version: 66.08
glider: 176
mission: 4
dive: 11
start: 6 30 111 4 50 49
data:
$ID,176
$MISSION,4
$DIVE,11
$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,0
$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,-6843.0161
$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,10
$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
$GPS1,300611,044224,4744.404,-12223.614,28,1.3,45,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-77.1
$GPS2,300611,044950,4744.467,-12223.693,15,1.9,15,18.2
$SPEED_LIMITS,0.141,0.202
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.111,-0.169
$KALMAN_X,-112.8,245.0,-128.3,552.4,-512.7
$KALMAN_Y,-951.3,-209.2,-165.8,2679.3,430.4
$MHEAD_RNG_PITCHd_Wd,157.8,2728,-18.1,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.65,-97.3,0.0,0.0,0,77,0.00,0.00,-57.30,0.000,2,0.000,0.000,195,2523,2487,0,0,0,0,0,0
$GC,80,-0.65,-97.3,3.2,-3.9,7,107,9.38,2.22,-8.05,0.000,4,0.248,0.047,2556,1047,2847,0,0,0,0,0,0
$GC,220,-0.49,-97.3,25.6,-15.0,29,231,0.17,2.33,0.00,0.000,6,0.145,0.052,2608,2517,2848,0,0,0,0,0,0
$GC,280,-0.41,-97.3,32.0,-9.9,38,290,0.12,0.00,0.00,0.000,6,0.171,0.000,2643,2517,2848,0,0,0,0,0,0
$GC,342,-0.41,-97.3,37.2,-8.0,47,351,0.05,1.98,0.00,0.000,4,0.174,0.063,2590,3766,2848,0,0,0,0,0,0
$GC,419,-0.28,-97.3,45.7,-11.8,59,426,0.30,1.90,0.00,0.000,6,0.143,0.028,2683,2407,2847,0,0,0,0,0,0
$GC,601,-0.40,-97.3,57.3,-5.6,90,610,0.17,0.00,0.00,0.000,6,0.074,0.000,2581,2407,2848,0,0,0,0,0,0
$GC,786,-0.31,-97.3,73.6,-8.1,121,794,0.28,2.10,0.00,0.000,4,0.147,0.060,2663,3771,2848,0,0,0,0,0,0
$GC,838,-0.40,-97.3,77.0,-5.0,129,847,0.12,1.85,0.00,0.000,6,0.099,0.028,2595,2426,2847,0,0,0,0,0,0
$GC,1023,-0.35,-97.3,90.2,-7.3,160,1033,0.20,2.00,0.00,0.000,4,0.145,0.031,2656,1050,2848,0,0,0,0,0,0
$GC,1151,-0.47,-97.3,96.3,-4.2,181,1159,0.12,2.25,0.00,0.000,6,0.088,0.050,2575,2525,2848,0,0,0,0,0,0
$GC,1337,-0.37,-97.3,111.8,-9.7,212,1346,0.25,1.92,0.00,0.000,4,0.150,0.060,2650,3763,2847,0,0,0,0,0,0
$GC,1435,-0.46,-97.3,117.8,-5.4,228,1444,0.10,1.88,0.00,0.000,6,0.061,0.028,2579,2425,2848,0,0,0,0,0,0
$GC,1624,-0.38,-97.3,132.5,-9.2,259,1630,0.22,0.00,0.00,0.000,6,0.151,0.000,2648,2424,2847,0,0,0,0,0,0
$GC,1807,-0.47,-97.3,142.3,-5.4,290,1816,0.12,2.10,0.00,0.000,4,0.092,0.063,2566,3755,2847,0,0,0,0,0,0
$GC,1936,-0.33,-97.3,156.0,-12.5,310,1946,0.30,1.85,0.00,0.000,6,0.135,0.028,2667,2435,2847,0,0,0,0,0,0
$GC,2126,-0.46,-97.3,165.9,-3.8,341,2135,0.17,2.08,0.00,0.000,4,0.075,0.065,2565,3769,2847,0,0,0,0,0,0
$GC,2167,-0.39,-97.3,169.1,-8.2,347,2175,0.25,1.83,0.00,0.000,6,0.114,0.028,2649,2422,2847,0,0,0,0,0,0
$STATE,2335,end dive,NO_VERTICAL_VELOCITY
$STATE,2335,begin apogee
$GC,2340,-0.21,0.0,170.0,0.0,375,2431,0.17,0.08,82.30,1.206,4,0.103,0.100,2718,2445,2449,0,0,0,0,0,0
$STATE,2433,end apogee,CONTROL_FINISHED_OK
$STATE,2433,begin climb
$GC,2435,0.65,97.3,169.8,0.0,388,2530,0.75,0.12,87.32,1.179,6,0.088,0.099,2986,2535,2052,0,0,0,0,0,0
$GC,2705,0.47,97.3,131.4,16.9,431,2712,0.25,1.95,0.00,0.000,4,0.173,0.058,2911,3769,2046,0,0,0,0,0,0
$GC,2749,0.36,97.3,123.9,16.3,438,2758,0.12,1.98,0.00,0.000,6,0.147,0.029,2878,2446,2045,0,0,0,0,0,0
$GC,2932,0.43,97.3,107.0,8.2,469,2940,0.10,2.05,0.00,0.000,4,0.106,0.060,2933,3761,2043,0,0,0,0,0,0
$GC,2988,0.30,97.3,99.7,14.6,478,2997,0.25,1.92,0.00,0.000,6,0.145,0.031,2858,2465,2043,0,0,0,0,0,0
$GC,3170,0.43,110.5,84.8,7.4,509,3179,0.15,0.00,4.85,0.352,6,0.086,0.000,2932,2463,1997,0,0,0,0,0,0
$GC,3354,0.43,110.5,64.8,11.2,540,3363,0.12,2.12,0.00,0.000,4,0.167,0.041,2907,1058,1994,0,0,0,0,0,0
$GC,3389,0.48,110.5,61.8,9.1,545,3398,0.08,2.25,0.00,0.000,6,0.128,0.049,2950,2518,1994,0,0,0,0,0,0
$GC,3573,0.42,110.5,41.4,11.2,576,3583,0.20,1.95,0.00,0.000,4,0.160,0.059,2891,3765,1994,0,0,0,0,0,0
$GC,3671,0.46,110.5,32.0,9.6,591,3680,0.03,1.88,0.00,0.000,6,0.117,0.031,2928,2472,1993,0,0,0,0,0,0
$GC,3732,0.46,110.5,26.3,9.4,600,3741,0.08,2.12,0.00,0.000,4,0.196,0.041,2914,1060,1993,0,0,0,0,0,0
$GC,3769,0.52,110.5,23.0,8.9,605,3779,0.05,2.28,0.00,0.000,6,0.074,0.049,2956,2526,1992,0,0,0,0,0,0
$GC,3831,0.47,110.5,17.1,10.2,614,3840,0.17,0.00,0.00,0.000,6,0.165,0.000,2905,2526,1992,0,0,0,0,0,0
$GC,3893,0.56,128.9,11.8,7.1,623,3911,0.15,1.92,7.35,0.173,4,0.084,0.060,2976,3756,1919,0,0,0,0,0,0
$GC,3952,0.43,128.9,6.0,11.1,631,3961,0.25,1.92,0.00,0.000,6,0.140,0.034,2902,2449,1917,0,0,0,0,0,0
$STATE,3975,end climb,SURFACE_DEPTH_REACHED
$STATE,3975,begin surface coast
$FINISH,2.4,1.020316
$STATE,4027,end surface coast,CONTROL_FINISHED_OK
$STATE,4027,begin surface
$SM_CCo,4042,88.05,0.134,0,0,1017,350.04
$SM_GC,1.39,0.00,0.00,88.05,0.000,0.000,0.134,206,2530,1017,-8.00,0.85,350.04
$IRIDIUM_FIX,4726.11,-12220.67,300611,030350
$TT8_MAMPS,0.027713
$HUMID,46.41
$INTERNAL_PRESSURE,9.01676
$TCM_TEMP,13.00
$XPDR_PINGS,1
$24V_AH,23.8,1.891
$10V_AH,10.5,1.005
$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,22.275,53.075,181.825,88.050,0.000,29.839,31.427,267.793,5.750,0.000,16.342,1588.127,346.880,385.415,1947.825,316.288,33.312,996.779,0.000,1747.006,0.000,41.531,0.000
$DEVICE_MAMPS,247.860,110.925,1206.405,133.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.096,0.000,1212.722,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,30234,642
$CAP_FILE_SIZE,85334,0
$CFSIZE,260165632,222150656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033, 34.5,1
$GPS,300611,060020,4744.132,-12223.585,11,1.8,11,18.2