version: 66.08
glider: 176
mission: 4
dive: 1
start: 6 29 111 18 17 41
data:
$ID,176
$MISSION,4
$DIVE,1
$N_DIVES,458
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,950
$D_NO_BLEED,200
$D_BOOST,50
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51802
$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,500
$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,-6637.3188
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2997
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3167
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$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,-70.422676
$PRESSURE_SLOPE,0.0001162977
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$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,0.0043285224
$SEABIRD_T_H,0.00062606536
$SEABIRD_T_I,2.5051821e-05
$SEABIRD_T_J,2.9112039e-06
$SEABIRD_C_G,-10.134115
$SEABIRD_C_H,1.1528351
$SEABIRD_C_I,-0.0013358581
$SEABIRD_C_J,0.00019115997
$GPS1,290611,181222,4743.718,-12224.160,9,2.1,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-67.3
$GPS2,290611,181640,4743.732,-12224.136,12,2.2,31,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.243,0.091
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,272.4,884,-17.5,-10.000
$D_GRID,173
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.62,-146.0,0.0,0.0,0,109,0.00,0.00,-91.12,0.000,2,0.000,0.000,227,2001,2856,0,0,0,0,0,0
$GC,112,-0.62,-146.0,3.6,-7.1,11,147,10.23,2.08,-15.95,0.000,4,0.250,0.054,2796,614,3764,0,0,0,0,0,0
$GC,333,-0.62,-146.0,26.9,-8.3,45,343,0.00,2.25,0.00,0.000,6,0.000,0.053,2796,2069,3765,0,0,0,0,0,0
$GC,395,-0.62,-146.0,32.0,-8.5,54,405,0.00,2.17,0.00,0.000,4,0.000,0.061,2796,3468,3764,0,0,0,0,0,0
$GC,494,-0.62,-146.0,40.7,-7.5,69,502,0.00,2.12,0.00,0.000,6,0.000,0.033,2802,1992,3764,0,0,0,0,0,0
$STATE,545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,545,begin apogee
$GC,550,-0.12,0.0,45.2,7.2,77,610,0.40,0.08,52.38,0.246,6,0.058,0.056,2975,2010,3165,0,0,0,0,0,0
$STATE,611,end apogee,CONTROL_FINISHED_OK
$STATE,611,begin climb
$GC,613,0.62,146.0,51.6,0.0,85,680,0.57,2.33,58.80,0.851,4,0.054,0.055,3218,3476,2569,0,0,0,0,0,0
$GC,954,0.67,189.2,46.7,8.0,139,975,0.10,2.15,16.42,0.246,6,0.256,0.035,3209,2020,2394,0,0,0,0,0,0
$GC,1156,0.67,189.2,16.6,13.5,172,1164,0.00,2.25,0.00,0.000,4,0.000,0.054,3209,3471,2387,0,0,0,0,0,0
$GC,1196,0.79,284.3,13.5,5.6,178,1241,0.08,2.17,35.47,0.161,6,0.075,0.034,3271,2000,2003,0,0,0,0,0,0
$GC,1293,0.82,309.2,8.2,8.9,191,1311,0.08,2.08,8.60,0.158,4,0.252,0.041,3267,616,1900,0,0,0,0,0,0
$STATE,1349,end climb,SURFACE_DEPTH_REACHED
$STATE,1349,begin surface coast
$FINISH,0.4,1.020169
$STATE,1376,end surface coast,CONTROL_FINISHED_OK
$STATE,1377,begin surface
$SM_CCo,1394,67.65,0.132,0,0,1124,500.17
$SM_GC,1.00,0.00,0.00,67.65,0.000,0.000,0.132,201,2061,1124,-8.74,0.31,500.17
$IRIDIUM_FIX,4726.11,-12220.67,290611,181814
$TT8_MAMPS,0.035952
$HUMID,45.15
$INTERNAL_PRESSURE,9.16325
$TCM_TEMP,15.60
$XPDR_PINGS,1
$24V_AH,24.8,1.019
$10V_AH,10.5,0.299
$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,19.300,22.025,171.675,67.650,0.000,0.000,0.000,0.000,0.250,0.000,34.573,492.643,57.747,295.043,607.416,104.005,29.231,567.464,0.000,641.527,0.000,1.004,0.000
$DEVICE_MAMPS,256.275,105.570,851.445,132.345,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,134.901,0.000,523.063,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323212
$DATA_FILE_SIZE,10291,203
$CAP_FILE_SIZE,53057,0
$CFSIZE,260165632,222552064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,114.2,1
$GPS,290611,184304,4743.689,-12224.146,13,2.3,32,18.2