version: 66.08
glider: 169
mission: 2
dive: 474
start: 11 12 110 18 26 13
data:
$ID,169
$MISSION,2
$DIVE,474
$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,-7348.167
$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
$GPS1,121110,182006,2121.427,12601.099,30,0.9,30,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-71.3
$GPS2,121110,182544,2121.408,12601.166,14,1.1,14,-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,340.7,360,-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,-102.8,0.0,0.0,0,116,0.00,0.00,-97.45,0.000,2,0.000,0.000,137,1996,3061,0,0,0,0,0,0
$GC,119,-0.87,-204.4,3.1,-3.4,12,153,9.55,1.88,-16.40,0.000,4,0.235,0.075,2442,3166,3927,0,0,0,0,0,0
$GC,261,-0.86,-204.4,53.8,-30.8,34,269,0.00,1.83,0.00,0.000,6,0.000,0.046,2442,2004,3928,0,0,0,0,0,0
$GC,623,-0.86,-204.4,169.2,-27.0,95,630,0.00,1.67,0.00,0.000,4,0.000,0.048,2442,873,3928,0,0,0,0,0,0
$GC,696,-0.86,-204.4,186.4,-20.9,107,703,0.00,1.77,0.00,0.000,6,0.000,0.050,2442,2044,3928,0,0,0,0,0,0
$GC,1041,-0.87,-204.4,265.1,-20.2,168,1049,0.00,1.83,0.00,0.000,4,0.000,0.051,2442,869,3929,0,0,0,0,0,0
$GC,1133,-0.88,-204.4,281.3,-17.5,183,1140,0.00,1.80,0.00,0.000,6,0.000,0.050,2442,2041,3929,0,0,0,0,0,0
$GC,1467,-0.89,-204.4,347.0,-19.5,222,1470,0.00,1.75,0.00,0.000,4,0.000,0.058,2442,3168,3928,0,0,0,0,0,0
$GC,1540,-0.90,-204.4,360.5,-17.1,228,1548,0.00,1.80,0.00,0.000,6,0.000,0.043,2443,2004,3928,0,0,0,0,0,0
$GC,1867,-0.92,-204.4,417.9,-17.0,259,1871,0.00,1.85,0.00,0.000,4,0.000,0.056,2442,3162,3927,0,0,0,0,0,0
$GC,1917,-0.93,-204.4,426.2,-14.5,263,1925,0.00,1.77,0.00,0.000,6,0.000,0.040,2443,1999,3927,0,0,0,0,0,0
$GC,2242,-0.94,-204.4,478.0,-16.5,294,2246,0.00,1.85,0.00,0.000,4,0.000,0.055,2442,3171,3925,0,0,0,0,0,0
$GC,2259,-0.96,-204.4,480.8,-15.6,295,2267,0.00,1.80,0.00,0.000,6,0.000,0.041,2442,1989,3925,0,0,0,0,0,0
$STATE,2382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2382,begin apogee
$GC,2387,-0.18,0.0,500.3,15.8,307,2557,0.73,0.08,164.27,0.871,6,0.153,0.106,2668,2090,3091,0,0,0,0,0,0
$STATE,2558,end apogee,CONTROL_FINISHED_OK
$STATE,2558,begin climb
$GC,2560,0.87,204.4,510.4,0.0,322,2740,0.93,1.77,172.32,0.866,4,0.071,0.039,3017,963,2256,0,0,0,0,0,0
$GC,2934,0.87,204.4,470.3,18.0,355,2938,0.00,1.73,0.00,0.000,6,0.000,0.033,3015,2155,2245,0,0,0,0,0,0
$GC,3265,0.86,204.4,415.8,15.1,386,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2156,2241,0,0,0,0,0,0
$GC,3587,0.86,205.3,370.7,13.8,416,3591,0.00,1.67,0.00,0.000,4,0.000,0.039,3015,3282,2238,0,0,0,0,0,0
$GC,3660,0.86,205.3,358.5,15.8,422,3668,0.00,1.80,0.00,0.000,6,0.000,0.033,3024,2083,2236,0,0,0,0,0,0
$GC,3987,0.86,205.3,311.1,14.2,453,3991,0.00,1.77,0.00,0.000,4,0.000,0.039,3023,3275,2234,0,0,0,0,0,0
$GC,4137,0.85,205.3,288.8,14.7,472,4145,0.00,1.80,0.00,0.000,6,0.000,0.032,3032,2072,2232,0,0,0,0,0,0
$GC,4487,0.86,209.3,240.5,13.5,533,4494,0.00,1.65,0.00,0.000,4,0.000,0.040,3041,968,2231,0,0,0,0,0,0
$GC,4548,0.86,214.6,232.0,13.4,543,4565,0.12,1.73,5.55,0.541,6,0.186,0.033,3009,2162,2215,0,0,0,0,0,0
$GC,4909,0.92,260.2,192.6,9.8,605,4958,0.00,1.85,40.67,0.677,4,0.000,0.041,3018,965,2028,0,0,0,0,0,0
$GC,5136,0.95,273.4,164.4,12.7,643,5153,0.00,1.75,11.65,0.598,6,0.000,0.034,3017,2154,1976,0,0,0,0,0,0
$GC,5509,1.01,314.1,121.7,10.2,705,5551,0.10,1.83,35.00,0.616,4,0.100,0.038,3080,959,1808,0,0,0,0,0,0
$GC,5815,1.03,323.6,82.5,13.0,755,5832,0.00,1.77,8.40,0.504,6,0.000,0.033,3080,2153,1770,0,0,0,0,0,0
$GC,6183,1.03,326.4,31.0,13.6,817,6192,0.00,1.80,0.00,0.000,4,0.000,0.038,3089,957,1766,0,0,0,0,0,0
$GC,6340,1.04,329.2,8.9,13.6,843,6351,0.00,1.77,5.85,0.412,6,0.000,0.032,3089,2160,1747,0,0,0,0,0,0
$STATE,6380,end climb,SURFACE_DEPTH_REACHED
$STATE,6380,begin surface coast
$FINISH,0.5,1.000239
$STATE,6405,end surface coast,CONTROL_FINISHED_OK
$STATE,6405,begin surface
$SM_CCo,6422,193.35,0.054,0,0,481,640.23
$SM_GC,1.32,0.00,0.00,193.35,0.000,0.000,0.054,152,1978,481,-8.06,-1.33,640.23
$IRIDIUM_FIX,2115.63,12605.90,121110,161640
$TT8_MAMPS,0.026964
$HUMID,45.82
$INTERNAL_PRESSURE,9.26173
$TCM_TEMP,25.30
$XPDR_PINGS,1
$24V_AH,24.0,76.089
$10V_AH,10.0,61.178
$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,19.825,46.850,443.725,193.350,0.000,23.180,21.174,168.529,0.250,0.000,15.190,2005.783,1459.292,664.298,2611.354,215.887,0.000,1465.566,0.000,2420.652,0.000,0.545,0.000
$DEVICE_MAMPS,234.855,106.335,871.335,54.315,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,571.011,0.000,1750.598,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,50285,853
$CAP_FILE_SIZE,87557,0
$CFSIZE,260165632,225341440
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176,100.7,1
$GPS,121110,201708,2122.018,12601.648,9,1.8,9,-2.9