version: 66.08
glider: 169
mission: 2
dive: 464
start: 11 11 110 16 6 25
data:
$ID,169
$MISSION,2
$DIVE,464
$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,-7335.5972
$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
$GPS1,111110,155525,2121.933,12601.239,38,1.3,38,-2.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-66.3
$GPS2,111110,160555,2121.819,12601.205,12,1.0,17,-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,180.4,405,-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,-96.88,0.000,2,0.000,0.000,153,1997,3088,0,0,0,0,0,0
$GC,118,-0.84,-182.0,3.8,-6.7,12,153,10.02,1.77,-14.02,0.000,4,0.244,0.067,2451,882,3835,0,0,0,0,0,0
$GC,290,-0.84,-182.0,59.3,-26.6,39,298,0.00,1.83,0.00,0.000,6,0.000,0.054,2450,2037,3836,0,0,0,0,0,0
$GC,649,-0.84,-182.0,170.4,-23.2,100,658,0.00,1.77,0.00,0.000,4,0.000,0.057,2450,3168,3837,0,0,0,0,0,0
$GC,696,-0.85,-182.0,180.8,-22.5,107,703,0.00,1.77,0.00,0.000,6,0.000,0.044,2450,1994,3837,0,0,0,0,0,0
$GC,1043,-0.85,-182.0,254.5,-20.2,168,1051,0.00,1.88,0.00,0.000,4,0.000,0.057,2450,3165,3837,0,0,0,0,0,0
$GC,1082,-0.86,-182.0,262.2,-19.3,174,1090,0.00,1.80,0.00,0.000,6,0.000,0.043,2450,2005,3838,0,0,0,0,0,0
$GC,1430,-0.87,-182.0,331.6,-19.1,221,1433,0.00,1.67,0.00,0.000,4,0.000,0.047,2450,870,3837,0,0,0,0,0,0
$GC,1469,-0.88,-182.0,339.3,-17.9,224,1477,0.00,1.83,0.00,0.000,6,0.000,0.049,2450,2042,3837,0,0,0,0,0,0
$GC,1796,-0.89,-182.0,394.3,-15.3,255,1800,0.00,1.77,0.00,0.000,4,0.000,0.057,2450,3167,3837,0,0,0,0,0,0
$GC,1897,-0.91,-182.0,409.4,-14.0,264,1901,0.00,1.80,0.00,0.000,6,0.000,0.041,2450,2004,3837,0,0,0,0,0,0
$GC,2229,-0.92,-182.0,463.4,-16.8,295,2233,0.00,1.83,0.00,0.000,4,0.000,0.054,2450,3168,3836,0,0,0,0,0,0
$GC,2265,-0.93,-182.0,469.2,-15.7,298,2269,0.00,1.80,0.00,0.000,6,0.000,0.040,2450,2004,3835,0,0,0,0,0,0
$GC,2596,-0.95,-182.0,523.2,-15.8,329,2600,0.00,1.73,0.00,0.000,4,0.000,0.048,2450,882,3833,0,0,0,0,0,0
$GC,2634,-0.97,-182.0,529.7,-16.5,332,2641,0.00,1.80,0.00,0.000,6,0.000,0.047,2450,2038,3833,0,0,0,0,0,0
$GC,2960,-0.98,-182.0,580.5,-15.5,363,2964,0.10,1.77,0.00,0.000,4,0.139,0.056,2415,3171,3830,0,0,0,0,0,0
$GC,3074,-1.00,-182.0,599.7,-17.1,373,3077,0.00,1.77,0.00,0.000,6,0.000,0.045,2416,2004,3829,0,0,0,0,0,0
$GC,3395,-1.01,-182.0,655.0,-16.4,389,3399,0.00,1.85,0.00,0.000,4,0.000,0.056,2415,3174,3827,0,0,0,0,0,0
$GC,3423,-1.02,-182.0,659.6,-15.9,390,3426,0.00,1.77,0.00,0.000,6,0.000,0.043,2415,2004,3826,0,0,0,0,0,0
$GC,3751,-1.03,-182.0,711.6,-15.8,406,3755,0.00,1.73,0.00,0.000,4,0.000,0.050,2415,869,3822,0,0,0,0,0,0
$GC,3807,-1.04,-182.0,720.5,-14.5,408,3810,0.00,1.83,0.00,0.000,6,0.000,0.048,2415,2035,3821,0,0,0,0,0,0
$GC,4129,-1.06,-182.0,770.5,-15.5,424,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2035,3818,0,0,0,0,0,0
$GC,4438,-1.07,-182.0,816.5,-14.7,439,4442,0.00,1.77,0.00,0.000,4,0.000,0.057,2415,3162,3814,0,0,0,0,0,0
$GC,4476,-1.08,-182.0,822.2,-14.2,440,4484,0.08,1.80,0.00,0.000,6,0.083,0.043,2365,2004,3813,0,0,0,0,0,0
$GC,4793,-1.09,-182.0,880.1,-18.6,456,4796,0.00,1.73,0.00,0.000,4,0.000,0.053,2365,874,3811,0,0,0,0,0,0
$GC,4854,-1.10,-182.0,891.5,-16.9,458,4861,0.00,1.85,0.00,0.000,6,0.000,0.051,2365,2043,3810,0,0,0,0,0,0
$GC,5171,-1.10,-182.0,951.5,-19.5,474,5174,0.00,1.83,0.00,0.000,4,0.000,0.056,2365,873,3808,0,0,0,0,0,0
$GC,5221,-1.11,-182.0,961.5,-19.1,476,5225,0.00,1.80,0.00,0.000,6,0.000,0.053,2365,2037,3807,0,0,0,0,0,0
$STATE,5443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5443,begin apogee
$GC,5448,-0.18,0.0,1003.1,18.7,487,5612,1.00,0.08,156.18,1.272,6,0.162,0.060,2661,2089,3090,0,0,0,0,0,0
$STATE,5612,end apogee,CONTROL_FINISHED_OK
$STATE,5612,begin climb
$GC,5615,0.84,182.0,1011.9,0.0,494,5796,0.93,1.85,172.80,1.250,4,0.060,0.044,3010,967,2348,0,0,0,0,0,0
$GC,5908,0.83,182.0,982.9,19.1,508,5912,0.00,1.77,0.00,0.000,6,0.000,0.037,3002,2152,2339,0,0,0,0,0,0
$GC,6236,0.83,182.0,922.7,18.5,524,6239,0.00,1.70,0.00,0.000,4,0.000,0.044,3002,3277,2332,0,0,0,0,0,0
$GC,6296,0.82,182.0,910.5,19.3,526,6303,0.00,1.80,0.00,0.000,6,0.000,0.034,3011,2085,2331,0,0,0,0,0,0
$GC,6614,0.81,182.0,850.0,19.0,542,6617,0.00,1.83,0.00,0.000,4,0.000,0.044,3003,3277,2329,0,0,0,0,0,0
$GC,6652,0.80,182.0,841.8,20.2,543,6659,0.00,1.80,0.00,0.000,6,0.000,0.034,3011,2095,2329,0,0,0,0,0,0
$GC,6968,0.80,182.0,782.8,19.0,559,6972,0.00,1.80,0.00,0.000,4,0.000,0.044,3005,3280,2327,0,0,0,0,0,0
$GC,7002,0.79,182.0,776.1,20.4,560,7006,0.12,1.77,0.00,0.000,6,0.216,0.034,2985,2080,2326,0,0,0,0,0,0
$GC,7323,0.78,182.0,723.2,16.3,576,7326,0.00,1.83,0.00,0.000,4,0.000,0.045,2976,3271,2325,0,0,0,0,0,0
$GC,7372,0.78,182.0,714.2,17.7,578,7376,0.00,1.80,0.00,0.000,6,0.000,0.034,2985,2088,2324,0,0,0,0,0,0
$GC,7700,0.78,182.0,662.6,15.3,594,7704,0.00,1.65,0.00,0.000,4,0.000,0.044,2993,966,2324,0,0,0,0,0,0
$GC,7733,0.78,182.0,657.0,15.5,595,7737,0.00,1.80,0.00,0.000,6,0.000,0.037,2990,2155,2323,0,0,0,0,0,0
$GC,8056,0.78,182.0,606.5,15.8,611,8060,0.00,1.67,0.00,0.000,4,0.000,0.045,2990,3275,2322,0,0,0,0,0,0
$GC,8234,0.78,182.0,576.8,16.1,625,8238,0.00,1.77,0.00,0.000,6,0.000,0.034,2999,2073,2321,0,0,0,0,0,0
$GC,8565,0.77,182.0,528.5,14.1,656,8569,0.00,1.88,0.00,0.000,4,0.000,0.044,2990,3272,2321,0,0,0,0,0,0
$GC,8644,0.77,182.0,517.3,14.2,663,8648,0.00,1.77,0.00,0.000,6,0.000,0.034,2999,2076,2320,0,0,0,0,0,0
$GC,8975,0.77,183.0,471.1,13.8,694,8979,0.00,1.67,0.00,0.000,4,0.000,0.044,3008,955,2319,0,0,0,0,0,0
$GC,9024,0.77,183.0,463.3,15.0,698,9034,0.00,1.80,0.00,0.000,6,0.000,0.036,3003,2144,2319,0,0,0,0,0,0
$GC,9352,0.78,187.0,417.9,13.5,729,9356,0.00,1.73,0.00,0.000,4,0.000,0.045,3000,3269,2319,0,0,0,0,0,0
$GC,9454,0.77,187.0,403.8,14.2,738,9458,0.08,1.80,0.00,0.000,6,0.184,0.034,2986,2088,2318,0,0,0,0,0,0
$GC,9787,0.82,220.9,364.5,10.8,769,9826,0.00,0.00,31.83,0.841,6,0.000,0.000,2986,2086,2188,0,0,0,0,0,0
$GC,10145,0.85,243.2,322.0,11.9,803,10173,0.00,0.00,20.25,0.786,6,0.000,0.000,2987,2086,2097,0,0,0,0,0,0
$GC,10503,0.86,243.2,273.9,14.0,852,10511,0.00,1.70,0.00,0.000,4,0.000,0.041,2995,970,2091,0,0,0,0,0,0
$GC,10734,0.88,253.5,243.4,13.0,892,10750,0.00,1.77,9.27,0.661,6,0.000,0.034,2990,2153,2057,0,0,0,0,0,0
$GC,11093,0.93,284.1,201.3,11.1,954,11131,0.10,1.85,27.92,0.699,4,0.100,0.037,3052,961,1929,0,0,0,0,0,0
$GC,11192,0.94,288.0,187.7,13.5,969,11201,0.00,1.77,4.12,0.450,6,0.000,0.033,3049,2154,1917,0,0,0,0,0,0
$GC,11551,0.94,288.0,133.2,14.8,1030,11560,0.00,1.80,0.00,0.000,4,0.000,0.038,3057,966,1913,0,0,0,0,0,0
$GC,11623,0.98,309.3,124.4,12.0,1041,11649,0.00,1.77,19.42,0.626,6,0.000,0.032,3057,2154,1829,0,0,0,0,0,0
$GC,12001,1.00,321.6,82.9,12.8,1104,12020,0.00,1.80,11.23,0.558,4,0.000,0.035,3066,953,1780,0,0,0,0,0,0
$GC,12041,1.02,330.1,77.5,13.1,1109,12059,0.00,1.80,9.15,0.529,6,0.000,0.031,3065,2158,1743,0,0,0,0,0,0
$GC,12411,1.03,330.1,25.2,14.5,1171,12419,0.00,1.80,0.00,0.000,4,0.000,0.036,3075,961,1740,0,0,0,0,0,0
$GC,12511,1.07,358.2,11.5,11.3,1187,12545,0.00,1.77,24.60,0.538,6,0.000,0.031,3075,2159,1628,0,0,0,0,0,0
$STATE,12574,end climb,SURFACE_DEPTH_REACHED
$STATE,12575,begin surface coast
$FINISH,0.3,1.009641
$STATE,12601,end surface coast,CONTROL_FINISHED_OK
$STATE,12601,begin surface
$SM_CCo,12618,182.93,0.056,0,0,481,640.23
$SM_GC,1.15,0.00,0.00,182.93,0.000,0.000,0.056,140,1977,481,-8.06,-1.33,640.23
$IRIDIUM_FIX,2117.95,12602.66,111110,151530
$TT8_MAMPS,0.026964
$HUMID,43.10
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,25.50
$XPDR_PINGS,0
$24V_AH,22.9,74.721
$10V_AH,9.7,59.936
$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,20.825,100.375,486.775,182.925,0.000,67.359,39.846,277.559,0.000,0.000,17.911,2980.019,5875.765,721.482,3523.526,326.003,0.000,1910.221,0.000,3131.312,0.000,0.544,0.000
$DEVICE_MAMPS,244.035,90.270,1272.195,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.416,0.000,1785.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70362,1200
$CAP_FILE_SIZE,147088,0
$CFSIZE,260165632,225873920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060, 89.0,1
$GPS,111110,194055,2120.031,12601.627,39,1.2,39,-2.9