version: 66.08
glider: 169
mission: 4
dive: 4
start: 6 29 111 19 50 29
data:
$ID,169
$MISSION,4
$DIVE,4
$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,-8276.3428
$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
$GPS1,290611,194219,4743.797,-12224.693,9,1.6,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-74.0
$GPS2,290611,194926,4743.830,-12224.669,15,2.0,15,18.2
$SPEED_LIMITS,0.129,0.253
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.047
$KALMAN_X,464.6,478.5,358.7,-1948.7,359.7
$KALMAN_Y,-57.6,-26.4,11.9,281.4,-61.4
$MHEAD_RNG_PITCHd_Wd,335.5,209,-26.8,-7.463
$D_GRID,175
$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,-0.72,-40.7,0.0,0.0,0,107,0.00,0.05,-86.95,0.000,6,0.000,0.825,125,2769,3187,0,0,0,0,0,0
$GC,110,-0.76,-76.6,2.7,-3.0,11,128,6.55,1.65,-3.12,0.000,4,0.243,0.071,1774,3809,3335,0,0,0,0,0,0
$GC,389,-0.73,-76.6,81.7,-23.6,58,398,0.00,1.58,0.00,0.000,6,0.000,0.038,1778,2763,3336,0,0,0,0,0,0
$GC,586,-0.71,-76.6,127.0,-22.4,89,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,2763,3336,0,0,0,0,0,0
$STATE,692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,693,begin apogee
$GC,698,-0.20,0.0,150.3,22.9,107,761,0.62,0.08,59.40,1.239,6,0.185,0.115,1961,2766,3022,0,0,0,0,0,0
$STATE,762,end apogee,CONTROL_FINISHED_OK
$STATE,762,begin climb
$GC,765,0.76,76.6,159.0,0.0,116,844,0.98,1.58,66.50,1.214,4,0.116,0.041,2284,1781,2708,0,0,0,0,0,0
$GC,864,0.74,76.6,152.4,9.5,130,873,0.00,1.70,0.00,0.000,6,0.000,0.056,2283,2815,2705,0,0,0,0,0,0
$GC,1050,0.72,76.6,126.1,15.0,161,1057,0.00,1.58,0.00,0.000,4,0.000,0.060,2284,3801,2701,0,0,0,0,0,0
$GC,1204,0.69,76.6,99.8,16.7,187,1211,0.10,1.60,0.00,0.000,6,0.230,0.042,2258,2763,2699,0,0,0,0,0,0
$GC,1384,0.67,76.6,78.6,10.9,218,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2763,2697,0,0,0,0,0,0
$GC,1569,0.65,76.6,55.5,13.3,249,1576,0.00,1.45,0.00,0.000,4,0.000,0.044,2265,1778,2697,0,0,0,0,0,0
$GC,1715,0.64,76.6,39.7,8.7,274,1724,0.00,1.62,0.00,0.000,6,0.000,0.057,2265,2819,2696,0,0,0,0,0,0
$GC,1776,0.63,77.7,35.0,7.3,283,1785,0.00,1.55,0.00,0.000,4,0.000,0.063,2263,3802,2696,0,0,0,0,0,0
$GC,1812,0.62,86.0,32.6,6.4,288,1822,0.10,1.58,2.75,0.221,6,0.226,0.042,2244,2773,2668,0,0,0,0,0,0
$GC,1873,0.62,94.9,28.7,6.4,297,1884,0.00,1.60,3.53,0.231,4,0.000,0.058,2243,3805,2633,0,0,0,0,0,0
$GC,1965,0.60,94.9,20.5,9.1,311,1974,0.00,1.58,0.00,0.000,6,0.000,0.043,2252,2776,2631,0,0,0,0,0,0
$GC,2025,0.61,114.7,17.1,5.0,320,2044,0.00,1.48,8.25,0.185,4,0.000,0.041,2259,1781,2552,0,0,0,0,0,0
$GC,2073,0.63,136.6,14.9,4.8,326,2089,0.00,1.62,9.43,0.168,6,0.000,0.058,2259,2817,2459,0,0,0,0,0,0
$GC,2141,0.63,136.6,8.6,9.6,336,2149,0.00,1.55,0.00,0.000,4,0.000,0.061,2259,3801,2456,0,0,0,0,0,0
$GC,2177,0.66,166.2,7.7,3.8,341,2195,0.00,1.58,11.75,0.155,6,0.000,0.044,2267,2776,2339,0,0,0,0,0,0
$GC,2248,0.72,205.0,6.8,2.7,351,2274,0.00,1.48,15.40,0.155,4,0.000,0.041,2275,1785,2180,0,0,0,0,0,0
$STATE,2329,end climb,SURFACE_DEPTH_REACHED
$STATE,2329,begin surface coast
$FINISH,-0.2,1.020152
$STATE,2380,end surface coast,CONTROL_FINISHED_OK
$STATE,2380,begin surface
$SM_CCo,2396,54.17,0.138,0,0,1592,350.04
$SM_GC,0.92,0.00,0.00,54.17,0.000,0.000,0.138,113,2819,1592,-6.01,0.54,350.04
$IRIDIUM_FIX,4745.30,-12218.40,290611,181856
$TT8_MAMPS,0.026964
$HUMID,45.78
$INTERNAL_PRESSURE,9.25196
$TCM_TEMP,14.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,120.5,64.8
$24V_AH,23.9,0.579
$10V_AH,10.4,0.614
$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,13.825,28.600,177.000,54.175,0.000,28.666,40.368,234.769,4.500,0.000,16.161,913.903,164.886,303.863,1350.462,154.123,32.328,707.553,0.000,1048.573,0.000,23.465,0.000
$DEVICE_MAMPS,242.505,824.670,1239.300,138.465,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.685,861.227,797.077,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,27212,371
$CAP_FILE_SIZE,53894,0
$CFSIZE,260165632,223240192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149,190.8,1
$GPS,290611,203221,4743.800,-12224.703,13,3.8,32,18.2