version: 66.08
glider: 169
mission: 4
dive: 20
start: 6 30 111 11 22 2
data:
$ID,169
$MISSION,4
$DIVE,20
$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,-8300.0322
$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
$GPS1,300611,111436,4742.767,-12224.835,12,1.6,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-75.2
$GPS2,300611,112101,4742.797,-12224.832,12,1.5,12,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.156,0.210
$KALMAN_X,-1353.9,-1610.2,-794.8,2910.0,-737.0
$KALMAN_Y,-6055.1,-706.8,545.3,4511.6,450.9
$MHEAD_RNG_PITCHd_Wd,353.3,2042,-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,-77.72,0.000,2,0.000,0.000,130,2843,3425,0,0,0,0,0,0
$GC,100,-0.53,-175.2,3.4,-4.6,10,118,6.95,1.45,-6.05,0.000,4,0.246,0.060,1867,1884,3740,0,0,0,0,0,0
$GC,390,-0.52,-175.2,59.4,-13.7,57,396,0.00,1.52,0.00,0.000,6,0.000,0.055,1859,2860,3741,0,0,0,0,0,0
$GC,574,-0.50,-175.2,89.2,-15.6,88,583,0.00,1.42,0.00,0.000,4,0.000,0.034,1862,1873,3741,0,0,0,0,0,0
$GC,612,-0.48,-175.2,95.0,-16.4,93,618,0.00,1.55,0.00,0.000,6,0.000,0.058,1856,2861,3741,0,0,0,0,0,0
$GC,804,-0.46,-175.2,128.3,-14.4,124,814,0.12,1.48,0.00,0.000,4,0.184,0.060,1883,3789,3741,0,0,0,0,0,0
$GC,894,-0.45,-175.2,142.7,-14.0,137,902,0.00,1.45,0.00,0.000,6,0.000,0.038,1884,2825,3741,0,0,0,0,0,0
$GC,1081,-0.44,-175.2,165.4,-11.6,168,1090,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,2825,3740,0,0,0,0,0,0
$STATE,1222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1223,begin apogee
$GC,1228,-0.20,0.0,182.5,12.6,192,1372,0.25,0.08,135.00,1.063,4,0.139,0.104,1968,2820,3022,0,0,0,0,0,0
$STATE,1373,end apogee,CONTROL_FINISHED_OK
$STATE,1373,begin climb
$GC,1375,0.53,175.2,189.6,0.0,212,1531,0.73,0.08,149.07,1.016,6,0.108,0.129,2202,2867,2306,0,0,0,0,0,0
$GC,1709,0.52,175.2,156.6,14.7,264,1719,0.00,1.48,0.00,0.000,4,0.000,0.041,2210,1899,2301,0,0,0,0,0,0
$GC,1780,0.51,175.2,147.2,13.0,275,1787,0.00,1.55,0.00,0.000,6,0.000,0.067,2210,2864,2300,0,0,0,0,0,0
$GC,1965,0.49,175.2,119.2,16.2,306,1973,0.00,1.48,0.00,0.000,4,0.000,0.062,2210,3783,2299,0,0,0,0,0,0
$GC,2094,0.47,175.2,98.0,16.9,327,2100,0.00,1.48,0.00,0.000,6,0.000,0.039,2218,2824,2299,0,0,0,0,0,0
$GC,2278,0.45,175.2,69.9,13.9,358,2287,0.00,1.55,0.00,0.000,4,0.000,0.060,2218,3788,2298,0,0,0,0,0,0
$GC,2327,0.43,175.2,63.0,15.7,365,2334,0.12,1.48,0.00,0.000,6,0.181,0.041,2187,2826,2298,0,0,0,0,0,0
$GC,2512,0.43,187.4,45.1,7.7,396,2528,0.00,1.55,7.90,0.240,4,0.000,0.060,2187,3782,2257,0,0,0,0,0,0
$GC,2562,0.42,187.4,40.7,9.7,403,2568,0.00,1.42,0.00,0.000,6,0.000,0.039,2194,2847,2257,0,0,0,0,0,0
$GC,2754,0.41,187.4,22.9,8.9,434,2763,0.00,1.40,0.00,0.000,4,0.000,0.040,2201,1888,2256,0,0,0,0,0,0
$GC,2796,0.43,203.7,19.5,7.6,440,2815,0.00,1.58,10.35,0.174,6,0.000,0.057,2201,2893,2188,0,0,0,0,0,0
$GC,2867,0.43,203.7,14.0,8.4,450,2875,0.00,1.48,0.00,0.000,4,0.000,0.040,2209,1896,2186,0,0,0,0,0,0
$GC,2915,0.46,228.4,10.3,7.4,457,2932,0.00,1.52,13.00,0.151,6,0.000,0.057,2209,2871,2087,0,0,0,0,0,0
$GC,2985,0.49,249.8,4.3,7.5,467,3004,0.00,1.45,9.93,0.152,4,0.000,0.059,2209,3783,1999,0,0,0,0,0,0
$STATE,3010,end climb,SURFACE_DEPTH_REACHED
$STATE,3010,begin surface coast
$FINISH,0.3,1.020606
$STATE,3048,end surface coast,CONTROL_FINISHED_OK
$STATE,3048,begin surface
$SM_CCo,3063,46.40,0.135,0,0,1594,350.04
$SM_GC,0.47,0.00,0.00,46.40,0.000,0.000,0.135,130,2814,1594,-5.98,-1.02,350.04
$IRIDIUM_FIX,4726.11,-12227.78,300611,101057
$TT8_MAMPS,0.026964
$HUMID,42.20
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,14.00
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,145.6,46.7
$24V_AH,23.9,2.152
$10V_AH,10.4,1.811
$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,13.450,30.000,325.250,46.400,0.000,26.123,30.442,211.026,8.750,0.000,12.994,1112.203,280.987,393.428,1542.798,174.400,33.302,897.448,0.000,1283.964,0.000,28.405,0.000
$DEVICE_MAMPS,245.565,134.640,1063.350,135.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.813,1009.753,935.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,33897,476
$CAP_FILE_SIZE,61310,0
$CFSIZE,260165632,222609408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039, 88.7,1
$GPS,300611,121452,4743.176,-12224.678,12,8.3,31,18.2
$RESTART_TIME,Thu Jun 30 12:31:27 2011