version: 66.08
glider: 169
mission: 4
dive: 15
start: 6 30 111 6 24 44
data:
$ID,169
$MISSION,4
$DIVE,15
$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,-8290.2861
$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
$GPS1,300611,061356,4744.251,-12223.910,14,1.1,14,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-77.2
$GPS2,300611,062344,4744.286,-12223.992,15,1.1,15,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.180
$KALMAN_X,-1007.5,-275.1,1077.9,408.3,-1356.2
$KALMAN_Y,-8256.7,-837.9,375.8,9751.0,-2030.4
$MHEAD_RNG_PITCHd_Wd,180.2,3104,-12.8,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.53,-175.2,0.0,0.0,0,98,0.00,0.00,-77.65,0.000,2,0.000,0.000,124,2813,3483,0,0,0,0,0,0
$GC,101,-0.53,-175.2,4.4,-6.5,10,119,6.97,1.35,-4.70,0.000,4,0.245,0.063,1868,1890,3739,0,0,0,0,0,0
$GC,366,-0.52,-175.2,59.5,-14.9,53,372,0.00,1.55,0.00,0.000,6,0.000,0.061,1861,2859,3739,0,0,0,0,0,0
$GC,552,-0.50,-175.2,89.4,-15.6,84,561,0.00,1.45,0.00,0.000,4,0.000,0.063,1855,3775,3739,0,0,0,0,0,0
$GC,569,-0.48,-175.2,92.8,-15.8,86,577,0.00,1.48,0.00,0.000,6,0.000,0.041,1855,2811,3740,0,0,0,0,0,0
$GC,768,-0.46,-175.2,125.6,-17.3,117,775,0.12,1.58,0.00,0.000,4,0.174,0.064,1883,3799,3740,0,0,0,0,0,0
$GC,808,-0.44,-175.2,132.8,-16.1,123,814,0.00,1.50,0.00,0.000,6,0.000,0.039,1885,2812,3740,0,0,0,0,0,0
$GC,994,-0.43,-175.2,156.3,-12.1,154,1003,0.00,1.55,0.00,0.000,4,0.000,0.063,1878,3781,3739,0,0,0,0,0,0
$GC,1076,-0.42,-175.2,166.2,-11.3,167,1082,0.00,1.45,0.00,0.000,6,0.000,0.041,1881,2828,3739,0,0,0,0,0,0
$STATE,1160,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1160,begin apogee
$GC,1166,-0.20,0.0,176.0,11.6,181,1310,0.28,0.05,135.23,1.124,4,0.133,0.148,1975,2827,3021,0,0,0,0,0,0
$STATE,1311,end apogee,CONTROL_FINISHED_OK
$STATE,1311,begin climb
$GC,1313,0.53,175.2,181.0,0.0,201,1470,0.68,0.08,149.70,1.080,6,0.074,0.131,2212,2866,2306,0,0,0,0,0,0
$GC,1648,0.52,175.2,144.9,15.2,253,1655,0.00,1.50,0.00,0.000,4,0.000,0.063,2212,3778,2301,0,0,0,0,0,0
$GC,1751,0.49,175.2,127.8,16.9,270,1759,0.00,1.50,0.00,0.000,6,0.000,0.040,2219,2823,2300,0,0,0,0,0,0
$GC,1940,0.47,175.2,99.0,16.2,301,1946,0.00,1.58,0.00,0.000,4,0.000,0.064,2220,3786,2299,0,0,0,0,0,0
$GC,1980,0.45,175.2,92.4,16.6,307,1987,0.12,1.50,0.00,0.000,6,0.180,0.041,2190,2822,2299,0,0,0,0,0,0
$GC,2167,0.44,175.2,69.6,10.9,338,2176,0.00,1.38,0.00,0.000,4,0.000,0.041,2196,1891,2297,0,0,0,0,0,0
$GC,2215,0.43,175.2,65.1,10.0,345,2222,0.00,1.52,0.00,0.000,6,0.000,0.060,2196,2854,2297,0,0,0,0,0,0
$GC,2399,0.43,175.2,45.4,9.7,376,2409,0.00,1.48,0.00,0.000,4,0.000,0.063,2196,3782,2297,0,0,0,0,0,0
$GC,2489,0.41,175.2,35.1,12.3,390,2498,0.00,1.50,0.00,0.000,6,0.000,0.041,2203,2800,2297,0,0,0,0,0,0
$GC,2549,0.40,175.2,28.7,10.1,399,2558,0.12,0.00,0.00,0.000,6,0.178,0.000,2170,2800,2297,0,0,0,0,0,0
$GC,2609,0.42,188.7,23.6,7.7,408,2620,0.00,1.38,7.35,0.196,4,0.000,0.041,2176,1884,2251,0,0,0,0,0,0
$GC,2660,0.46,219.8,20.1,7.2,415,2687,0.00,1.55,18.60,0.171,6,0.000,0.057,2177,2869,2123,0,0,0,0,0,0
$GC,2738,0.50,250.9,14.2,7.1,426,2764,0.00,1.45,16.20,0.163,4,0.000,0.061,2177,3776,1996,0,0,0,0,0,0
$GC,2816,0.52,261.0,8.2,7.8,437,2826,0.00,1.40,4.78,0.157,6,0.000,0.041,2183,2864,1954,0,0,0,0,0,0
$GC,2877,0.63,347.2,4.3,5.4,446,2905,0.17,0.00,24.35,0.139,2,0.061,0.000,2301,2864,1744,0,0,0,0,0,0
$STATE,2905,end climb,SURFACE_DEPTH_REACHED
$STATE,2905,begin surface coast
$FINISH,-0.3,1.019395
$STATE,2956,end surface coast,CONTROL_FINISHED_OK
$STATE,2956,begin surface
$SM_CCo,2970,16.30,0.141,0,0,1591,350.04
$SM_GC,0.62,0.00,0.00,16.30,0.000,0.000,0.141,129,2863,1591,-5.98,0.37,350.04
$IRIDIUM_FIX,4726.11,-12225.08,300611,060646
$TT8_MAMPS,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,13.50
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,125.6,60.2
$24V_AH,23.8,1.736
$10V_AH,10.4,1.428
$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,14.075,29.825,356.200,16.300,0.000,60.833,83.326,257.581,3.250,0.000,16.438,1063.971,335.500,379.063,1620.637,182.415,33.298,886.761,0.000,1234.144,0.000,18.110,0.000
$DEVICE_MAMPS,244.800,148.410,1123.785,140.760,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.211,970.599,900.079,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323016
$DATA_FILE_SIZE,33689,457
$CAP_FILE_SIZE,63365,0
$CFSIZE,260165632,222806016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076,159.2,1
$GPS,300611,071532,4743.848,-12223.971,33,1.9,33,18.2