88,0.08,163.62,1.278,6,0.151,0.107,2663,2092,3090,0,0,0,0,0,0
$STATE,5658,end apogee,CONTROL_FINISHED_OK
$STATE,5658,begin climb
$GC,5661,0.87,204.0,1009.3,0.0,486,5867,0.98,1.88,194.18,1.252,4,0.059,0.043,3022,963,2257,0,0,0,0,0,0
$GC,5928,0.86,204.0,985.1,19.5,498,5935,0.00,1.85,0.00,0.000,6,0.000,0.037,3018,2152,2250,0,0,0,0,0,0
$GC,6245,0.85,204.0,921.1,20.1,514,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2152,2244,0,0,0,0,0,0
$GC,6554,0.85,204.0,859.4,19.9,529,6558,0.00,1.70,0.00,0.000,4,0.000,0.045,3018,3271,2240,0,0,0,0,0,0
$GC,6617,0.84,204.0,845.9,21.8,531,6623,0.00,1.77,0.00,0.000,6,0.000,0.034,3027,2076,2239,0,0,0,0,0,0
$GC,6933,0.83,204.0,783.8,19.6,547,6934,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2075,2237,0,0,0,0,0,0
$GC,7243,0.82,204.0,721.1,20.1,562,7247,0.12,1.85,0.00,0.000,4,0.220,0.044,2988,3271,2236,0,0,0,0,0,0
$GC,7288,0.82,204.0,711.8,19.5,564,7292,0.00,1.77,0.00,0.000,6,0.000,0.034,2997,2088,2235,0,0,0,0,0,0
$GC,7621,0.82,204.0,651.7,17.2,580,7624,0.00,1.67,0.00,0.000,4,0.000,0.045,3006,966,2235,0,0,0,0,0,0
$GC,7667,0.82,204.0,644.1,16.9,582,7671,0.00,1.75,0.00,0.000,6,0.000,0.037,3003,2151,2233,0,0,0,0,0,0
$GC,7990,0.82,204.0,591.9,16.1,599,7994,0.00,1.73,0.00,0.000,4,0.000,0.046,3003,3274,2233,0,0,0,0,0,0
$GC,8018,0.81,204.0,586.9,18.1,601,8025,0.00,1.80,0.00,0.000,6,0.000,0.034,3012,2087,2232,0,0,0,0,0,0
$GC,8343,0.81,204.0,534.1,16.6,632,8347,0.00,1.67,0.00,0.000,4,0.000,0.044,3021,964,2231,0,0,0,0,0,0
$GC,8445,0.81,204.0,517.4,15.6,641,8448,0.00,1.75,0.00,0.000,6,0.000,0.038,3017,2151,2231,0,0,0,0,0,0
$GC,8776,0.80,204.0,463.9,15.8,672,8779,0.00,1.70,0.00,0.000,4,0.000,0.045,3017,3277,2231,0,0,0,0,0,0
$GC,8845,0.80,204.0,453.3,15.4,678,8849,0.15,1.77,0.00,0.000,6,0.203,0.034,2989,2078,2230,0,0,0,0,0,0
$GC,9177,0.80,204.0,408.9,14.1,709,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2077,2230,0,0,0,0,0,0
$GC,9497,0.83,221.0,368.2,12.4,739,9513,0.00,1.67,11.57,0.786,4,0.000,0.041,2997,963,2190,0,0,0,0,0,0
$GC,9563,0.85,233.5,359.3,12.8,744,9584,0.00,1.80,13.45,0.787,6,0.000,0.036,2990,2151,2137,0,0,0,0,0,0
$GC,9901,0.85,233.5,315.5,14.0,776,9905,0.00,1.80,0.00,0.000,4,0.000,0.042,2999,971,2131,0,0,0,0,0,0
$GC,9970,0.86,235.6,306.2,13.7,782,9974,0.00,1.75,0.00,0.000,6,0.000,0.034,2991,2153,2130,0,0,0,0,0,0
$GC,10316,0.87,236.0,261.5,13.9,838,10324,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2154,2130,0,0,0,0,0,0
$GC,10665,0.90,252.0,218.5,12.4,899,10687,0.00,1.88,17.10,0.694,4,0.000,0.040,2999,954,2061,0,0,0,0,0,0
$GC,10713,0.93,272.6,212.5,12.0,906,10741,0.00,1.80,19.00,0.687,6,0.000,0.034,2997,2151,1978,0,0,0,0,0,0
$GC,11088,0.99,309.2,163.4,10.6,970,11126,0.15,1.88,31.73,0.668,4,0.078,0.039,3081,961,1829,0,0,0,0,0,0
$GC,11268,0.99,309.2,133.6,15.2,999,11277,0.00,1.80,0.00,0.000,6,0.000,0.034,3076,2153,1823,0,0,0,0,0,0
$GC,11636,1.02,331.8,82.6,11.8,1060,11662,0.00,1.70,19.52,0.590,4,0.000,0.037,3076,3275,1736,0,0,0,0,0,0
$GC,11776,1.04,340.0,63.7,13.1,1082,11793,0.00,1.80,8.20,0.509,6,0.000,0.028,3085,2074,1702,0,0,0,0,0,0
$GC,12145,1.04,340.0,7.6,14.8,1144,12153,0.00,1.65,0.00,0.000,4,0.000,0.037,3094,963,1699,0,0,0,0,0,0
$GC,12163,1.04,340.0,4.5,15.4,1146,12171,0.00,1.77,0.00,0.000,6,0.000,0.032,3093,2155,1699,0,0,0,0,0,0
$STATE,12178,end climb,SURFACE_DEPTH_REACHED
$STATE,12178,begin surface coast
$FINISH,0.3,1.022587
$STATE,12199,end surface coast,CONTROL_FINISHED_OK
$STATE,12199,begin surface
$SM_CCo,12216,189.77,0.057,0,0,481,640.23
$SM_GC,1.11,0.00,0.00,189.77,0.000,0.000,0.057,153,1996,481,-8.06,-0.82,640.23
$IRIDIUM_FIX,2115.63,12559.43,111110,080841
$TT8_MAMPS,0.026215
$HUMID,44.13
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,24.90
$XPDR_PINGS,1
$24V_AH,22.7,74.550
$10V_AH,9.7,59.790
$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,20.825,82.275,478.375,189.775,0.000,28.583,40.367,232.613,0.250,0.000,18.088,2834.792,5790.204,716.092,3203.118,300.215,0.000,1817.733,0.000,2929.240,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,107.100,1277.550,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.680,0.000,1667.436,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334028
$DATA_FILE_SIZE,67000,1151
$CAP_FILE_SIZE,134384,0
$CFSIZE,260165632,225964032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022,227.2,1
$GPS,111110,155525,2121.933,12601.239,38,1.3,38,-2.9