version: 66.08
glider: 176
mission: 4
dive: 9
start: 6 30 111 2 53 14
data:
$ID,176
$MISSION,4
$DIVE,9
$N_DIVES,458
$D_SURF,4
$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,100
$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,-6840.4995
$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,2766
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,34
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$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,1
$ROLL_ADJ_DBAND,0.029999999
$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,3
$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
$GPS1,300611,024455,4744.157,-12223.993,9,1.8,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.5
$GPS2,300611,025208,4744.170,-12224.021,15,1.9,15,18.2
$SPEED_LIMITS,0.141,0.202
$TGT_NAME,NE
$TGT_LATLONG,4744.200,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,0.101
$KALMAN_X,552.1,453.5,-144.5,-719.1,-233.5
$KALMAN_Y,-1830.8,-4.6,-109.5,2749.0,-379.7
$MHEAD_RNG_PITCHd_Wd,73.7,652,-25.5,-8.130
$D_GRID,172
$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,-0.81,-51.2,0.0,0.0,0,83,0.00,0.12,-63.42,0.000,6,0.000,0.369,195,2522,2660,0,0,0,0,0,0
$GC,86,-0.85,-83.0,3.6,-4.7,8,104,9.15,2.22,-2.62,0.000,4,0.251,0.048,2491,1047,2791,0,0,0,0,0,0
$GC,178,-0.69,-83.0,27.0,-22.5,22,188,0.20,2.30,0.00,0.000,6,0.167,0.050,2543,2511,2792,0,0,0,0,0,0
$GC,240,-0.62,-83.0,35.0,-12.3,31,249,0.12,1.98,0.00,0.000,4,0.192,0.060,2567,3762,2791,0,0,0,0,0,0
$GC,277,-0.54,-83.0,39.8,-12.3,36,286,0.08,1.92,0.00,0.000,6,0.158,0.027,2592,2420,2792,0,0,0,0,0,0
$GC,336,-0.59,-83.0,47.1,-11.5,45,343,0.08,2.12,0.00,0.000,4,0.132,0.064,2551,3763,2791,0,0,0,0,0,0
$GC,487,-0.50,-83.0,65.2,-11.5,70,497,0.17,1.88,0.00,0.000,6,0.157,0.028,2605,2445,2792,0,0,0,0,0,0
$GC,678,-0.60,-84.4,81.7,-8.0,101,685,0.12,2.03,0.00,0.000,4,0.097,0.032,2550,1043,2792,0,0,0,0,0,0
$GC,722,-0.62,-84.4,86.5,-10.7,108,731,0.10,2.30,0.00,0.000,6,0.158,0.050,2571,2521,2792,0,0,0,0,0,0
$GC,912,-0.62,-84.4,103.8,-8.7,139,919,0.00,1.90,0.00,0.000,4,0.000,0.063,2564,3767,2792,0,0,0,0,0,0
$GC,942,-0.62,-84.4,106.8,-9.7,143,948,0.00,1.88,0.00,0.000,6,0.000,0.028,2564,2415,2792,0,0,0,0,0,0
$GC,1127,-0.62,-84.4,124.8,-9.2,174,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2415,2792,0,0,0,0,0,0
$GC,1323,-0.62,-85.9,141.8,-8.0,205,1330,0.00,2.08,0.00,0.000,4,0.000,0.063,2554,3772,2792,0,0,0,0,0,0
$GC,1355,-0.59,-85.9,144.7,-8.3,210,1365,0.08,1.90,0.00,0.000,6,0.161,0.028,2578,2426,2792,0,0,0,0,0,0
$GC,1545,-0.66,-97.3,158.0,-6.8,241,1553,0.10,1.98,-0.32,0.000,4,0.118,0.047,2536,1038,2853,0,0,0,0,0,0
$STATE,1712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1712,begin apogee
$GC,1719,-0.21,0.0,172.4,8.3,269,1812,0.55,0.00,83.88,1.211,4,0.151,0.000,2702,2517,2449,0,0,0,0,0,0
$STATE,1812,end apogee,CONTROL_FINISHED_OK
$STATE,1812,begin climb
$GC,1815,0.87,97.3,175.0,0.0,282,1908,1.00,0.00,87.78,1.183,6,0.091,0.000,3051,2518,2052,0,0,0,0,0,0
$GC,2089,0.69,97.3,119.0,24.6,325,2096,0.25,0.00,0.00,0.000,6,0.194,0.000,2981,2518,2047,0,0,0,0,0,0
$GC,2274,0.69,97.3,85.1,16.0,356,2283,0.00,1.98,0.00,0.000,4,0.000,0.060,2980,3760,2045,0,0,0,0,0,0
$GC,2321,0.61,97.3,77.5,18.1,363,2329,0.12,1.88,0.00,0.000,6,0.207,0.030,2959,2455,2045,0,0,0,0,0,0
$GC,2506,0.65,97.3,53.9,10.1,394,2516,0.08,2.08,0.00,0.000,4,0.136,0.060,3001,3763,2043,0,0,0,0,0,0
$GC,2530,0.65,97.3,50.9,11.9,397,2538,0.15,1.90,0.00,0.000,6,0.199,0.032,2969,2464,2044,0,0,0,0,0,0
$GC,2718,0.69,97.3,27.3,11.6,428,2727,0.10,2.05,0.00,0.000,4,0.115,0.061,3020,3765,2043,0,0,0,0,0,0
$GC,2824,0.60,97.3,15.2,8.2,445,2833,0.22,1.88,0.00,0.000,6,0.162,0.031,2958,2471,2042,0,0,0,0,0,0
$GC,2885,0.81,154.4,13.4,2.1,454,2912,0.20,0.00,22.88,0.162,6,0.075,0.000,3047,2471,1816,0,0,0,0,0,0
$GC,2964,0.78,154.4,7.0,12.6,465,2972,0.15,0.00,0.00,0.000,6,0.178,0.000,3006,2471,1810,0,0,0,0,0,0
$STATE,2986,end climb,SURFACE_DEPTH_REACHED
$STATE,2986,begin surface coast
$FINISH,0.4,0.999356
$STATE,3024,end surface coast,CONTROL_FINISHED_OK
$STATE,3024,begin surface
$SM_CCo,3040,76.97,0.136,0,0,1020,350.04
$SM_GC,1.55,0.00,0.00,76.97,0.000,0.000,0.136,209,2519,1020,-7.99,0.54,350.04
$IRIDIUM_FIX,4726.11,-12225.08,300611,010145
$TT8_MAMPS,0.026964
$HUMID,47.36
$INTERNAL_PRESSURE,9.0363
$TCM_TEMP,13.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,130.5,54.9
$24V_AH,23.8,1.737
$10V_AH,10.5,0.853
$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,20.200,40.725,194.525,76.975,0.000,31.318,30.022,242.489,3.000,0.000,16.201,1154.523,303.290,347.512,1505.406,249.439,33.317,827.717,0.000,1293.784,0.000,20.916,0.000
$DEVICE_MAMPS,250.920,369.495,1210.995,136.170,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.813,0.000,920.724,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322852
$DATA_FILE_SIZE,23565,474
$CAP_FILE_SIZE,65059,0
$CFSIZE,260165632,222253056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.073,356.7,1
$GPS,300611,034610,4744.317,-12223.580,8,4.1,27,18.2