version: 66.08
glider: 169
mission: 4
dive: 12
start: 6 30 111 3 39 33
data:
$ID,169
$MISSION,4
$DIVE,12
$N_DIVES,495
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,82
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,-8286.5078
$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,2042
$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,26
$C_ROLL_DIVE,2850
$C_ROLL_CLIMB,2850
$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,1
$ROLL_ADJ_DBAND,0.029999999
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,2
$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
$GPS1,300611,033132,4744.410,-12223.600,10,1.2,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-77.1
$GPS2,300611,033820,4744.456,-12223.647,13,1.3,13,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.032,0.196
$KALMAN_X,944.2,108.9,-159.7,-265.5,340.9
$KALMAN_Y,-5347.9,-357.2,-408.2,7475.8,-1433.7
$MHEAD_RNG_PITCHd_Wd,139.3,507,-22.5,-8.130
$D_GRID,200
$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,-0.64,-65.0,0.0,0.0,0,89,0.00,0.00,-70.68,0.000,2,0.000,0.000,124,2846,3245,0,0,0,0,0,0
$GC,92,-0.70,-112.3,3.1,-4.2,9,110,6.62,1.38,-4.82,0.000,4,0.237,0.053,1816,1884,3480,0,0,0,0,0,0
$GC,278,-0.68,-112.3,54.4,-20.7,39,285,0.00,1.52,0.00,0.000,6,0.000,0.054,1809,2860,3481,0,0,0,0,0,0
$GC,457,-0.66,-112.3,99.6,-24.4,70,471,0.00,1.45,0.00,0.000,4,0.000,0.058,1802,3785,3482,0,0,0,0,0,0
$GC,497,-0.64,-112.3,109.0,-24.1,75,505,0.08,1.48,0.00,0.000,6,0.169,0.036,1827,2802,3482,0,0,0,0,0,0
$GC,677,-0.62,-112.3,146.3,-19.6,106,685,0.00,0.00,0.00,0.000,6,0.000,0.000,1827,2802,3482,0,0,0,0,0,0
$STATE,755,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,755,begin apogee
$GC,761,-0.20,0.0,161.9,19.7,119,854,0.47,0.08,87.03,1.203,4,0.166,0.104,1972,2820,3023,0,0,0,0,0,0
$STATE,855,end apogee,CONTROL_FINISHED_OK
$STATE,856,begin climb
$GC,858,0.70,112.3,166.9,0.0,132,964,0.90,1.42,96.85,1.174,4,0.115,0.036,2263,1893,2563,0,0,0,0,0,0
$GC,1221,0.69,112.3,133.7,14.6,192,1230,0.00,1.55,0.00,0.000,6,0.000,0.058,2263,2859,2558,0,0,0,0,0,0
$GC,1405,0.67,112.3,103.1,16.4,223,1412,0.00,1.45,0.00,0.000,4,0.000,0.041,2271,1900,2557,0,0,0,0,0,0
$GC,1437,0.65,112.3,97.4,16.9,228,1446,0.00,1.55,0.00,0.000,6,0.000,0.058,2270,2875,2557,0,0,0,0,0,0
$GC,1619,0.63,112.3,72.1,13.0,259,1627,0.00,1.45,0.00,0.000,4,0.000,0.080,2270,3782,2557,0,0,0,0,0,0
$GC,1729,0.60,112.3,56.6,13.8,278,1738,0.15,1.48,0.00,0.000,6,0.220,0.043,2237,2825,2555,0,0,0,0,0,0
$GC,1913,0.59,112.3,36.7,9.6,309,1922,0.00,1.38,0.00,0.000,4,0.000,0.044,2244,1897,2555,0,0,0,0,0,0
$GC,2113,0.61,135.5,20.4,6.2,341,2130,0.00,1.48,12.12,0.175,6,0.000,0.057,2244,2839,2467,0,0,0,0,0,0
$GC,2182,0.63,156.5,16.2,6.4,351,2200,0.00,1.48,10.85,0.174,4,0.000,0.059,2244,3795,2382,0,0,0,0,0,0
$GC,2287,0.64,169.6,9.8,7.0,367,2298,0.00,1.52,6.45,0.158,6,0.000,0.042,2252,2801,2327,0,0,0,0,0,0
$GC,2350,0.68,204.2,6.4,5.2,376,2375,0.00,1.35,16.98,0.151,4,0.000,0.040,2259,1888,2184,0,0,0,0,0,0
$STATE,2418,end climb,SURFACE_DEPTH_REACHED
$STATE,2418,begin surface coast
$FINISH,-0.4,1.016586
$STATE,2493,end surface coast,CONTROL_FINISHED_OK
$STATE,2493,begin surface
$SM_CCo,2508,64.45,0.133,0,0,1593,350.04
$SM_GC,0.49,0.00,0.00,64.45,0.000,0.000,0.133,110,2861,1593,-6.04,0.31,350.04
$IRIDIUM_FIX,4726.11,-12220.67,300611,020237
$TT8_MAMPS,0.026215
$HUMID,43.62
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,13.90
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,101.4,70.1
$24V_AH,23.8,1.434
$10V_AH,10.4,1.210
$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,13.700,23.650,230.275,64.450,0.000,27.772,28.840,232.713,3.250,0.000,13.854,957.096,182.400,324.435,1384.240,153.298,33.301,742.804,0.000,1109.123,0.000,5.612,0.000
$DEVICE_MAMPS,237.150,114.750,1202.580,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.127,899.357,832.799,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,26955,398
$CAP_FILE_SIZE,51537,0
$CFSIZE,260165632,222937088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.078,  3.1,1
$GPS,300611,042328,4744.381,-12223.609,13,3.2,32,18.2