version: 66.08
glider: 169
mission: 4
dive: 23
start: 6 30 111 13 35 32
data:
$ID,169
$MISSION,4
$DIVE,23
$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,-8303.1787
$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
$GPS1,300611,132726,4743.820,-12224.627,13,1.8,13,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.61
$_SM_ANGLEo,-77.3
$GPS2,300611,133435,4743.891,-12224.585,15,2.6,34,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,-0.249
$KALMAN_X,65.2,65.2,65.2,-288.9,235.4
$KALMAN_Y,-4.0,-4.0,-4.0,1009.9,-14.5
$MHEAD_RNG_PITCHd_Wd,176.4,2222,-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,15,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,-78.03,0.000,2,0.000,0.000,138,2863,3452,0,0,0,0,0,0
$GC,101,-0.53,-175.2,3.8,-5.1,10,119,6.82,1.48,-5.38,0.000,4,0.241,0.072,1853,3792,3739,0,0,0,0,0,0
$GC,154,-0.46,-175.2,26.8,-42.8,17,163,0.10,1.50,0.00,0.000,6,0.164,0.034,1884,2802,3739,0,0,0,0,0,0
$GC,214,-0.44,-175.2,40.8,-19.6,26,222,0.00,1.55,0.00,0.000,4,0.000,0.057,1877,3778,3739,0,0,0,0,0,0
$GC,250,-0.42,-175.2,47.1,-17.3,31,256,0.00,1.45,0.00,0.000,6,0.000,0.037,1882,2826,3739,0,0,0,0,0,0
$GC,436,-0.40,-175.2,74.9,-15.4,62,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1882,2825,3739,0,0,0,0,0,0
$GC,625,-0.39,-175.2,101.6,-13.8,93,632,0.12,1.55,0.00,0.000,4,0.164,0.062,1913,3811,3739,0,0,0,0,0,0
$GC,672,-0.38,-175.2,107.7,-11.8,100,682,0.00,1.50,0.00,0.000,6,0.000,0.039,1913,2825,3739,0,0,0,0,0,0
$GC,865,-0.37,-175.2,126.6,-10.3,131,870,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2825,3739,0,0,0,0,0,0
$GC,1049,-0.37,-175.2,145.1,-9.5,162,1058,0.00,1.52,0.00,0.000,4,0.000,0.063,1913,3781,3739,0,0,0,0,0,0
$GC,1097,-0.36,-175.2,149.9,-10.4,169,1104,0.00,1.42,0.00,0.000,6,0.000,0.039,1914,2837,3739,0,0,0,0,0,0
$GC,1281,-0.36,-175.2,167.2,-8.2,200,1290,0.00,1.50,0.00,0.000,4,0.000,0.063,1914,3775,3739,0,0,0,0,0,0
$GC,1340,-0.36,-175.2,172.7,-9.5,209,1347,0.00,1.42,0.00,0.000,6,0.000,0.039,1913,2836,3739,0,0,0,0,0,0
$STATE,1414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1414,begin apogee
$GC,1419,-0.20,0.0,179.3,8.4,221,1560,0.20,0.00,134.40,1.055,4,0.130,0.000,1977,2835,3022,0,0,0,0,0,0
$STATE,1561,end apogee,CONTROL_FINISHED_OK
$STATE,1561,begin climb
$GC,1563,0.53,175.2,184.4,0.0,241,1723,0.68,1.48,148.93,1.010,4,0.086,0.036,2217,1888,2306,0,0,0,0,0,0
$GC,1886,0.52,175.2,161.8,13.0,291,1893,0.00,1.58,0.00,0.000,6,0.000,0.058,2216,2859,2300,0,0,0,0,0,0
$GC,2071,0.50,175.2,135.8,13.8,322,2080,0.00,1.48,0.00,0.000,4,0.000,0.060,2216,3780,2299,0,0,0,0,0,0
$GC,2165,0.48,175.2,120.3,17.0,337,2172,0.00,1.48,0.00,0.000,6,0.000,0.039,2223,2825,2298,0,0,0,0,0,0
$GC,2350,0.46,175.2,91.3,15.2,368,2360,0.12,1.52,0.00,0.000,4,0.194,0.060,2192,3779,2298,0,0,0,0,0,0
$GC,2401,0.44,175.2,83.7,14.6,376,2411,0.00,1.45,0.00,0.000,6,0.000,0.039,2199,2837,2298,0,0,0,0,0,0
$GC,2589,0.42,175.2,61.4,12.2,407,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,2199,2837,2297,0,0,0,0,0,0
$GC,2774,0.41,175.2,40.5,9.5,438,2783,0.00,1.50,0.00,0.000,4,0.000,0.060,2199,3776,2297,0,0,0,0,0,0
$GC,2864,0.40,175.2,30.3,12.3,452,2874,0.10,1.40,0.00,0.000,6,0.161,0.043,2173,2858,2297,0,0,0,0,0,0
$GC,2925,0.40,177.0,24.7,8.1,461,2934,0.00,1.40,0.00,0.000,4,0.000,0.040,2180,1897,2297,0,0,0,0,0,0
$GC,2956,0.43,202.5,22.5,7.3,465,2981,0.00,1.58,16.30,0.180,6,0.000,0.056,2180,2904,2196,0,0,0,0,0,0
$GC,3032,0.52,273.9,17.7,5.9,476,3082,0.00,1.40,41.75,0.163,4,0.000,0.057,2180,3782,1903,0,0,0,0,0,0
$GC,3098,0.56,306.7,13.1,7.1,484,3125,0.08,1.40,17.95,0.156,6,0.042,0.039,2262,2867,1768,0,0,0,0,0,0
$GC,3177,0.56,306.7,4.0,12.9,495,3186,0.15,1.48,0.00,0.000,4,0.145,0.060,2211,3778,1764,0,0,0,0,0,0
$STATE,3193,end climb,SURFACE_DEPTH_REACHED
$STATE,3194,begin surface coast
$FINISH,0.0,1.020569
$STATE,3225,end surface coast,CONTROL_FINISHED_OK
$STATE,3225,begin surface
$SM_CCo,3241,19.60,0.140,0,0,1593,350.04
$SM_GC,0.28,0.00,0.00,19.60,0.000,0.000,0.140,129,2815,1593,-5.98,-0.99,350.04
$IRIDIUM_FIX,4726.11,-12227.78,300611,121255
$TT8_MAMPS,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.20313
$TCM_TEMP,13.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,120.5,68.6
$24V_AH,23.9,2.358
$10V_AH,10.4,1.956
$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,13.750,35.525,359.325,19.600,0.000,28.095,29.641,230.413,4.500,0.000,35.901,1161.900,324.711,407.594,1615.080,188.882,30.176,963.917,0.000,1329.434,0.000,11.923,0.000
$DEVICE_MAMPS,240.975,71.910,1054.935,139.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.474,1025.225,951.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355320
$DATA_FILE_SIZE,33735,502
$CAP_FILE_SIZE,66826,0
$CFSIZE,260165632,222519296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173, 25.0,1
$GPS,300611,143033,4743.763,-12224.525,10,1.9,10,18.2