version: 66.08
glider: 169
mission: 4
dive: 26
start: 6 30 111 17 0 4
data:
$ID,169
$MISSION,4
$DIVE,26
$N_DIVES,495
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$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,40
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-8427.8545
$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
$GPS1,300611,165214,4744.533,-12223.888,14,1.8,14,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-77.4
$GPS2,300611,165907,4744.571,-12223.833,13,1.6,13,18.2
$SPEED_LIMITS,0.173,0.282
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,-0.259
$KALMAN_X,1267.7,857.6,119.4,-1400.5,292.6
$KALMAN_Y,2555.6,1652.1,104.4,-2063.5,698.0
$MHEAD_RNG_PITCHd_Wd,177.7,3669,-15.8,-10.000
$D_GRID,120
$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,-0.61,-175.2,0.0,0.0,0,97,0.00,0.00,-78.32,0.000,2,0.000,0.000,134,2885,3449,0,0,0,0,0,0
$GC,100,-0.61,-175.2,3.5,-7.2,10,119,6.70,1.45,-5.50,0.000,4,0.242,0.075,1828,3789,3740,0,0,0,0,0,0
$GC,158,-0.56,-175.2,29.6,-38.0,18,167,0.00,1.48,0.00,0.000,6,0.000,0.036,1829,2810,3740,0,0,0,0,0,0
$GC,217,-0.53,-175.2,46.9,-25.3,27,223,0.15,0.00,0.00,0.000,6,0.183,0.000,1868,2809,3740,0,0,0,0,0,0
$GC,403,-0.52,-175.2,77.5,-14.5,58,411,0.00,1.55,0.00,0.000,4,0.000,0.060,1861,3782,3740,0,0,0,0,0,0
$GC,438,-0.50,-175.2,83.2,-16.7,63,444,0.00,1.48,0.00,0.000,6,0.000,0.037,1866,2804,3740,0,0,0,0,0,0
$GC,625,-0.49,-175.2,113.7,-15.6,94,634,0.00,1.55,0.00,0.000,4,0.000,0.060,1859,3776,3740,0,0,0,0,0,0
$GC,662,-0.48,-175.2,119.3,-16.4,99,669,0.00,1.45,0.00,0.000,6,0.000,0.037,1859,2817,3740,0,0,0,0,0,0
$STATE,677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,677,begin apogee
$GC,683,-0.20,0.0,122.0,16.8,101,826,0.35,0.08,132.50,0.977,4,0.142,0.050,1974,2823,3020,0,0,0,0,0,0
$STATE,827,end apogee,CONTROL_FINISHED_OK
$STATE,827,begin climb
$GC,829,0.61,175.2,130.9,0.0,121,985,0.80,0.08,145.70,0.949,6,0.111,0.128,2230,2868,2307,0,0,0,0,0,0
$GC,1167,0.59,175.2,90.4,14.4,173,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2868,2302,0,0,0,0,0,0
$GC,1350,0.58,175.2,64.9,12.6,204,1360,0.00,1.48,0.00,0.000,4,0.000,0.060,2229,3782,2302,0,0,0,0,0,0
$GC,1410,0.56,175.2,55.0,18.4,213,1416,0.00,1.50,0.00,0.000,6,0.000,0.038,2237,2812,2301,0,0,0,0,0,0
$GC,1597,0.54,175.2,30.4,11.8,244,1607,0.00,1.55,0.00,0.000,4,0.000,0.059,2237,3777,2300,0,0,0,0,0,0
$GC,1634,0.52,175.2,25.0,15.5,249,1643,0.08,1.45,0.00,0.000,6,0.187,0.039,2221,2834,2299,0,0,0,0,0,0
$GC,1695,0.51,175.2,17.4,11.2,258,1703,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2834,2299,0,0,0,0,0,0
$GC,1754,0.54,205.2,12.1,8.8,267,1779,0.00,0.00,17.08,0.160,6,0.000,0.000,2221,2834,2182,0,0,0,0,0,0
$GC,1830,0.58,232.1,5.7,9.0,278,1847,0.00,0.00,13.57,0.146,6,0.000,0.000,2221,2834,2071,0,0,0,0,0,0
$STATE,1872,end climb,SURFACE_DEPTH_REACHED
$STATE,1872,begin surface coast
$FINISH,-0.2,1.020610
$STATE,1922,end surface coast,CONTROL_FINISHED_OK
$STATE,1922,begin surface
$SM_CCo,1935,54.88,0.132,0,0,1591,350.04
$SM_GC,0.76,0.00,0.00,54.88,0.000,0.000,0.132,130,2833,1591,-5.97,-0.48,350.04
$IRIDIUM_FIX,4729.30,-12222.38,300611,161655
$TT8_MAMPS,0.026964
$HUMID,42.08
$INTERNAL_PRESSURE,9.22266
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.5,68.4
$24V_AH,24.0,2.704
$10V_AH,10.4,2.152
$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,13.425,15.175,308.850,54.875,0.000,0.000,0.000,0.000,0.500,0.000,13.952,656.700,149.437,371.491,803.896,73.890,33.308,744.884,0.000,810.763,0.000,5.619,0.000
$DEVICE_MAMPS,241.740,127.755,976.905,131.580,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,194.107,647.489,601.086,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355088
$DATA_FILE_SIZE,20406,292
$CAP_FILE_SIZE,55460,0
$CFSIZE,260165632,222437376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.089, 27.7,1
$GPS,300611,173416,4744.405,-12223.855,13,2.4,32,18.2