version: 66.08
glider: 176
mission: 4
dive: 13
start: 6 30 111 7 27 37
data:
$ID,176
$MISSION,4
$DIVE,13
$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,-6845.5347
$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
$GPS1,300611,071331,4743.680,-12223.617,40,1.8,40,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.4
$GPS2,300611,072638,4743.627,-12223.738,14,1.3,14,18.2
$SPEED_LIMITS,0.141,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.040,-0.198
$KALMAN_X,-830.5,-305.5,-51.2,1684.2,-559.5
$KALMAN_Y,-1736.5,120.1,346.3,1083.8,-14.2
$MHEAD_RNG_PITCHd_Wd,207.3,2168,-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,-97.3,0.0,0.0,0,85,0.00,0.00,-65.47,0.000,2,0.000,0.000,202,2542,2698,0,0,0,0,0,0
$GC,88,-0.65,-97.3,3.0,-3.6,8,106,9.43,2.28,-3.62,0.000,4,0.251,0.047,2559,1053,2848,0,0,0,0,0,0
$GC,368,-0.52,-97.3,39.7,-12.3,55,378,0.15,2.30,0.00,0.000,6,0.146,0.050,2599,2510,2850,0,0,0,0,0,0
$GC,427,-0.43,-97.3,46.1,-10.3,64,436,0.12,2.17,0.00,0.000,4,0.177,0.031,2639,1052,2850,0,0,0,0,0,0
$GC,606,-0.50,-97.3,59.5,-6.6,93,613,0.10,2.25,0.00,0.000,6,0.106,0.050,2576,2512,2850,0,0,0,0,0,0
$GC,792,-0.38,-97.3,76.0,-9.3,124,801,0.25,2.17,0.00,0.000,4,0.154,0.031,2657,1043,2850,0,0,0,0,0,0
$GC,904,-0.50,-97.3,82.7,-4.6,142,914,0.12,2.25,0.00,0.000,6,0.049,0.050,2569,2492,2850,0,0,0,0,0,0
$GC,1094,-0.38,-97.3,97.0,-9.2,173,1101,0.25,2.08,0.00,0.000,4,0.156,0.031,2653,1049,2849,0,0,0,0,0,0
$GC,1171,-0.48,-97.3,101.9,-5.9,185,1178,0.12,2.22,0.00,0.000,6,0.090,0.050,2576,2499,2850,0,0,0,0,0,0
$GC,1362,-0.39,-97.3,119.5,-9.4,216,1371,0.22,1.95,0.00,0.000,4,0.155,0.060,2634,3752,2849,0,0,0,0,0,0
$GC,1410,-0.39,-97.3,123.2,-8.0,223,1416,0.00,1.88,0.00,0.000,6,0.000,0.027,2634,2385,2849,0,0,0,0,0,0
$GC,1594,-0.45,-97.3,134.9,-5.8,254,1605,0.08,2.17,0.00,0.000,4,0.132,0.063,2577,3757,2849,0,0,0,0,0,0
$GC,1671,-0.34,-97.3,141.6,-9.5,266,1681,0.22,1.90,0.00,0.000,6,0.128,0.027,2656,2402,2849,0,0,0,0,0,0
$GC,1862,-0.45,-97.3,151.3,-4.7,297,1869,0.12,2.12,0.00,0.000,4,0.093,0.063,2577,3769,2849,0,0,0,0,0,0
$GC,1903,-0.40,-97.3,154.2,-7.3,303,1910,0.22,1.85,0.00,0.000,6,0.145,0.027,2646,2400,2849,0,0,0,0,0,0
$GC,2090,-0.49,-97.3,162.4,-4.0,334,2101,0.12,0.00,0.00,0.000,6,0.094,0.000,2573,2400,2849,0,0,0,0,0,0
$STATE,2155,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2155,begin apogee
$GC,2160,-0.21,0.0,166.6,6.8,344,2246,0.40,0.08,82.25,1.202,4,0.138,0.104,2707,2445,2449,0,0,0,0,0,0
$STATE,2247,end apogee,CONTROL_FINISHED_OK
$STATE,2247,begin climb
$GC,2250,0.65,97.3,168.8,0.0,356,2345,0.80,0.12,87.22,1.176,6,0.094,0.098,2984,2534,2052,0,0,0,0,0,0
$GC,2526,0.47,97.3,127.2,18.0,399,2533,0.25,0.00,0.00,0.000,6,0.169,0.000,2909,2534,2046,0,0,0,0,0,0
$GC,2711,0.47,97.3,103.7,12.5,430,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2534,2044,0,0,0,0,0,0
$GC,2901,0.47,97.3,81.2,12.0,461,2908,0.00,2.22,0.00,0.000,4,0.000,0.038,2914,1052,2043,0,0,0,0,0,0
$GC,2958,0.53,97.3,75.5,9.4,470,2968,0.05,2.28,0.00,0.000,6,0.079,0.047,2954,2508,2043,0,0,0,0,0,0
$GC,3148,0.43,97.3,50.4,14.7,501,3155,0.20,1.92,0.00,0.000,4,0.161,0.057,2896,3764,2042,0,0,0,0,0,0
$GC,3211,0.43,97.3,42.9,10.4,511,3217,0.00,1.92,0.00,0.000,6,0.000,0.029,2903,2430,2042,0,0,0,0,0,0
$GC,3397,0.47,98.3,26.7,8.1,542,3407,0.08,2.10,0.00,0.000,4,0.133,0.060,2945,3752,2041,0,0,0,0,0,0
$GC,3462,0.35,98.3,18.9,13.0,552,3472,0.22,1.90,0.00,0.000,6,0.144,0.030,2878,2455,2042,0,0,0,0,0,0
$GC,3525,0.52,139.1,14.1,5.8,561,3552,0.17,2.08,16.52,0.168,4,0.075,0.059,2957,3760,1878,0,0,0,0,0,0
$GC,3607,0.44,139.1,5.3,13.4,573,3617,0.17,1.88,0.00,0.000,6,0.135,0.029,2905,2471,1875,0,0,0,0,0,0
$STATE,3625,end climb,SURFACE_DEPTH_REACHED
$STATE,3625,begin surface coast
$FINISH,2.0,1.020226
$STATE,3663,end surface coast,CONTROL_FINISHED_OK
$STATE,3664,begin surface
$SM_CCo,3680,83.70,0.135,0,0,1018,350.04
$SM_GC,1.35,0.00,0.00,83.70,0.000,0.000,0.135,210,2525,1018,-7.99,0.71,350.04
$IRIDIUM_FIX,4729.30,-12226.80,300611,070703
$TT8_MAMPS,0.026964
$HUMID,46.49
$INTERNAL_PRESSURE,9.007
$TCM_TEMP,13.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,110.1,66.1
$24V_AH,23.8,2.060
$10V_AH,10.4,1.172
$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,20.900,46.350,186.000,83.700,0.000,76.245,192.576,267.716,1.750,0.000,14.934,1413.057,498.529,356.786,1995.092,291.722,33.320,906.930,0.000,1585.781,0.000,11.835,0.000
$DEVICE_MAMPS,250.920,123.930,1201.815,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.765,0.000,1125.831,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,322960
$DATA_FILE_SIZE,26853,581
$CAP_FILE_SIZE,75296,0
$CFSIZE,260165632,222081024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,202.7,1
$GPS,300611,083102,4743.163,-12224.148,12,1.6,12,18.2