version: 66.08
glider: 169
mission: 2
dive: 476
start: 11 12 110 22 35 17
data:
$ID,169
$MISSION,2
$DIVE,476
$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,-7350.6812
$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
$GPS1,121110,222400,2121.801,12601.500,44,1.4,44,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-71.6
$GPS2,121110,223449,2121.710,12601.718,14,1.4,14,-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,276.6,916,-19.5,-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,15,-0.69,-204.4,0.0,0.0,0,114,0.00,0.00,-96.35,0.000,2,0.000,0.000,136,1999,3047,0,0,0,0,0,0
$GC,117,-0.69,-204.4,3.4,-4.6,12,151,9.93,1.73,-16.77,0.000,4,0.236,0.062,2500,866,3926,0,0,0,0,0,0
$GC,277,-0.68,-204.4,45.9,-21.6,37,287,0.00,1.83,0.00,0.000,6,0.000,0.050,2500,2034,3927,0,0,0,0,0,0
$GC,645,-0.67,-204.4,136.3,-21.1,98,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2034,3927,0,0,0,0,0,0
$GC,994,-0.67,-204.4,199.6,-16.5,159,1001,0.00,1.73,0.00,0.000,4,0.000,0.055,2500,3168,3928,0,0,0,0,0,0
$GC,1077,-0.67,-204.4,212.5,-14.7,173,1084,0.00,1.77,0.00,0.000,6,0.000,0.041,2500,2002,3928,0,0,0,0,0,0
$GC,1422,-0.67,-204.4,266.2,-16.0,234,1431,0.00,1.85,0.00,0.000,4,0.000,0.055,2500,3165,3928,0,0,0,0,0,0
$GC,1501,-0.68,-204.4,276.4,-12.4,247,1508,0.00,1.75,0.00,0.000,6,0.000,0.041,2500,2001,3928,0,0,0,0,0,0
$GC,1843,-0.68,-204.4,324.9,-14.0,293,1846,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3175,3928,0,0,0,0,0,0
$GC,1902,-0.70,-204.4,332.3,-11.7,298,1906,0.00,1.80,0.00,0.000,6,0.000,0.042,2500,1997,3927,0,0,0,0,0,0
$GC,2235,-0.70,-204.4,373.6,-11.7,329,2239,0.00,1.88,0.00,0.000,4,0.000,0.055,2500,3168,3925,0,0,0,0,0,0
$GC,2270,-0.71,-204.4,377.5,-10.6,332,2274,0.00,1.77,0.00,0.000,6,0.000,0.039,2500,1999,3925,0,0,0,0,0,0
$GC,2603,-0.72,-204.4,415.0,-11.1,363,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1998,3924,0,0,0,0,0,0
$GC,2932,-0.73,-204.4,452.0,-11.0,394,2935,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3171,3922,0,0,0,0,0,0
$GC,2979,-0.74,-204.4,457.2,-10.2,398,2982,0.00,1.75,0.00,0.000,6,0.000,0.040,2500,2002,3922,0,0,0,0,0,0
$GC,3312,-0.75,-204.4,493.0,-10.2,429,3316,0.00,1.85,0.00,0.000,4,0.000,0.054,2500,3163,3919,0,0,0,0,0,0
$GC,3370,-0.77,-204.4,498.5,-8.8,434,3373,0.00,1.75,0.00,0.000,6,0.000,0.039,2500,2000,3919,0,0,0,0,0,0
$STATE,3390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3390,begin apogee
$GC,3396,-0.18,0.0,500.7,8.9,436,3566,0.50,0.10,163.77,0.884,6,0.135,0.091,2664,2074,3091,0,0,0,0,0,0
$STATE,3566,end apogee,CONTROL_FINISHED_OK
$STATE,3566,begin climb
$GC,3569,0.69,204.4,509.4,0.0,451,3749,0.77,1.70,172.82,0.873,4,0.070,0.037,2957,961,2255,0,0,0,0,0,0
$GC,3773,0.70,222.3,502.4,13.1,469,3797,0.00,1.80,16.10,0.791,6,0.000,0.034,2957,2162,2183,0,0,0,0,0,0
$GC,4116,0.71,235.5,455.0,13.3,501,4136,0.00,0.00,11.20,0.746,6,0.000,0.000,2957,2162,2128,0,0,0,0,0,0
$GC,4454,0.73,261.2,410.8,12.7,533,4483,0.00,1.88,22.55,0.796,4,0.000,0.042,2966,965,2026,0,0,0,0,0,0
$GC,4586,0.76,281.0,393.7,13.0,544,4609,0.00,1.77,18.17,0.774,6,0.000,0.034,2964,2149,1944,0,0,0,0,0,0
$GC,4937,0.76,281.0,344.2,14.0,577,4941,0.00,1.77,0.00,0.000,4,0.000,0.042,2972,957,1934,0,0,0,0,0,0
$GC,4987,0.76,287.5,336.8,13.6,581,4998,0.00,1.77,5.57,0.591,6,0.000,0.034,2972,2150,1917,0,0,0,0,0,0
$GC,5325,0.79,311.2,290.1,12.8,618,5354,0.00,1.85,21.45,0.734,4,0.000,0.044,2981,965,1821,0,0,0,0,0,0
$GC,5425,0.79,316.3,276.6,13.7,634,5436,0.00,1.80,5.38,0.551,6,0.000,0.035,2981,2158,1801,0,0,0,0,0,0
$GC,5789,0.79,316.3,223.5,14.6,695,5796,0.00,1.67,0.00,0.000,4,0.000,0.041,2981,3274,1796,0,0,0,0,0,0
$GC,5832,0.79,316.3,216.9,14.0,702,5841,0.00,1.80,0.00,0.000,6,0.000,0.033,2990,2085,1796,0,0,0,0,0,0
$GC,6194,0.80,327.1,168.1,13.4,763,6209,0.00,1.75,10.10,0.597,4,0.000,0.041,2998,958,1756,0,0,0,0,0,0
$GC,6229,0.80,329.1,163.0,13.8,768,6237,0.00,1.80,0.00,0.000,6,0.000,0.034,2999,2162,1755,0,0,0,0,0,0
$GC,6592,0.90,410.8,117.8,10.2,829,6674,0.00,1.77,69.72,0.627,4,0.000,0.039,2999,3284,1414,0,0,0,0,0,0
$GC,6760,1.00,484.4,100.4,10.5,853,6827,0.08,1.83,59.78,0.605,6,0.048,0.031,3072,2083,1115,0,0,0,0,0,0
$GC,7179,0.99,484.4,26.5,18.8,921,7187,0.00,1.67,0.00,0.000,4,0.000,0.041,3082,968,1111,0,0,0,0,0,0
$GC,7245,0.99,484.4,14.4,17.4,931,7254,0.08,1.75,0.00,0.000,6,0.148,0.032,3056,2155,1110,0,0,0,0,0,0
$STATE,7318,end climb,SURFACE_DEPTH_REACHED
$STATE,7318,begin surface coast
$FINISH,0.4,1.022577
$STATE,7338,end surface coast,CONTROL_FINISHED_OK
$STATE,7339,begin surface
$SM_CCo,7356,106.50,0.056,0,0,481,640.23
$SM_GC,1.23,0.00,0.00,106.50,0.000,0.000,0.056,147,1995,481,-8.06,-0.85,640.23
$IRIDIUM_FIX,2113.32,12604.53,121110,222244
$TT8_MAMPS,0.026215
$HUMID,48.07
$INTERNAL_PRESSURE,9.25196
$TCM_TEMP,24.40
$XPDR_PINGS,0
$24V_AH,24.0,76.374
$10V_AH,10.0,61.432
$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,19.475,54.125,576.625,106.500,0.000,81.177,40.637,240.752,0.000,0.000,15.018,2214.879,1980.078,670.457,3005.453,241.757,0.000,1582.912,0.000,2637.499,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,91.035,883.575,55.845,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.136,0.000,1888.225,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333996
$DATA_FILE_SIZE,56955,946
$CAP_FILE_SIZE,102432,0
$CFSIZE,260165632,225214464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.238,120.9,1
$GPS,131110,004036,2121.518,12601.364,11,1.1,27,-2.9