version: 66.08
glider: 169
mission: 4
dive: 17
start: 6 30 111 8 28 52
data:
$ID,169
$MISSION,4
$DIVE,17
$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,-8294.5303
$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
$GPS1,300611,082022,4743.340,-12224.287,15,3.0,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-76.6
$GPS2,300611,082749,4743.320,-12224.374,14,1.7,31,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,-0.246
$KALMAN_X,572.4,-1985.4,209.9,921.4,-704.9
$KALMAN_Y,-5206.0,-2778.8,-79.2,7322.3,616.5
$MHEAD_RNG_PITCHd_Wd,216.8,1265,-26.9,-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,15,begin dive
$GC,17,-0.73,-46.3,0.0,0.0,0,97,0.00,0.05,-70.35,0.000,6,0.000,0.697,138,2867,3207,0,0,0,0,0,0
$GC,99,-0.75,-60.4,4.3,-6.5,10,117,6.65,1.48,-1.30,0.000,4,0.247,0.065,1800,1890,3271,0,0,0,0,0,0
$GC,128,-0.65,-60.4,15.5,-27.6,13,137,0.10,1.55,0.00,0.000,6,0.210,0.053,1820,2871,3272,0,0,0,0,0,0
$GC,188,-0.63,-60.4,31.0,-23.5,22,196,0.00,1.45,0.00,0.000,4,0.000,0.057,1814,3792,3272,0,0,0,0,0,0
$GC,461,-0.61,-60.4,90.0,-20.2,68,471,0.00,1.48,0.00,0.000,6,0.000,0.035,1816,2808,3273,0,0,0,0,0,0
$GC,652,-0.59,-60.4,125.8,-19.5,99,660,0.12,1.58,0.00,0.000,4,0.200,0.057,1838,3805,3273,0,0,0,0,0,0
$GC,708,-0.57,-60.4,137.1,-19.7,108,718,0.00,1.52,0.00,0.000,6,0.000,0.035,1843,2786,3273,0,0,0,0,0,0
$GC,897,-0.57,-60.4,166.6,-15.1,139,903,0.00,0.00,0.00,0.000,6,0.000,0.000,1843,2786,3273,0,0,0,0,0,0
$STATE,960,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,960,begin apogee
$GC,966,-0.20,0.0,176.9,14.7,150,1019,0.40,0.08,47.33,1.102,4,0.171,0.106,1965,2820,3022,0,0,0,0,0,0
$STATE,1020,end apogee,CONTROL_FINISHED_OK
$STATE,1020,begin climb
$GC,1022,0.75,60.4,181.4,0.0,157,1080,0.95,1.60,51.00,1.062,4,0.118,0.062,2276,3775,2774,0,0,0,0,0,0
$GC,1154,0.71,60.4,168.3,13.2,177,1161,0.00,1.52,0.00,0.000,6,0.000,0.038,2284,2821,2770,0,0,0,0,0,0
$GC,1338,0.69,60.4,145.3,12.5,208,1347,0.00,1.55,0.00,0.000,4,0.000,0.057,2283,3778,2767,0,0,0,0,0,0
$GC,1375,0.66,60.4,141.1,12.7,213,1382,0.12,1.45,0.00,0.000,6,0.238,0.040,2259,2849,2767,0,0,0,0,0,0
$GC,1561,0.64,60.4,121.9,9.9,244,1570,0.00,1.42,0.00,0.000,4,0.000,0.041,2266,1901,2766,0,0,0,0,0,0
$GC,1786,0.63,60.4,99.5,9.9,281,1793,0.00,1.52,0.00,0.000,6,0.000,0.055,2264,2875,2765,0,0,0,0,0,0
$GC,1971,0.61,60.4,79.3,10.8,312,1981,0.00,1.45,0.00,0.000,4,0.000,0.041,2272,1905,2765,0,0,0,0,0,0
$GC,2114,0.60,65.1,66.9,7.6,335,2122,0.10,1.50,1.77,0.272,6,0.200,0.054,2241,2869,2755,0,0,0,0,0,0
$GC,2301,0.60,74.8,52.7,7.0,366,2311,0.00,0.00,7.22,0.261,6,0.000,0.000,2241,2869,2715,0,0,0,0,0,0
$GC,2492,0.60,87.1,38.8,6.7,397,2509,0.00,1.45,8.25,0.230,4,0.000,0.057,2240,3788,2665,0,0,0,0,0,0
$GC,2622,0.58,87.1,27.9,9.1,417,2631,0.00,1.50,0.00,0.000,6,0.000,0.043,2248,2818,2663,0,0,0,0,0,0
$GC,2682,0.57,89.7,22.8,7.8,426,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2818,2662,0,0,0,0,0,0
$GC,2742,0.59,109.2,19.2,5.8,435,2759,0.00,0.00,13.10,0.181,6,0.000,0.000,2248,2818,2575,0,0,0,0,0,0
$GC,2810,0.59,117.0,14.7,7.2,445,2820,0.00,1.58,4.28,0.192,4,0.000,0.059,2248,3787,2543,0,0,0,0,0,0
$GC,2987,0.65,170.3,3.6,1.8,473,3023,0.00,1.48,27.27,0.140,6,0.000,0.068,2256,2826,2324,0,0,0,0,0,0
$STATE,3035,end climb,SURFACE_DEPTH_REACHED
$STATE,3035,begin surface coast
$FINISH,-0.4,1.020405
$STATE,3276,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3276,begin surface
$SM_CCo,3291,82.90,0.132,0,0,1593,350.04
$SM_GC,0.42,0.00,0.00,82.90,0.000,0.000,0.132,106,2877,1593,-6.05,0.76,350.04
$IRIDIUM_FIX,4729.30,-12222.38,300611,070732
$TT8_MAMPS,0.026964
$HUMID,42.91
$INTERNAL_PRESSURE,9.23243
$TCM_TEMP,13.90
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,115.5,71.3
$24V_AH,24.1,1.901
$10V_AH,10.4,1.596
$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,13.975,27.400,160.225,82.900,0.000,28.903,30.099,244.907,5.750,0.000,33.864,1270.872,314.398,316.372,1749.027,178.822,33.306,808.882,0.000,1441.292,0.000,11.462,0.000
$DEVICE_MAMPS,247.095,696.915,1102.365,132.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.498,1169.984,1079.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,37064,519
$CAP_FILE_SIZE,64184,0
$CFSIZE,260165632,222720000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.157,201.7,1
$GPS,300611,092606,4743.024,-12224.756,14,1.6,31,18.2