version: 66.08
glider: 169
mission: 4
dive: 3
start: 6 29 111 18 52 19
data:
$ID,169
$MISSION,4
$DIVE,3
$N_DIVES,495
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,50
$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,67
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51710
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8275.0859
$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,2035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,28
$C_ROLL_DIVE,2800
$C_ROLL_CLIMB,2800
$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,3022
$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,-76.214661
$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,90
$ALTIM_PING_DELTA,5
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043354053
$SEABIRD_T_H,0.0006253231
$SEABIRD_T_I,2.3840643e-05
$SEABIRD_T_J,2.5685486e-06
$SEABIRD_C_G,-9.9554796
$SEABIRD_C_H,1.1274287
$SEABIRD_C_I,-0.0019472764
$SEABIRD_C_J,0.00023438112
$GPS1,290611,184714,4743.752,-12224.286,8,2.0,8,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-74.7
$GPS2,290611,185120,4743.769,-12224.260,13,1.7,13,18.2
$SPEED_LIMITS,0.129,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.248,0.051
$KALMAN_X,256.8,290.6,265.9,-954.2,443.7
$KALMAN_Y,10.5,1.5,8.2,78.4,-6.5
$MHEAD_RNG_PITCHd_Wd,296.6,715,-11.6,-7.463
$D_GRID,173
$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,16,-0.50,-175.2,0.0,0.0,0,97,0.00,0.00,-78.35,0.000,2,0.000,0.000,141,2847,3467,0,0,0,0,0,0
$GC,100,-0.50,-175.2,4.3,-5.1,10,118,7.00,1.65,-4.80,0.000,4,0.253,0.067,1874,1773,3738,0,0,0,0,0,0
$GC,344,-0.49,-175.2,51.1,-12.5,49,351,0.00,1.62,0.00,0.000,6,0.000,0.061,1867,2806,3739,0,0,0,0,0,0
$GC,530,-0.47,-175.2,77.7,-13.6,80,540,0.00,1.58,0.00,0.000,4,0.000,0.063,1859,3806,3738,0,0,0,0,0,0
$GC,622,-0.45,-175.2,92.3,-15.2,94,631,0.00,1.58,0.00,0.000,6,0.000,0.041,1859,2758,3738,0,0,0,0,0,0
$GC,812,-0.43,-175.2,119.0,-13.5,125,819,0.12,0.00,0.00,0.000,6,0.171,0.000,1893,2758,3739,0,0,0,0,0,0
$GC,997,-0.43,-175.2,139.9,-10.8,156,1006,0.00,1.67,0.00,0.000,4,0.000,0.066,1886,3808,3739,0,0,0,0,0,0
$STATE,1093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1093,begin apogee
$GC,1100,-0.20,0.0,150.5,10.0,172,1244,0.25,0.08,135.70,1.248,6,0.129,0.080,1972,2815,3021,0,0,0,0,0,0
$STATE,1245,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1248,0.50,175.2,157.7,0.0,192,1405,0.68,1.67,149.85,1.216,4,0.119,0.040,2195,1778,2306,0,0,0,0,0,0
$GC,1449,0.49,175.2,143.3,12.3,221,1456,0.00,1.65,0.00,0.000,6,0.000,0.060,2195,2812,2303,0,0,0,0,0,0
$GC,1633,0.48,175.2,119.0,12.8,252,1643,0.00,1.60,0.00,0.000,4,0.000,0.064,2195,3805,2301,0,0,0,0,0,0
$GC,1708,0.45,175.2,106.5,17.0,264,1717,0.00,1.60,0.00,0.000,6,0.000,0.041,2202,2766,2299,0,0,0,0,0,0
$GC,1896,0.44,175.2,83.3,11.4,295,1902,0.00,1.62,0.00,0.000,4,0.000,0.064,2202,3803,2298,0,0,0,0,0,0
$GC,1936,0.41,175.2,77.9,13.4,301,1943,0.10,1.60,0.00,0.000,6,0.168,0.041,2170,2757,2298,0,0,0,0,0,0
$GC,2120,0.40,175.2,58.4,9.1,332,2130,0.00,1.67,0.00,0.000,4,0.000,0.063,2170,3802,2297,0,0,0,0,0,0
$GC,2182,0.39,175.2,52.9,9.7,341,2188,0.00,1.58,0.00,0.000,6,0.000,0.041,2178,2766,2297,0,0,0,0,0,0
$GC,2369,0.38,175.2,35.7,9.2,372,2379,0.00,1.67,0.00,0.000,4,0.000,0.067,2178,3806,2297,0,0,0,0,0,0
$GC,2424,0.37,175.2,29.9,11.0,380,2435,0.08,1.58,0.00,0.000,6,0.155,0.041,2160,2770,2296,0,0,0,0,0,0
$GC,2486,0.37,175.2,24.4,8.4,389,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2161,2770,2296,0,0,0,0,0,0
$GC,2545,0.40,194.9,20.1,6.9,398,2554,0.00,0.00,7.43,0.190,6,0.000,0.000,2160,2770,2225,0,0,0,0,0,0
$GC,2605,0.46,247.9,16.3,5.9,407,2631,0.00,1.50,20.75,0.171,4,0.000,0.041,2168,1769,2006,0,0,0,0,0,0
$GC,2647,0.55,320.6,14.2,5.4,412,2682,0.10,1.62,27.60,0.161,6,0.047,0.057,2234,2810,1709,0,0,0,0,0,0
$GC,2734,0.60,361.7,7.5,6.3,424,2754,0.00,1.60,14.85,0.157,4,0.000,0.062,2234,3803,1542,0,0,0,0,0,0
$GC,2769,0.71,444.6,5.8,5.1,428,2804,0.00,1.58,30.77,0.145,6,0.000,0.041,2237,2770,1205,0,0,0,0,0,0
$STATE,2817,end climb,SURFACE_DEPTH_REACHED
$STATE,2817,begin surface coast
$FINISH,-0.2,1.009846
$STATE,2887,end surface coast,CONTROL_FINISHED_OK
$STATE,2887,begin surface
$SM_CCo,2961,0.00,0.000,0,0,1198,447.43
$SM_GC,0.62,5.35,0.00,0.00,0.035,0.000,0.000,128,2818,1198,-5.87,0.51,447.43
$IRIDIUM_FIX,4726.11,-12225.08,290611,181841
$TT8_MAMPS,0.026964
$HUMID,46.22
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,14.20
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,90.6,9.2
$24V_AH,23.9,0.513
$10V_AH,10.4,0.549
$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,13.675,32.400,386.950,0.000,0.000,0.000,0.000,0.000,1.250,0.000,14.040,1019.686,317.238,381.488,1202.885,104.700,31.403,886.696,0.000,1215.625,0.000,5.457,0.000
$DEVICE_MAMPS,253.215,130.050,1247.715,0.000,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,298.705,969.650,899.870,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322936
$DATA_FILE_SIZE,30365,445
$CAP_FILE_SIZE,68577,0
$CFSIZE,260165632,223264768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,190.0,1
$GPS,290611,194219,4743.797,-12224.693,9,1.6,14,18.2