version: 66.08
glider: 169
mission: 2
dive: 457
start: 11 10 110 12 50 25
data:
$ID,169
$MISSION,2
$DIVE,457
$N_DIVES,457
$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,-7326.6953
$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
$GPS1,101110,124231,2120.677,12601.872,37,1.3,37,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.3
$GPS2,101110,124956,2120.610,12601.777,15,1.1,15,-2.9
$SPEED_LIMITS,0.241,0.337
$TGT_NAME,PICKUP_SOUTH
$TGT_LATLONG,2118.900,12601.200
$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,191.0,3320,-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,17,-0.74,-102.8,0.0,0.0,0,117,0.00,0.00,-98.30,0.000,2,0.000,0.000,152,1980,3123,0,0,0,0,0,0
$GC,120,-0.85,-189.1,3.7,-6.1,12,155,9.88,1.77,-13.50,0.000,4,0.242,0.073,2444,882,3865,0,0,0,0,0,0
$GC,303,-0.85,-189.1,70.5,-31.1,41,312,0.00,1.83,0.00,0.000,6,0.000,0.054,2444,2036,3866,0,0,0,0,0,0
$GC,666,-0.84,-189.1,184.4,-28.4,102,675,0.00,1.80,0.00,0.000,4,0.000,0.047,2444,869,3866,0,0,0,0,0,0
$GC,869,-0.85,-189.1,227.4,-23.5,136,877,0.00,1.83,0.00,0.000,6,0.000,0.051,2444,2034,3867,0,0,0,0,0,0
$GC,1233,-0.85,-189.1,307.2,-20.9,195,1237,0.00,1.75,0.00,0.000,4,0.000,0.056,2444,3168,3867,0,0,0,0,0,0
$GC,1284,-0.87,-189.1,318.4,-18.7,199,1291,0.00,1.80,0.00,0.000,6,0.000,0.043,2444,2003,3867,0,0,0,0,0,0
$GC,1609,-0.87,-189.1,381.1,-18.3,230,1613,0.00,1.85,0.00,0.000,4,0.000,0.057,2444,3168,3867,0,0,0,0,0,0
$GC,1647,-0.88,-189.1,387.5,-17.8,233,1650,0.00,1.75,0.00,0.000,6,0.000,0.041,2444,2003,3867,0,0,0,0,0,0
$GC,1978,-0.90,-189.1,446.4,-17.4,264,1981,0.00,1.85,0.00,0.000,4,0.000,0.056,2443,3168,3866,0,0,0,0,0,0
$GC,2025,-0.91,-189.1,454.2,-16.1,268,2028,0.00,1.77,0.00,0.000,6,0.000,0.041,2444,2003,3866,0,0,0,0,0,0
$GC,2356,-0.92,-189.1,510.3,-16.3,299,2360,0.00,1.67,0.00,0.000,4,0.000,0.048,2444,872,3865,0,0,0,0,0,0
$GC,2394,-0.94,-189.1,516.7,-15.0,302,2402,0.00,1.80,0.00,0.000,6,0.000,0.048,2444,2034,3865,0,0,0,0,0,0
$GC,2721,-0.95,-189.1,567.1,-15.2,333,2724,0.00,1.75,0.00,0.000,4,0.000,0.057,2444,3168,3862,0,0,0,0,0,0
$GC,2782,-0.98,-195.1,576.2,-13.3,338,2789,0.00,1.77,0.00,0.000,6,0.000,0.042,2444,1996,3862,0,0,0,0,0,0
$GC,3115,-0.99,-195.1,624.5,-14.8,362,3119,0.10,1.90,0.00,0.000,4,0.138,0.059,2410,3175,3859,0,0,0,0,0,0
$GC,3146,-1.01,-195.1,630.3,-17.0,363,3150,0.00,1.83,0.00,0.000,6,0.000,0.044,2409,2004,3858,0,0,0,0,0,0
$GC,3469,-1.02,-195.1,689.2,-18.8,379,3472,0.00,1.85,0.00,0.000,4,0.000,0.058,2409,3174,3856,0,0,0,0,0,0
$GC,3519,-1.03,-195.1,698.6,-16.7,381,3522,0.00,1.77,0.00,0.000,6,0.000,0.044,2409,2005,3855,0,0,0,0,0,0
$GC,3846,-1.04,-195.1,755.6,-17.1,397,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2003,3852,0,0,0,0,0,0
$GC,4155,-1.05,-195.1,806.7,-16.1,412,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2003,3849,0,0,0,0,0,0
$GC,4466,-1.07,-195.1,856.4,-16.2,427,4470,0.00,1.90,0.00,0.000,4,0.000,0.060,2410,3168,3845,0,0,0,0,0,0
$GC,4493,-1.08,-195.1,861.3,-16.3,428,4497,0.00,1.80,0.00,0.000,6,0.000,0.044,2409,2006,3845,0,0,0,0,0,0
$GC,4821,-1.09,-195.1,913.8,-16.2,444,4822,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2005,3841,0,0,0,0,0,0
$GC,5130,-1.11,-195.1,964.6,-16.5,459,5132,0.10,0.00,0.00,0.000,6,0.129,0.000,2374,2005,3839,0,0,0,0,0,0
$STATE,5333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5333,begin apogee
$GC,5339,-0.18,0.0,1003.1,18.7,469,5508,0.98,0.08,161.88,1.279,6,0.158,0.106,2666,2092,3090,0,0,0,0,0,0
$STATE,5509,end apogee,CONTROL_FINISHED_OK
$STATE,5509,begin climb
$GC,5511,0.85,195.1,1012.3,0.0,477,5705,0.93,1.90,185.45,1.255,4,0.054,0.044,3021,971,2294,0,0,0,0,0,0
$GC,5886,0.85,195.1,963.2,21.4,494,5889,0.00,1.77,0.00,0.000,6,0.000,0.037,3018,2158,2283,0,0,0,0,0,0
$GC,6219,0.84,195.1,890.6,22.1,510,6220,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2159,2277,0,0,0,0,0,0
$GC,6528,0.83,195.1,827.9,19.1,525,6532,0.00,1.67,0.00,0.000,4,0.000,0.045,3018,3280,2275,0,0,0,0,0,0
$GC,6552,0.82,195.1,823.2,19.6,526,6556,0.12,1.80,0.00,0.000,6,0.223,0.035,2998,2076,2274,0,0,0,0,0,0
$GC,6884,0.82,195.1,765.8,17.2,542,6888,0.00,1.85,0.00,0.000,4,0.000,0.046,2989,3278,2273,0,0,0,0,0,0
$GC,6930,0.82,195.1,757.7,17.7,544,6934,0.00,1.77,0.00,0.000,6,0.000,0.036,2997,2079,2272,0,0,0,0,0,0
$GC,7263,0.81,195.1,699.8,17.2,560,7267,0.00,1.85,0.00,0.000,4,0.000,0.046,2989,3268,2271,0,0,0,0,0,0
$GC,7286,0.81,195.1,695.7,17.5,561,7290,0.00,1.77,0.00,0.000,6,0.000,0.036,2998,2089,2270,0,0,0,0,0,0
$GC,7619,0.81,195.1,640.3,16.6,577,7623,0.00,1.80,0.00,0.000,4,0.000,0.045,2990,3270,2269,0,0,0,0,0,0
$GC,7682,0.80,195.1,629.3,17.7,579,7688,0.00,1.77,0.00,0.000,6,0.000,0.035,2998,2075,2268,0,0,0,0,0,0
$GC,8002,0.80,195.1,577.5,16.2,601,8005,0.00,1.83,0.00,0.000,4,0.000,0.045,2990,3275,2268,0,0,0,0,0,0
$GC,8074,0.80,195.1,566.0,14.8,607,8081,0.00,1.80,0.00,0.000,6,0.000,0.034,2998,2091,2267,0,0,0,0,0,0
$GC,8399,0.80,195.1,519.9,14.5,638,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2090,2267,0,0,0,0,0,0
$GC,8719,0.80,195.1,472.3,14.6,668,8723,0.00,1.70,0.00,0.000,4,0.000,0.044,3007,959,2266,0,0,0,0,0,0
$GC,8756,0.80,195.1,467.1,14.8,671,8760,0.00,1.77,0.00,0.000,6,0.000,0.037,3003,2161,2266,0,0,0,0,0,0
$GC,9086,0.80,195.1,416.1,14.6,702,9089,0.00,1.65,0.00,0.000,4,0.000,0.044,3003,3272,2266,0,0,0,0,0,0
$GC,9201,0.80,195.1,398.6,15.0,712,9205,0.00,1.80,0.00,0.000,6,0.000,0.034,3011,2091,2265,0,0,0,0,0,0
$GC,9534,0.82,213.2,356.9,12.3,743,9551,0.00,1.90,12.55,0.783,4,0.000,0.043,3003,3272,2221,0,0,0,0,0,0
$GC,9598,0.83,223.3,348.5,13.0,748,9615,0.00,1.80,11.07,0.754,6,0.000,0.033,3012,2077,2180,0,0,0,0,0,0
$GC,9941,0.84,227.1,302.3,13.6,780,9955,0.00,1.70,4.10,0.516,4,0.000,0.043,3020,970,2165,0,0,0,0,0,0
$GC,10127,0.85,232.9,278.2,13.4,809,10142,0.00,1.75,7.40,0.652,6,0.000,0.036,3017,2160,2140,0,0,0,0,0,0
$GC,10496,0.85,232.9,229.1,14.5,871,10503,0.00,1.67,0.00,0.000,4,0.000,0.041,3016,3275,2136,0,0,0,0,0,0
$GC,10536,0.85,232.9,223.0,14.8,877,10542,0.00,1.77,0.00,0.000,6,0.000,0.031,3026,2080,2135,0,0,0,0,0,0
$GC,10895,0.87,248.1,175.7,12.5,938,10918,0.00,1.70,14.50,0.649,4,0.000,0.040,3034,965,2079,0,0,0,0,0,0
$GC,10938,0.89,262.5,170.1,12.6,944,10962,0.00,1.77,14.27,0.636,6,0.000,0.034,3030,2147,2018,0,0,0,0,0,0
$GC,11320,0.95,305.7,126.9,10.0,1007,11361,0.00,0.00,36.97,0.640,6,0.000,0.000,3030,2147,1843,0,0,0,0,0,0
$GC,11714,1.03,361.3,87.6,8.9,1072,11772,0.00,1.85,45.78,0.605,4,0.000,0.039,3039,967,1616,0,0,0,0,0,0
$GC,11946,1.05,364.1,61.1,13.6,1108,11955,0.00,1.77,0.00,0.000,6,0.000,0.031,3039,2159,1611,0,0,0,0,0,0
$GC,12315,1.15,428.6,13.9,8.1,1169,12381,0.15,1.85,54.78,0.545,4,0.078,0.037,3125,966,1342,0,0,0,0,0,0
$STATE,12388,end climb,SURFACE_DEPTH_REACHED
$STATE,12388,begin surface coast
$FINISH,0.3,1.022459
$STATE,12410,end surface coast,CONTROL_FINISHED_OK
$STATE,12410,begin surface
$SM_CCo,12428,146.50,0.508,1,0,481,640.23
$SM_GC,1.24,0.00,0.00,146.50,0.000,0.000,0.508,149,2053,481,-8.06,0.79,640.23
$IRIDIUM_FIX,2111.01,12601.30,101110,080821
$TT8_MAMPS,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,25.80
$XPDR_PINGS,0
$24V_AH,22.6,73.372
$10V_AH,9.9,58.931
$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,20.675,86.100,548.750,146.500,0.000,28.312,39.017,234.189,0.000,0.000,16.180,2897.143,5771.024,707.167,3336.247,303.649,0.000,1867.829,0.000,3066.053,0.000,0.544,0.000
$DEVICE_MAMPS,241.740,106.335,1279.080,507.960,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.675,0.000,1782.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333944
$DATA_FILE_SIZE,70335,1181
$CAP_FILE_SIZE,136654,0
$CFSIZE,260165632,226410496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,147.2,1
$GPS,101110,162107,2118.735,12601.644,32,1.0,32,-2.9