version: 66.08
glider: 169
mission: 2
dive: 469
start: 11 12 110 8 40 14
data:
$ID,169
$MISSION,2
$DIVE,469
$N_DIVES,486
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,120
$T_MISSION,180
$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,-7341.8813
$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
$GPS1,121110,083333,2121.921,12601.110,9,2.6,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.6
$GPS2,121110,083944,2121.927,12601.098,16,1.0,16,-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,140.4,631,-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,-101.53,0.000,2,0.000,0.000,152,1975,3207,0,0,0,0,0,0
$GC,123,-0.85,-190.5,4.1,-6.0,13,150,10.07,1.75,-11.80,0.000,4,0.247,0.065,2445,873,3870,0,0,0,0,0,0
$GC,182,-0.83,-190.5,31.1,-41.6,21,191,0.00,1.85,0.00,0.000,6,0.000,0.057,2445,2035,3871,0,0,0,0,0,0
$GC,545,-0.82,-190.5,155.4,-28.0,82,554,0.00,1.83,0.00,0.000,4,0.000,0.053,2445,868,3872,0,0,0,0,0,0
$GC,591,-0.82,-190.5,168.1,-27.8,89,598,0.00,1.83,0.00,0.000,6,0.000,0.052,2445,2034,3872,0,0,0,0,0,0
$GC,937,-0.82,-190.5,246.5,-20.9,150,945,0.00,1.80,0.00,0.000,4,0.000,0.057,2445,3168,3874,0,0,0,0,0,0
$GC,971,-0.83,-190.5,253.5,-20.6,155,979,0.00,1.77,0.00,0.000,6,0.000,0.044,2445,2001,3874,0,0,0,0,0,0
$GC,1315,-0.83,-190.5,321.1,-19.4,206,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2000,3874,0,0,0,0,0,0
$GC,1637,-0.84,-190.5,380.4,-18.2,236,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2000,3874,0,0,0,0,0,0
$GC,1966,-0.85,-190.5,440.4,-17.6,267,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2000,3873,0,0,0,0,0,0
$GC,2293,-0.87,-190.5,493.8,-15.7,298,2296,0.00,1.85,0.00,0.000,4,0.000,0.056,2445,3175,3871,0,0,0,0,0,0
$STATE,2329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2329,begin apogee
$GC,2335,-0.18,0.0,500.2,14.5,301,2499,0.73,0.05,154.65,0.881,6,0.149,0.069,2668,2146,3090,0,0,0,0,0,0
$STATE,2500,end apogee,CONTROL_FINISHED_OK
$STATE,2500,begin climb
$GC,2502,0.85,190.5,509.5,0.0,316,2674,0.93,1.90,162.38,0.875,4,0.073,0.038,3011,955,2314,0,0,0,0,0,0
$GC,2776,0.85,190.5,491.9,14.8,340,2780,0.00,1.80,0.00,0.000,6,0.000,0.034,3002,2149,2306,0,0,0,0,0,0
$GC,3109,0.85,190.5,441.7,15.0,371,3112,0.00,1.67,0.00,0.000,4,0.000,0.041,3003,3276,2300,0,0,0,0,0,0
$GC,3212,0.85,190.5,425.0,15.9,380,3216,0.00,1.77,0.00,0.000,6,0.000,0.031,3012,2076,2297,0,0,0,0,0,0
$GC,3545,0.84,190.5,375.3,15.0,411,3549,0.00,1.67,0.00,0.000,4,0.000,0.041,3021,957,2295,0,0,0,0,0,0
$GC,3570,0.84,190.5,371.5,15.2,413,3574,0.00,1.80,0.00,0.000,6,0.000,0.035,3017,2161,2295,0,0,0,0,0,0
$GC,3901,0.86,204.5,324.4,12.6,444,3917,0.00,1.88,10.30,0.702,4,0.000,0.041,3026,958,2257,0,0,0,0,0,0
$GC,3979,0.86,208.5,313.8,13.5,450,3989,0.00,1.77,5.32,0.570,6,0.000,0.034,3018,2148,2240,0,0,0,0,0,0
$GC,4327,0.88,224.1,267.6,12.5,501,4348,0.00,0.00,14.73,0.704,6,0.000,0.000,3018,2148,2177,0,0,0,0,0,0
$GC,4699,0.89,229.0,215.5,13.4,564,4709,0.00,1.85,4.82,0.506,4,0.000,0.040,3027,960,2157,0,0,0,0,0,0
$GC,4806,0.90,239.2,202.0,13.0,581,4821,0.00,1.77,10.95,0.634,6,0.000,0.034,3026,2161,2115,0,0,0,0,0,0
$GC,5174,0.94,266.3,153.4,11.4,643,5204,0.00,1.75,23.62,0.646,4,0.000,0.040,3026,3275,2003,0,0,0,0,0,0
$GC,5225,0.96,279.3,147.2,12.7,650,5242,0.00,1.80,12.23,0.598,6,0.000,0.031,3035,2084,1952,0,0,0,0,0,0
$GC,5598,0.98,288.5,99.2,13.1,712,5616,0.00,1.70,8.32,0.532,4,0.000,0.041,3044,967,1913,0,0,0,0,0,0
$GC,5852,1.05,335.7,71.0,9.6,754,5902,0.00,1.77,39.72,0.592,6,0.000,0.032,3044,2166,1721,0,0,0,0,0,0
$GC,6258,1.07,342.0,22.2,13.3,820,6268,0.00,1.88,5.88,0.432,4,0.000,0.038,3052,954,1695,0,0,0,0,0,0
$GC,6312,1.10,354.9,15.5,12.7,828,6331,0.00,1.77,12.15,0.502,6,0.000,0.032,3052,2154,1643,0,0,0,0,0,0
$STATE,6402,end climb,SURFACE_DEPTH_REACHED
$STATE,6402,begin surface coast
$FINISH,0.7,1.022564
$STATE,6429,end surface coast,CONTROL_FINISHED_OK
$STATE,6429,begin surface
$SM_CCo,6446,182.73,0.055,0,0,481,640.23
$SM_GC,1.27,0.00,0.00,182.73,0.000,0.000,0.055,150,1996,481,-8.06,-0.82,640.23
$IRIDIUM_FIX,2115.63,12559.43,121110,060609
$TT8_MAMPS,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,9.24219
$TCM_TEMP,25.20
$XPDR_PINGS,1
$24V_AH,23.9,75.470
$10V_AH,10.0,60.592
$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,19.925,43.225,465.075,182.725,0.000,29.992,43.436,173.576,0.250,0.000,17.052,1988.330,1538.693,650.389,2614.051,211.996,0.000,1447.317,0.000,2388.783,0.000,0.544,0.000
$DEVICE_MAMPS,247.095,68.850,880.515,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.713,0.000,1740.975,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,50318,846
$CAP_FILE_SIZE,86532,0
$CFSIZE,260165632,225603584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,336.4,1
$GPS,121110,103146,2121.443,12601.534,14,2.1,33,-2.9