version: 66.08
glider: 169
mission: 4
dive: 24
start: 6 30 111 14 38 44
data:
$ID,169
$MISSION,4
$DIVE,24
$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,-8304.4365
$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
$GPS1,300611,143033,4743.763,-12224.525,10,1.9,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-76.1
$GPS2,300611,143744,4743.878,-12224.463,14,1.4,14,18.2
$SPEED_LIMITS,0.141,0.261
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,-0.242
$KALMAN_X,200.2,295.5,227.9,-663.3,377.5
$KALMAN_Y,269.6,527.3,341.2,-185.5,664.2
$MHEAD_RNG_PITCHd_Wd,182.0,2222,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.53,-175.2,0.0,0.0,0,96,0.00,0.00,-77.70,0.000,2,0.000,0.000,129,2816,3433,0,0,0,0,0,0
$GC,99,-0.53,-175.2,3.7,-5.1,10,117,6.80,1.58,-5.75,0.000,4,0.237,0.074,1853,3787,3739,0,0,0,0,0,0
$GC,145,-0.44,-175.2,26.3,-46.1,16,155,0.12,1.48,0.00,0.000,6,0.181,0.034,1890,2814,3740,0,0,0,0,0,0
$GC,207,-0.42,-175.2,41.6,-19.6,25,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,2814,3740,0,0,0,0,0,0
$GC,391,-0.41,-175.2,67.3,-12.9,56,400,0.00,1.55,0.00,0.000,4,0.000,0.060,1887,3777,3740,0,0,0,0,0,0
$GC,431,-0.40,-175.2,72.8,-13.6,62,440,0.00,1.40,0.00,0.000,6,0.000,0.037,1886,2859,3740,0,0,0,0,0,0
$GC,620,-0.38,-175.2,96.4,-12.4,93,628,0.10,1.50,0.00,0.000,4,0.174,0.064,1913,3780,3740,0,0,0,0,0,0
$GC,678,-0.38,-175.2,102.7,-9.6,102,686,0.00,1.40,0.00,0.000,6,0.000,0.039,1913,2863,3740,0,0,0,0,0,0
$GC,871,-0.37,-175.2,121.4,-10.5,133,877,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,2863,3740,0,0,0,0,0,0
$GC,1056,-0.37,-175.2,140.1,-10.1,164,1066,0.00,1.48,0.00,0.000,4,0.000,0.060,1913,3785,3740,0,0,0,0,0,0
$GC,1073,-0.36,-175.2,141.8,-9.5,166,1081,0.00,1.40,0.00,0.000,6,0.000,0.039,1913,2863,3739,0,0,0,0,0,0
$GC,1264,-0.36,-175.2,158.5,-8.1,197,1270,0.00,1.48,0.00,0.000,4,0.000,0.062,1913,3785,3740,0,0,0,0,0,0
$GC,1349,-0.36,-175.2,166.4,-9.2,211,1356,0.00,1.38,0.00,0.000,6,0.000,0.042,1914,2884,3740,0,0,0,0,0,0
$STATE,1461,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1461,begin apogee
$GC,1467,-0.20,0.0,176.9,8.8,230,1610,0.20,0.05,134.70,1.053,4,0.128,0.095,1978,2864,3021,0,0,0,0,0,0
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1614,0.53,175.2,183.1,0.0,250,1770,0.62,0.00,148.75,1.010,6,0.068,0.000,2210,2863,2306,0,0,0,0,0,0
$GC,1948,0.52,175.2,145.7,15.8,302,1957,0.00,1.50,0.00,0.000,4,0.000,0.060,2210,3779,2301,0,0,0,0,0,0
$GC,2221,0.49,175.2,95.1,18.4,348,2230,0.00,1.50,0.00,0.000,6,0.000,0.038,2218,2808,2299,0,0,0,0,0,0
$GC,2408,0.47,175.2,67.1,15.1,379,2415,0.00,1.58,0.00,0.000,4,0.000,0.061,2218,3781,2298,0,0,0,0,0,0
$GC,2522,0.45,175.2,47.9,17.7,398,2531,0.10,1.48,0.00,0.000,6,0.178,0.039,2194,2823,2298,0,0,0,0,0,0
$GC,2715,0.44,175.2,26.6,9.6,429,2724,0.00,1.52,0.00,0.000,4,0.000,0.059,2194,3779,2297,0,0,0,0,0,0
$GC,2762,0.43,175.2,21.6,10.7,436,2772,0.00,1.45,0.00,0.000,6,0.000,0.039,2201,2830,2297,0,0,0,0,0,0
$GC,2824,0.44,192.7,16.6,7.6,445,2841,0.00,1.38,9.43,0.174,4,0.000,0.040,2208,1903,2235,0,0,0,0,0,0
$GC,2863,0.50,241.8,14.1,6.6,450,2897,0.00,1.48,27.33,0.156,6,0.000,0.058,2208,2838,2033,0,0,0,0,0,0
$GC,2949,0.51,251.9,8.1,7.8,462,2959,0.00,1.55,4.62,0.172,4,0.000,0.060,2208,3795,1990,0,0,0,0,0,0
$GC,3010,0.51,251.9,3.4,8.3,471,3018,0.00,1.42,0.00,0.000,6,0.000,0.038,2215,2864,1987,0,0,0,0,0,0
$STATE,3025,end climb,SURFACE_DEPTH_REACHED
$STATE,3025,begin surface coast
$FINISH,-0.2,1.020859
$STATE,3069,end surface coast,CONTROL_FINISHED_OK
$STATE,3069,begin surface
$SM_CCo,3083,45.50,0.135,0,0,1591,350.04
$SM_GC,0.39,0.00,0.00,45.50,0.000,0.000,0.135,135,2864,1591,-5.96,0.40,350.04
$IRIDIUM_FIX,4726.11,-12227.78,300611,131312
$TT8_MAMPS,0.026964
$HUMID,42.40
$INTERNAL_PRESSURE,9.2129
$TCM_TEMP,13.70
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,115.1,71.3
$24V_AH,23.9,2.462
$10V_AH,10.4,2.033
$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,13.300,29.600,324.825,45.500,0.000,29.997,36.595,241.628,4.000,0.000,15.308,1114.970,303.104,398.654,1576.856,173.359,31.408,916.440,0.000,1282.550,0.000,10.345,0.000
$DEVICE_MAMPS,237.150,108.630,1053.405,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,323.297,998.263,925.648,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355072
$DATA_FILE_SIZE,33735,480
$CAP_FILE_SIZE,62780,0
$CFSIZE,260165632,222482432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195, 18.4,1
$GPS,300611,153132,4743.935,-12224.381,10,1.9,10,18.2