version: 66.08
glider: 176
mission: 4
dive: 12
start: 6 30 111 6 8 43
data:
$ID,176
$MISSION,4
$DIVE,12
$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,-6844.2744
$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
$GPS1,300611,060020,4744.132,-12223.585,11,1.8,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-76.4
$GPS2,300611,060744,4744.155,-12223.635,15,1.9,15,18.2
$SPEED_LIMITS,0.141,0.202
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12223.500
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.164
$KALMAN_X,-363.2,-1.3,-109.0,1097.0,-554.8
$KALMAN_Y,-1049.5,-72.2,40.6,1865.0,468.5
$MHEAD_RNG_PITCHd_Wd,163.3,2145,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.65,-97.3,0.0,0.0,0,74,0.00,0.00,-56.03,0.000,2,0.000,0.000,200,2532,2422,0,0,0,0,0,0
$GC,77,-0.65,-97.3,3.1,-3.4,7,104,9.45,2.25,-10.20,0.000,4,0.252,0.048,2555,1048,2850,0,0,0,0,0,0
$GC,367,-0.51,-97.3,41.6,-12.1,55,374,0.20,2.28,0.00,0.000,6,0.167,0.051,2607,2514,2850,0,0,0,0,0,0
$GC,549,-0.45,-97.3,58.7,-8.9,86,559,0.08,2.17,0.00,0.000,4,0.207,0.033,2627,1051,2850,0,0,0,0,0,0
$GC,608,-0.48,-97.3,63.8,-8.9,95,614,0.00,2.22,0.00,0.000,6,0.000,0.050,2619,2506,2850,0,0,0,0,0,0
$GC,789,-0.48,-97.3,77.5,-6.9,126,798,0.00,1.95,0.00,0.000,4,0.000,0.063,2610,3753,2850,0,0,0,0,0,0
$GC,812,-0.46,-97.3,79.1,-7.0,129,821,0.05,1.88,0.00,0.000,6,0.224,0.028,2624,2382,2850,0,0,0,0,0,0
$GC,997,-0.48,-97.3,91.4,-6.8,160,1005,0.08,0.00,0.00,0.000,6,0.135,0.000,2577,2382,2850,0,0,0,0,0,0
$GC,1180,-0.40,-97.3,107.0,-8.2,191,1187,0.22,0.00,0.00,0.000,6,0.144,0.000,2646,2381,2850,0,0,0,0,0,0
$GC,1362,-0.47,-97.3,116.9,-5.2,222,1371,0.12,2.17,0.00,0.000,4,0.093,0.063,2566,3756,2850,0,0,0,0,0,0
$GC,1437,-0.32,-97.3,123.4,-9.5,234,1447,0.30,1.90,0.00,0.000,6,0.135,0.027,2667,2403,2850,0,0,0,0,0,0
$GC,1621,-0.44,-97.3,131.5,-4.0,265,1629,0.15,2.10,0.00,0.000,4,0.083,0.063,2576,3761,2850,0,0,0,0,0,0
$GC,1643,-0.49,-97.3,133.5,-6.5,268,1652,0.10,1.90,0.00,0.000,6,0.140,0.026,2612,2400,2850,0,0,0,0,0,0
$GC,1826,-0.49,-97.3,147.6,-7.4,299,1833,0.00,2.10,0.00,0.000,4,0.000,0.061,2603,3770,2850,0,0,0,0,0,0
$GC,1934,-0.46,-97.3,157.1,-9.0,317,1942,0.08,1.85,0.00,0.000,6,0.184,0.027,2624,2399,2850,0,0,0,0,0,0
$STATE,1988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1988,begin apogee
$GC,1993,-0.21,0.0,161.2,6.7,326,2086,0.25,0.05,82.80,1.200,4,0.132,0.051,2712,2449,2449,0,0,0,0,0,0
$STATE,2088,end apogee,CONTROL_FINISHED_OK
$STATE,2088,begin climb
$GC,2090,0.65,97.3,163.8,0.0,339,2182,0.75,0.12,87.07,1.176,6,0.090,0.099,2977,2538,2052,0,0,0,0,0,0
$GC,2356,0.49,97.3,129.0,14.9,382,2365,0.22,0.00,0.00,0.000,6,0.170,0.000,2915,2538,2046,0,0,0,0,0,0
$GC,2539,0.49,97.3,107.7,12.0,413,2546,0.00,1.92,0.00,0.000,4,0.000,0.061,2915,3760,2045,0,0,0,0,0,0
$GC,2605,0.42,97.3,98.6,13.6,424,2614,0.08,1.95,0.00,0.000,6,0.159,0.029,2897,2438,2045,0,0,0,0,0,0
$GC,2789,0.45,97.3,80.4,9.5,455,2796,0.08,2.08,0.00,0.000,4,0.129,0.060,2936,3766,2044,0,0,0,0,0,0
$GC,2820,0.40,97.3,76.1,12.5,460,2829,0.17,1.92,0.00,0.000,6,0.151,0.030,2889,2455,2043,0,0,0,0,0,0
$GC,3005,0.48,97.3,58.1,8.2,491,3012,0.12,0.00,0.00,0.000,6,0.092,0.000,2947,2455,2043,0,0,0,0,0,0
$GC,3187,0.42,97.3,38.4,10.8,522,3197,0.17,2.05,0.00,0.000,4,0.156,0.060,2896,3762,2043,0,0,0,0,0,0
$GC,3246,0.42,97.3,32.6,9.4,531,3255,0.00,1.90,0.00,0.000,6,0.000,0.030,2899,2457,2042,0,0,0,0,0,0
$GC,3309,0.49,102.2,27.5,7.9,540,3319,0.10,2.10,1.05,0.300,4,0.110,0.039,2953,1056,2031,0,0,0,0,0,0
$GC,3359,0.49,102.2,23.2,9.4,547,3368,0.10,2.25,0.00,0.000,6,0.138,0.047,2918,2511,2030,0,0,0,0,0,0
$GC,3419,0.51,102.2,17.7,9.0,556,3428,0.05,1.98,0.00,0.000,4,0.173,0.062,2955,3766,2031,0,0,0,0,0,0
$GC,3503,0.38,102.2,8.0,12.4,569,3513,0.25,1.92,0.00,0.000,6,0.141,0.029,2882,2440,2031,0,0,0,0,0,0
$GC,3565,0.63,173.2,4.2,4.1,578,3575,0.25,0.00,7.25,0.145,2,0.066,0.000,3007,2441,1956,0,0,0,0,0,0
$STATE,3576,end climb,SURFACE_DEPTH_REACHED
$STATE,3576,begin surface coast
$FINISH,0.5,1.013866
$STATE,3711,end surface coast,CONTROL_FINISHED_OK
$STATE,3711,begin surface
$SM_CCo,3727,91.40,0.134,0,0,1019,350.04
$SM_GC,1.48,0.00,0.00,91.40,0.000,0.000,0.134,203,2542,1019,-8.01,1.19,350.04
$IRIDIUM_FIX,4729.30,-12222.38,300611,040405
$TT8_MAMPS,0.026964
$HUMID,46.73
$INTERNAL_PRESSURE,9.02653
$TCM_TEMP,13.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.0,50.9
$24V_AH,23.8,1.971
$10V_AH,10.5,1.088
$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,20.575,45.325,178.175,91.400,0.000,28.688,30.991,254.296,2.250,0.000,15.971,1470.528,299.982,365.702,1835.790,293.572,33.315,930.590,0.000,1649.170,0.000,17.805,0.000
$DEVICE_MAMPS,252.450,101.745,1200.285,133.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.068,0.000,1180.563,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,30248,602
$CAP_FILE_SIZE,76876,0
$CFSIZE,260165632,222113792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.051,184.6,1
$GPS,300611,071331,4743.680,-12223.617,40,1.8,40,18.2