version: 66.08
glider: 169
mission: 2
dive: 468
start: 11 12 110 6 38 56
data:
$ID,169
$MISSION,2
$DIVE,468
$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,-7340.6279
$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
$GPS1,121110,063206,2122.116,12600.782,41,1.1,41,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-71.4
$GPS2,121110,063826,2122.087,12600.760,13,1.3,13,-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,113.6,1178,-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,15,-0.74,-102.8,0.0,0.0,0,121,0.00,0.00,-103.30,0.000,2,0.000,0.000,152,2059,3284,0,0,0,0,0,0
$GC,124,-0.83,-171.2,4.5,-7.7,13,150,10.30,0.00,-8.73,0.000,6,0.250,0.000,2453,2059,3790,0,0,0,0,0,0
$GC,500,-0.82,-171.2,140.6,-25.8,76,508,0.00,1.85,0.00,0.000,4,0.000,0.050,2453,878,3792,0,0,0,0,0,0
$GC,671,-0.83,-171.2,179.6,-19.8,105,678,0.00,1.80,0.00,0.000,6,0.000,0.050,2453,2048,3793,0,0,0,0,0,0
$GC,1017,-0.83,-171.2,252.1,-19.7,166,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2048,3794,0,0,0,0,0,0
$GC,1365,-0.84,-171.2,316.9,-18.7,219,1369,0.00,1.83,0.00,0.000,4,0.000,0.050,2453,866,3794,0,0,0,0,0,0
$GC,1414,-0.85,-171.2,326.6,-16.0,223,1422,0.00,1.83,0.00,0.000,6,0.000,0.048,2453,2038,3794,0,0,0,0,0,0
$GC,1740,-0.86,-171.2,384.0,-17.7,254,1744,0.00,1.75,0.00,0.000,4,0.000,0.055,2453,3177,3794,0,0,0,0,0,0
$GC,1767,-0.88,-171.2,389.3,-17.9,256,1776,0.00,1.83,0.00,0.000,6,0.000,0.043,2454,2003,3793,0,0,0,0,0,0
$GC,2095,-0.89,-171.2,443.8,-16.7,287,2098,0.00,1.75,0.00,0.000,4,0.000,0.049,2453,868,3793,0,0,0,0,0,0
$GC,2142,-0.90,-171.2,451.5,-15.5,291,2146,0.00,1.80,0.00,0.000,6,0.000,0.048,2453,2040,3793,0,0,0,0,0,0
$STATE,2471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2472,begin apogee
$GC,2477,-0.18,0.0,501.2,14.7,322,2622,0.73,0.10,139.50,0.881,6,0.166,0.091,2664,2074,3091,0,0,0,0,0,0
$STATE,2623,end apogee,CONTROL_FINISHED_OK
$STATE,2623,begin climb
$GC,2626,0.83,171.2,508.7,0.0,335,2780,0.93,1.77,147.55,0.877,4,0.079,0.040,2999,960,2391,0,0,0,0,0,0
$GC,2965,0.83,176.8,481.7,13.4,364,2975,0.00,1.77,4.68,0.565,6,0.000,0.033,2991,2149,2369,0,0,0,0,0,0
$GC,3292,0.85,190.4,438.9,12.7,395,3310,0.00,1.77,13.40,0.768,4,0.000,0.040,2990,3284,2314,0,0,0,0,0,0
$GC,3371,0.85,190.4,428.3,14.4,401,3375,0.00,1.80,0.00,0.000,6,0.000,0.032,2999,2078,2310,0,0,0,0,0,0
$GC,3703,0.85,190.4,382.6,14.2,432,3706,0.00,1.62,0.00,0.000,4,0.000,0.041,3007,963,2306,0,0,0,0,0,0
$GC,3785,0.86,197.8,372.0,13.2,439,3798,0.00,1.77,6.50,0.650,6,0.000,0.034,3003,2166,2284,0,0,0,0,0,0
$GC,4115,0.86,197.8,326.1,14.8,470,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2166,2280,0,0,0,0,0,0
$GC,4443,0.87,208.2,283.2,13.0,511,4458,0.00,0.00,10.15,0.687,6,0.000,0.000,3003,2166,2242,0,0,0,0,0,0
$GC,4801,0.88,213.0,238.8,13.5,573,4816,0.00,1.88,5.07,0.534,4,0.000,0.041,3012,958,2222,0,0,0,0,0,0
$GC,4927,0.91,231.8,223.6,12.2,594,4951,0.00,1.80,18.40,0.689,6,0.000,0.034,3006,2149,2145,0,0,0,0,0,0
$GC,5293,0.95,263.4,177.1,11.0,657,5327,0.00,1.85,27.05,0.668,4,0.000,0.041,3015,964,2016,0,0,0,0,0,0
$GC,5394,0.99,286.2,165.8,11.8,673,5424,0.10,1.77,20.42,0.641,6,0.102,0.034,3064,2157,1922,0,0,0,0,0,0
$GC,5779,1.00,291.0,111.0,13.5,737,5789,0.00,1.88,3.97,0.400,4,0.000,0.040,3073,953,1904,0,0,0,0,0,0
$GC,5938,1.05,323.3,89.7,11.0,763,5972,0.00,1.77,28.67,0.598,6,0.000,0.033,3070,2150,1772,0,0,0,0,0,0
$GC,6323,1.05,323.3,40.1,14.4,827,6333,0.00,1.80,0.00,0.000,4,0.000,0.038,3079,961,1765,0,0,0,0,0,0
$GC,6377,1.06,323.3,32.2,14.3,835,6387,0.00,1.77,0.00,0.000,6,0.000,0.032,3076,2156,1765,0,0,0,0,0,0
$STATE,6578,end climb,SURFACE_DEPTH_REACHED
$STATE,6578,begin surface coast
$FINISH,0.5,1.022468
$STATE,6604,end surface coast,CONTROL_FINISHED_OK
$STATE,6604,begin surface
$SM_CCo,6621,196.82,0.055,0,0,481,640.23
$SM_GC,1.28,0.00,0.00,196.82,0.000,0.000,0.055,152,1976,481,-8.06,-1.39,640.23
$IRIDIUM_FIX,2115.63,12559.43,121110,020206
$TT8_MAMPS,0.026215
$HUMID,43.66
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,25.00
$XPDR_PINGS,0
$24V_AH,23.7,75.350
$10V_AH,9.9,60.474
$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,20.425,39.975,425.375,196.825,0.000,27.328,18.488,195.833,0.000,0.000,14.166,2058.783,1605.110,641.206,2660.765,227.721,0.000,1442.931,0.000,2447.809,0.000,0.544,0.000
$DEVICE_MAMPS,250.155,91.035,880.515,55.080,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.695,0.000,1769.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333968
$DATA_FILE_SIZE,53619,873
$CAP_FILE_SIZE,87747,0
$CFSIZE,260165632,225656832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,290.0,1
$GPS,121110,083333,2121.921,12601.110,9,2.6,28,-2.9