version: 66.08
glider: 169
mission: 4
dive: 16
start: 6 30 111 7 24 16
data:
$ID,169
$MISSION,4
$DIVE,16
$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,-8291.5459
$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
$GPS1,300611,071532,4743.848,-12223.971,33,1.9,33,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.57
$_SM_ANGLEo,-77.0
$GPS2,300611,072315,4743.823,-12224.041,11,2.1,30,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.254
$KALMAN_X,7.0,-1265.6,735.4,651.9,-1071.7
$KALMAN_Y,-6187.5,-2248.3,-30.8,8646.0,-439.3
$MHEAD_RNG_PITCHd_Wd,198.2,2285,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.53,-175.2,0.0,0.0,0,97,0.00,0.00,-77.72,0.000,2,0.000,0.000,128,2864,3424,0,0,0,0,0,0
$GC,100,-0.53,-175.2,3.4,-4.8,10,118,6.90,1.50,-6.30,0.000,4,0.243,0.068,1868,1890,3739,0,0,0,0,0,0
$GC,128,-0.42,-175.2,15.0,-25.6,13,138,0.12,1.55,0.00,0.000,6,0.194,0.054,1897,2868,3739,0,0,0,0,0,0
$GC,189,-0.40,-175.2,31.2,-21.0,22,198,0.00,1.45,0.00,0.000,4,0.000,0.037,1898,1887,3739,0,0,0,0,0,0
$GC,425,-0.39,-175.2,58.5,-10.5,61,432,0.00,1.58,0.00,0.000,6,0.000,0.062,1891,2876,3739,0,0,0,0,0,0
$GC,610,-0.38,-175.2,82.4,-13.2,92,620,0.00,1.45,0.00,0.000,4,0.000,0.063,1885,3788,3740,0,0,0,0,0,0
$GC,647,-0.36,-175.2,87.1,-13.6,97,654,0.10,1.48,0.00,0.000,6,0.134,0.039,1920,2819,3740,0,0,0,0,0,0
$GC,830,-0.36,-175.2,104.1,-8.1,128,840,0.00,1.55,0.00,0.000,4,0.000,0.063,1914,3785,3739,0,0,0,0,0,0
$GC,890,-0.36,-175.2,109.2,-9.4,137,903,0.00,1.45,0.00,0.000,6,0.000,0.043,1914,2846,3739,0,0,0,0,0,0
$GC,1085,-0.35,-175.2,130.1,-10.7,168,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2845,3739,0,0,0,0,0,0
$GC,1273,-0.35,-175.2,149.3,-10.3,199,1280,0.00,1.50,0.00,0.000,4,0.000,0.065,1913,3780,3740,0,0,0,0,0,0
$GC,1363,-0.34,-175.2,159.1,-10.4,214,1372,0.00,1.42,0.00,0.000,6,0.000,0.041,1914,2846,3739,0,0,0,0,0,0
$STATE,1489,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1489,begin apogee
$GC,1494,-0.20,0.0,172.7,10.3,235,1637,0.20,0.00,134.95,1.116,4,0.133,0.000,1977,2846,3022,0,0,0,0,0,0
$STATE,1638,end apogee,CONTROL_FINISHED_OK
$STATE,1638,begin climb
$GC,1640,0.53,175.2,179.4,0.0,255,1797,0.65,1.50,149.52,1.073,4,0.093,0.035,2212,1884,2306,0,0,0,0,0,0
$GC,1958,0.53,175.2,149.1,11.9,304,1968,0.00,1.58,0.00,0.000,6,0.000,0.057,2211,2859,2302,0,0,0,0,0,0
$GC,2148,0.51,175.2,123.1,13.5,335,2154,0.00,1.45,0.00,0.000,4,0.000,0.040,2219,1897,2300,0,0,0,0,0,0
$GC,2352,0.50,175.2,98.0,11.3,369,2358,0.00,1.55,0.00,0.000,6,0.000,0.057,2219,2873,2299,0,0,0,0,0,0
$GC,2536,0.48,175.2,70.7,14.7,400,2545,0.00,1.45,0.00,0.000,4,0.000,0.063,2219,3782,2299,0,0,0,0,0,0
$GC,2607,0.45,175.2,58.9,17.6,411,2614,0.10,1.42,0.00,0.000,6,0.181,0.040,2195,2851,2298,0,0,0,0,0,0
$GC,2795,0.44,175.2,37.1,10.8,442,2804,0.00,1.50,0.00,0.000,4,0.000,0.062,2196,3783,2298,0,0,0,0,0,0
$GC,2844,0.43,175.2,31.6,11.6,449,2852,0.00,1.45,0.00,0.000,6,0.000,0.040,2202,2838,2298,0,0,0,0,0,0
$GC,2904,0.42,175.2,25.0,10.6,458,2912,0.00,1.38,0.00,0.000,4,0.000,0.040,2210,1896,2298,0,0,0,0,0,0
$GC,2939,0.41,175.2,21.6,9.4,463,2949,0.10,1.55,0.00,0.000,6,0.137,0.057,2175,2883,2297,0,0,0,0,0,0
$GC,3002,0.44,199.2,16.9,7.4,472,3020,0.00,1.45,13.48,0.172,4,0.000,0.060,2175,3783,2206,0,0,0,0,0,0
$GC,3042,0.48,233.6,14.1,7.0,477,3067,0.00,1.42,18.50,0.156,6,0.000,0.040,2181,2847,2066,0,0,0,0,0,0
$GC,3118,0.48,233.6,7.8,8.2,488,3127,0.00,1.50,0.00,0.000,4,0.000,0.060,2181,3785,2062,0,0,0,0,0,0
$GC,3161,0.50,252.1,4.6,7.5,494,3178,0.00,1.38,8.35,0.144,6,0.000,0.040,2187,2879,1989,0,0,0,0,0,0
$STATE,3186,end climb,SURFACE_DEPTH_REACHED
$STATE,3186,begin surface coast
$FINISH,1.1,1.020217
$STATE,3242,end surface coast,CONTROL_FINISHED_OK
$STATE,3242,begin surface
$SM_CCo,3256,44.42,0.134,0,0,1591,350.04
$SM_GC,0.79,0.00,0.00,44.42,0.000,0.000,0.134,139,2819,1591,-5.95,-0.88,350.04
$IRIDIUM_FIX,4726.11,-12225.08,300611,060612
$TT8_MAMPS,0.026964
$HUMID,42.83
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,13.60
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,120.1,62.2
$24V_AH,23.9,1.846
$10V_AH,10.4,1.510
$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,13.475,35.575,324.800,44.425,0.000,30.628,38.563,255.503,4.500,0.000,32.003,1180.411,321.065,408.390,1681.712,179.851,33.305,951.399,0.000,1349.580,0.000,17.694,0.000
$DEVICE_MAMPS,242.505,117.045,1116.135,133.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,341.098,1050.374,973.659,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33709,506
$CAP_FILE_SIZE,66460,0
$CFSIZE,260165632,222765056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,177.9,1
$GPS,300611,082022,4743.340,-12224.287,15,3.0,34,18.2