version: 66.08
glider: 169
mission: 2
dive: 467
start: 11 12 110 2 59 14
data:
$ID,169
$MISSION,2
$DIVE,467
$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,-7339.3696
$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
$GPS1,121110,025207,2121.454,12600.173,42,1.1,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.7
$GPS2,121110,025844,2121.356,12600.131,15,1.1,15,-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,52.9,1899,-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,13,begin dive
$GC,16,-0.74,-102.8,0.0,0.0,0,120,0.00,0.00,-101.82,0.000,2,0.000,0.000,141,2055,3252,0,0,0,0,0,0
$GC,123,-0.82,-170.7,4.4,-7.7,13,150,10.45,1.92,-9.35,0.000,4,0.254,0.067,2454,866,3791,0,0,0,0,0,0
$GC,204,-0.82,-170.7,39.6,-34.0,25,213,0.00,1.85,0.00,0.000,6,0.000,0.053,2453,2034,3792,0,0,0,0,0,0
$GC,570,-0.81,-170.7,150.2,-24.0,86,579,0.00,1.80,0.00,0.000,4,0.000,0.048,2453,872,3793,0,0,0,0,0,0
$GC,699,-0.82,-170.7,178.8,-19.0,108,708,0.00,1.83,0.00,0.000,6,0.000,0.050,2452,2038,3793,0,0,0,0,0,0
$GC,1051,-0.83,-170.7,249.2,-20.5,169,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2038,3794,0,0,0,0,0,0
$GC,1394,-0.83,-170.7,312.1,-18.6,224,1398,0.00,1.75,0.00,0.000,4,0.000,0.048,2453,873,3793,0,0,0,0,0,0
$GC,1454,-0.84,-170.7,322.7,-17.3,229,1458,0.00,1.83,0.00,0.000,6,0.000,0.049,2453,2046,3794,0,0,0,0,0,0
$GC,1785,-0.85,-170.7,382.6,-18.1,260,1789,0.00,1.73,0.00,0.000,4,0.000,0.057,2453,3172,3793,0,0,0,0,0,0
$GC,1833,-0.87,-170.7,390.6,-16.3,264,1836,0.00,1.77,0.00,0.000,6,0.000,0.043,2453,2001,3793,0,0,0,0,0,0
$GC,2166,-0.88,-170.7,445.3,-16.0,295,2169,0.00,1.73,0.00,0.000,4,0.000,0.047,2453,872,3793,0,0,0,0,0,0
$GC,2224,-0.90,-170.7,454.3,-14.2,300,2228,0.00,1.80,0.00,0.000,6,0.000,0.047,2452,2052,3792,0,0,0,0,0,0
$GC,2555,-0.91,-170.7,504.3,-14.7,331,2559,0.00,1.73,0.00,0.000,4,0.000,0.056,2453,3168,3791,0,0,0,0,0,0
$GC,2662,-0.96,-193.2,518.0,-11.9,340,2668,0.00,1.77,0.00,0.000,6,0.000,0.041,2453,1993,3790,0,0,0,0,0,0
$GC,2987,-0.98,-200.6,561.3,-13.2,371,2992,0.12,1.88,0.00,0.000,4,0.120,0.057,2408,3167,3787,0,0,0,0,0,0
$GC,3015,-0.99,-200.6,565.7,-16.1,373,3021,0.00,1.80,0.00,0.000,6,0.000,0.042,2408,2000,3787,0,0,0,0,0,0
$GC,3348,-1.00,-200.6,620.6,-16.5,399,3352,0.00,1.73,0.00,0.000,4,0.000,0.050,2408,866,3784,0,0,0,0,0,0
$GC,3372,-1.01,-200.6,624.5,-16.0,400,3376,0.00,1.83,0.00,0.000,6,0.000,0.049,2407,2049,3783,0,0,0,0,0,0
$GC,3706,-1.02,-200.6,680.7,-17.4,416,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2050,3780,0,0,0,0,0,0
$GC,4014,-1.03,-200.6,734.9,-17.3,431,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2050,3776,0,0,0,0,0,0
$GC,4323,-1.04,-200.6,786.6,-15.9,446,4327,0.00,1.85,0.00,0.000,4,0.000,0.054,2408,885,3774,0,0,0,0,0,0
$GC,4362,-1.05,-200.6,793.2,-16.0,447,4370,0.00,1.83,0.00,0.000,6,0.000,0.051,2408,2038,3773,0,0,0,0,0,0
$GC,4678,-1.07,-200.6,841.6,-14.9,463,4682,0.00,1.77,0.00,0.000,4,0.000,0.060,2408,3167,3770,0,0,0,0,0,0
$GC,4696,-1.08,-200.6,844.3,-15.0,463,4704,0.00,1.77,0.00,0.000,6,0.000,0.045,2408,2005,3770,0,0,0,0,0,0
$GC,5012,-1.09,-200.6,890.4,-14.5,479,5016,0.00,1.75,0.00,0.000,4,0.000,0.054,2408,883,3767,0,0,0,0,0,0
$GC,5080,-1.10,-200.7,899.9,-13.9,482,5084,0.00,1.80,0.00,0.000,6,0.000,0.051,2408,2038,3766,0,0,0,0,0,0
$GC,5414,-1.12,-200.7,946.7,-13.9,498,5416,0.10,0.00,0.00,0.000,6,0.135,0.000,2374,2038,3763,0,0,0,0,0,0
$GC,5722,-1.12,-200.7,997.8,-16.8,513,5726,0.00,1.80,0.00,0.000,4,0.000,0.056,2373,873,3761,0,0,0,0,0,0
$STATE,5736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5736,begin apogee
$GC,5744,-0.18,0.0,1001.0,17.0,513,5897,1.00,0.00,147.12,1.275,6,0.165,0.000,2664,2135,3090,0,0,0,0,0,0
$STATE,5898,end apogee,CONTROL_FINISHED_OK
$STATE,5898,begin climb
$GC,5901,0.86,200.7,1008.5,0.0,521,6101,0.93,1.85,192.43,1.249,4,0.059,0.045,3004,3268,2271,0,0,0,0,0,0
$GC,6230,0.85,200.7,969.9,21.9,536,6233,0.00,1.83,0.00,0.000,6,0.000,0.037,3013,2100,2260,0,0,0,0,0,0
$GC,6558,0.85,200.7,905.2,19.4,552,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2099,2256,0,0,0,0,0,0
$GC,6867,0.84,200.7,844.1,19.6,567,6870,0.00,1.70,0.00,0.000,4,0.000,0.047,3022,957,2253,0,0,0,0,0,0
$GC,6913,0.84,200.7,834.7,20.7,569,6916,0.00,1.77,0.00,0.000,6,0.000,0.039,3018,2155,2252,0,0,0,0,0,0
$GC,7246,0.83,200.7,767.9,20.1,585,7249,0.00,1.67,0.00,0.000,4,0.000,0.046,3018,3277,2250,0,0,0,0,0,0
$GC,7292,0.82,200.7,758.3,21.8,587,7296,0.12,1.80,0.00,0.000,6,0.214,0.037,2997,2082,2249,0,0,0,0,0,0
$GC,7624,0.82,200.7,698.4,17.5,603,7628,0.00,1.85,0.00,0.000,4,0.000,0.046,2990,3280,2249,0,0,0,0,0,0
$GC,7687,0.81,200.7,687.0,18.8,605,7693,0.00,1.80,0.00,0.000,6,0.000,0.037,2998,2087,2248,0,0,0,0,0,0
$GC,8002,0.81,200.7,632.7,17.4,621,8006,0.00,1.85,0.00,0.000,4,0.000,0.045,2990,3269,2247,0,0,0,0,0,0
$GC,8048,0.81,200.7,624.3,19.0,623,8052,0.00,1.80,0.00,0.000,6,0.000,0.037,2999,2096,2247,0,0,0,0,0,0
$GC,8379,0.81,200.7,566.1,18.1,647,8383,0.00,1.83,0.00,0.000,4,0.000,0.045,2990,3279,2245,0,0,0,0,0,0
$GC,8402,0.80,200.7,561.5,18.3,649,8406,0.00,1.80,0.00,0.000,6,0.000,0.037,2999,2088,2245,0,0,0,0,0,0
$GC,8733,0.80,200.7,506.6,15.6,680,8737,0.00,1.80,0.00,0.000,4,0.000,0.045,2991,3272,2245,0,0,0,0,0,0
$GC,8837,0.80,200.7,489.8,16.4,689,8841,0.00,1.77,0.00,0.000,6,0.000,0.037,3000,2084,2244,0,0,0,0,0,0
$GC,9169,0.80,200.7,440.0,15.3,720,9173,0.00,1.83,0.00,0.000,4,0.000,0.045,2991,3271,2244,0,0,0,0,0,0
$GC,9275,0.80,200.7,423.1,14.5,729,9282,0.00,1.83,0.00,0.000,6,0.000,0.036,3000,2080,2243,0,0,0,0,0,0
$GC,9601,0.80,200.7,377.3,14.5,760,9604,0.00,1.67,0.00,0.000,4,0.000,0.046,3008,965,2243,0,0,0,0,0,0
$GC,9705,0.80,200.7,362.9,14.5,769,9708,0.00,1.75,0.00,0.000,6,0.000,0.037,3003,2153,2243,0,0,0,0,0,0
$GC,10036,0.81,209.2,318.6,13.1,800,10037,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2153,2243,0,0,0,0,0,0
$GC,10368,0.81,209.2,277.4,14.0,845,10374,0.00,1.80,0.00,0.000,4,0.000,0.044,3012,962,2243,0,0,0,0,0,0
$GC,10513,0.83,221.7,258.6,12.8,870,10536,0.00,1.80,15.18,0.730,6,0.000,0.036,3006,2155,2186,0,0,0,0,0,0
$GC,10881,0.86,238.0,213.3,12.4,933,10903,0.00,1.88,15.93,0.692,4,0.000,0.043,3015,965,2119,0,0,0,0,0,0
$GC,11015,0.86,239.9,196.1,13.7,955,11022,0.00,1.75,0.00,0.000,6,0.000,0.034,3013,2157,2115,0,0,0,0,0,0
$GC,11364,0.93,291.2,155.4,9.2,1016,11414,0.00,1.90,45.90,0.677,4,0.000,0.042,3022,963,1902,0,0,0,0,0,0
$GC,11561,0.97,309.0,133.9,12.3,1047,11586,0.00,1.80,15.93,0.614,6,0.000,0.033,3019,2156,1828,0,0,0,0,0,0
$GC,11940,1.04,351.7,90.1,10.0,1110,11982,0.12,1.88,36.00,0.610,4,0.086,0.041,3095,965,1656,0,0,0,0,0,0
$GC,12034,1.04,351.7,76.9,15.4,1123,12043,0.00,1.80,0.00,0.000,6,0.000,0.032,3093,2158,1652,0,0,0,0,0,0
$GC,12393,1.05,351.7,18.0,17.0,1184,12402,0.00,1.80,0.00,0.000,4,0.000,0.039,3102,968,1650,0,0,0,0,0,0
$STATE,12479,end climb,SURFACE_DEPTH_REACHED
$STATE,12479,begin surface coast
$FINISH,0.1,1.022485
$STATE,12499,end surface coast,CONTROL_FINISHED_OK
$STATE,12499,begin surface
$SM_CCo,12518,183.38,0.057,0,0,481,640.23
$SM_GC,1.19,0.00,0.00,183.38,0.000,0.000,0.057,152,2058,481,-8.06,0.93,640.23
$IRIDIUM_FIX,2113.32,12559.43,111110,232356
$TT8_MAMPS,0.026964
$HUMID,44.44
$INTERNAL_PRESSURE,9.19336
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,22.7,75.237
$10V_AH,9.8,60.354
$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,21.450,93.600,468.475,183.375,0.000,22.889,40.339,192.054,0.000,0.000,16.663,2962.311,5807.507,689.884,3336.851,296.485,0.000,1841.668,0.000,3102.245,0.000,0.543,0.000
$DEVICE_MAMPS,253.980,67.320,1275.255,56.610,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.447,0.000,1776.177,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333964
$DATA_FILE_SIZE,70438,1201
$CAP_FILE_SIZE,138070,0
$CFSIZE,260165632,225660928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,248.0,1
$GPS,121110,063206,2122.116,12600.782,41,1.1,41,-2.9