version: 66.08
glider: 176
mission: 4
dive: 4
start: 6 29 111 21 15 21
data:
$ID,176
$MISSION,4
$DIVE,4
$N_DIVES,458
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,950
$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,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$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,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,-6834.2153
$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,2758
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,32
$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,2500
$C_ROLL_CLIMB,2500
$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,2450
$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,90
$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
$GPS1,290611,210016,4743.838,-12224.479,9,2.2,28,18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.9
$GPS2,290611,211422,4743.937,-12224.467,11,2.8,30,18.2
$SPEED_LIMITS,0.141,0.242
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.140,-0.015
$KALMAN_X,336.1,169.9,139.5,-1060.1,154.0
$KALMAN_Y,-21.2,-24.5,-35.8,455.6,-2.6
$MHEAD_RNG_PITCHd_Wd,287.5,420,-26.9,-8.130
$D_GRID,174
$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,-0.90,-46.3,0.0,0.0,0,84,0.00,0.08,-63.55,0.000,6,0.000,0.574,224,2533,2639,0,0,0,0,0,0
$GC,86,-0.94,-76.4,3.5,-4.6,8,104,8.85,2.22,-2.50,0.000,4,0.252,0.047,2454,1021,2763,0,0,0,0,0,0
$GC,376,-0.94,-76.4,44.1,-12.5,55,384,0.08,2.33,0.00,0.000,6,0.243,0.054,2458,2527,2765,0,0,0,0,0,0
$GC,562,-0.94,-76.4,68.7,-14.1,86,572,0.00,2.17,0.00,0.000,4,0.000,0.036,2460,1044,2765,0,0,0,0,0,0
$GC,693,-0.94,-76.4,83.9,-11.3,107,699,0.00,2.25,0.00,0.000,6,0.000,0.054,2450,2521,2765,0,0,0,0,0,0
$GC,880,-0.94,-76.4,106.0,-12.2,138,890,0.05,2.17,0.00,0.000,4,0.287,0.035,2458,1040,2765,0,0,0,0,0,0
$GC,943,-0.94,-76.4,113.7,-12.0,148,953,0.03,2.30,0.00,0.000,6,0.234,0.054,2455,2521,2765,0,0,0,0,0,0
$GC,1132,-0.94,-76.4,137.9,-12.3,179,1139,0.00,2.12,0.00,0.000,4,0.000,0.035,2455,1044,2765,0,0,0,0,0,0
$GC,1347,-0.94,-76.4,161.7,-10.0,215,1355,0.08,2.22,0.00,0.000,6,0.245,0.053,2459,2517,2765,0,0,0,0,0,0
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1481,begin apogee
$GC,1485,-0.22,0.0,174.4,8.7,237,1559,0.75,0.00,66.15,1.248,6,0.172,0.000,2690,2518,2449,0,0,0,0,0,0
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1560,begin climb
$GC,1562,0.94,76.4,177.2,0.0,247,1640,1.08,2.10,70.15,1.219,4,0.092,0.061,3065,3765,2137,0,0,0,0,0,0
$GC,1653,0.94,76.4,163.5,22.1,260,1663,0.08,2.03,0.00,0.000,6,0.210,0.033,3055,2448,2137,0,0,0,0,0,0
$GC,1843,0.94,76.4,119.2,23.1,291,1849,0.00,2.05,0.00,0.000,4,0.000,0.060,3055,3765,2132,0,0,0,0,0,0
$GC,1862,0.94,76.4,113.8,23.3,294,1872,0.03,1.98,0.00,0.000,6,0.236,0.035,3058,2448,2131,0,0,0,0,0,0
$GC,2051,0.94,76.4,74.1,20.2,325,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2447,2130,0,0,0,0,0,0
$GC,2238,0.94,76.4,37.1,17.8,356,2246,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2447,2129,0,0,0,0,0,0
$GC,2297,0.94,76.4,26.0,19.4,365,2305,0.00,2.08,0.00,0.000,4,0.000,0.043,3068,1057,2129,0,0,0,0,0,0
$GC,2364,0.94,76.4,16.0,12.7,375,2373,0.05,2.28,0.00,0.000,6,0.193,0.053,3053,2516,2128,0,0,0,0,0,0
$GC,2424,0.94,76.4,9.5,9.7,384,2432,0.00,2.20,0.00,0.000,4,0.000,0.042,3063,1051,2128,0,0,0,0,0,0
$FREEZE,9.51,12.868,-1.484,0,1,0
$STATE,2655,end climb,NO_VERTICAL_VELOCITY
$STATE,2656,begin surface
$SM_CCo,2658,156.23,0.143,0,0,497,478.33
$SM_GC,1.20,7.32,0.00,0.00,0.042,0.000,0.000,201,2516,491,-7.91,0.45,480.54
$IRIDIUM_FIX,4726.11,-12223.37,290611,212103
$TT8_MAMPS,0.026964
$HUMID,48.42
$INTERNAL_PRESSURE,9.02653
$TCM_TEMP,13.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,6.3
$24V_AH,23.9,1.311
$10V_AH,10.5,0.474
$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,18.375,34.900,136.300,156.225,0.000,0.000,0.000,0.000,0.500,0.000,34.370,1018.817,340.259,365.900,1125.554,159.478,32.327,769.027,0.000,1195.271,0.000,5.433,0.000
$DEVICE_MAMPS,286.875,573.750,1247.715,143.055,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,285.224,0.000,859.859,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322936
$DATA_FILE_SIZE,20223,420
$CAP_FILE_SIZE,68629,0
$CFSIZE,260165632,222445568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.142,178.6,1
$GPS,290611,220507,4743.778,-12224.756,35,1.0,35,18.2