version: 66.08
glider: 169
mission: 4
dive: 18
start: 6 30 111 9 34 39
data:
$ID,169
$MISSION,4
$DIVE,18
$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,-8297.5166
$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
$GPS1,300611,092606,4743.024,-12224.756,14,1.6,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-76.0
$GPS2,300611,093337,4743.005,-12224.815,12,1.9,17,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.235
$KALMAN_X,25.1,-2002.5,-225.2,1376.2,-553.5
$KALMAN_Y,-5289.8,-2357.1,217.5,6110.4,778.0
$MHEAD_RNG_PITCHd_Wd,133.1,565,-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,15,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,-70.78,0.000,6,0.000,0.680,106,2824,3211,0,0,0,0,0,0
$GC,99,-0.76,-71.5,3.6,-5.2,10,117,6.93,0.00,-2.10,0.000,6,0.252,0.000,1790,2822,3312,0,0,0,0,0,0
$GC,169,-0.73,-71.5,27.6,-31.6,20,178,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2822,3313,0,0,0,0,0,0
$GC,228,-0.70,-71.5,42.0,-22.8,29,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,2822,3313,0,0,0,0,0,0
$GC,413,-0.68,-71.5,84.1,-21.6,60,422,0.12,0.00,0.00,0.000,6,0.218,0.000,1818,2822,3314,0,0,0,0,0,0
$GC,607,-0.66,-71.5,120.4,-18.6,91,614,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,2822,3314,0,0,0,0,0,0
$GC,792,-0.65,-71.5,156.0,-19.6,122,801,0.00,1.35,0.00,0.000,4,0.000,0.035,1825,1884,3314,0,0,0,0,0,0
$GC,816,-0.64,-71.5,160.6,-20.0,125,822,0.00,1.50,0.00,0.000,6,0.000,0.052,1818,2853,3314,0,0,0,0,0,0
$STATE,937,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,937,begin apogee
$GC,943,-0.20,0.0,182.7,16.5,145,1006,0.50,0.00,55.22,1.083,4,0.174,0.000,1968,2853,3022,0,0,0,0,0,0
$STATE,1007,end apogee,CONTROL_FINISHED_OK
$STATE,1007,begin climb
$GC,1009,0.76,71.5,189.3,0.0,154,1075,0.90,1.55,60.12,1.043,4,0.072,0.059,2288,3791,2730,0,0,0,0,0,0
$GC,1343,0.73,71.5,151.8,19.1,208,1353,0.00,1.52,0.00,0.000,6,0.000,0.042,2296,2822,2722,0,0,0,0,0,0
$GC,1533,0.70,71.5,121.1,15.5,239,1539,0.00,1.38,0.00,0.000,4,0.000,0.041,2303,1901,2722,0,0,0,0,0,0
$GC,1806,0.68,71.5,88.6,12.9,285,1813,0.12,1.52,0.00,0.000,6,0.210,0.054,2260,2875,2720,0,0,0,0,0,0
$GC,1993,0.66,71.5,67.0,10.6,316,2002,0.00,1.42,0.00,0.000,4,0.000,0.057,2258,3783,2720,0,0,0,0,0,0
$GC,2091,0.64,71.5,55.7,11.1,332,2100,0.00,1.45,0.00,0.000,6,0.000,0.041,2265,2842,2719,0,0,0,0,0,0
$GC,2279,0.64,89.8,41.1,6.0,363,2295,0.00,1.42,11.32,0.230,4,0.000,0.041,2273,1894,2655,0,0,0,0,0,0
$GC,2569,0.67,120.6,21.9,4.5,410,2595,0.00,1.52,19.05,0.181,6,0.000,0.055,2273,2871,2529,0,0,0,0,0,0
$GC,2647,0.68,136.2,17.9,6.3,421,2664,0.00,1.45,9.43,0.178,4,0.000,0.057,2271,3790,2462,0,0,0,0,0,0
$STATE,2786,end climb,SURFACE_DEPTH_REACHED
$STATE,2786,begin surface coast
$FINISH,-0.2,1.020402
$STATE,2812,end surface coast,CONTROL_FINISHED_OK
$STATE,2812,begin surface
$SM_CCo,2827,101.40,0.133,0,0,1594,350.04
$SM_GC,0.37,0.00,0.00,101.40,0.000,0.000,0.133,136,2821,1594,-5.96,-0.82,350.04
$IRIDIUM_FIX,4726.11,-12227.78,300611,080813
$TT8_MAMPS,0.026964
$HUMID,42.16
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,13.90
$XPDR_PINGS,19
$ALTIM_BOTTOM_PING,120.4,72.1
$24V_AH,24.0,1.961
$10V_AH,10.4,1.670
$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,14.050,17.650,155.150,101.400,0.000,26.008,36.332,262.021,6.250,0.000,20.177,1087.220,286.244,319.664,1532.873,161.216,33.306,744.543,0.000,1218.058,0.000,11.921,0.000
$DEVICE_MAMPS,252.450,680.085,1083.240,133.110,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,304.058,966.240,893.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,30391,447
$CAP_FILE_SIZE,53473,0
$CFSIZE,260165632,222691328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.150,222.1,1
$GPS,300611,102408,4742.670,-12224.979,11,1.8,11,18.2