version: 66.08
glider: 176
mission: 4
dive: 14
start: 6 30 111 8 39 20
data:
$ID,176
$MISSION,4
$DIVE,14
$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,-6846.7944
$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
$GPS1,300611,083102,4743.163,-12224.148,12,1.6,12,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-77.1
$GPS2,300611,083820,4743.150,-12224.225,13,1.6,13,18.2
$SPEED_LIMITS,0.141,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.067,-0.124
$KALMAN_X,-1021.4,-578.3,1.1,1486.0,-462.1
$KALMAN_Y,-1838.8,247.5,401.5,110.7,-367.4
$MHEAD_RNG_PITCHd_Wd,214.4,1100,-26.9,-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,-0.85,-46.3,0.0,0.0,0,76,0.00,0.00,-56.67,0.000,2,0.000,0.000,209,2527,2452,0,0,0,0,0,0
$GC,79,-0.90,-87.1,3.0,-3.3,7,106,9.00,2.17,-9.20,0.000,4,0.249,0.044,2474,1049,2806,0,0,0,0,0,0
$GC,375,-0.76,-87.1,48.5,-14.1,55,382,0.22,2.25,0.00,0.000,6,0.200,0.048,2529,2515,2806,0,0,0,0,0,0
$GC,556,-0.70,-87.1,69.8,-10.4,86,565,0.08,2.17,0.00,0.000,4,0.228,0.031,2545,1050,2806,0,0,0,0,0,0
$GC,696,-0.73,-87.1,83.3,-10.1,109,703,0.00,2.25,0.00,0.000,6,0.000,0.047,2538,2521,2806,0,0,0,0,0,0
$GC,878,-0.70,-87.1,102.5,-10.5,140,886,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2521,2806,0,0,0,0,0,0
$GC,1063,-0.67,-87.1,122.2,-11.0,171,1070,0.08,2.12,0.00,0.000,4,0.233,0.031,2557,1047,2806,0,0,0,0,0,0
$GC,1116,-0.73,-87.1,127.3,-8.8,180,1126,0.05,2.28,0.00,0.000,6,0.082,0.049,2509,2518,2806,0,0,0,0,0,0
$GC,1309,-0.64,-87.1,146.8,-10.4,211,1316,0.20,2.12,0.00,0.000,4,0.182,0.029,2564,1037,2806,0,0,0,0,0,0
$GC,1416,-0.72,-87.1,156.3,-8.9,229,1425,0.05,2.30,0.00,0.000,6,0.081,0.049,2512,2524,2806,0,0,0,0,0,0
$STATE,1597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1597,begin apogee
$GC,1602,-0.21,0.0,177.6,10.7,260,1685,0.60,0.10,73.72,1.209,4,0.158,0.076,2702,2531,2450,0,0,0,0,0,0
$STATE,1686,end apogee,CONTROL_FINISHED_OK
$STATE,1686,begin climb
$GC,1688,0.90,87.1,180.4,0.0,271,1774,1.10,2.00,79.75,1.188,4,0.103,0.063,3063,3767,2092,0,0,0,0,0,0
$GC,1782,0.61,87.1,165.3,23.7,284,1792,0.40,2.03,0.00,0.000,6,0.187,0.028,2964,2454,2091,0,0,0,0,0,0
$GC,1966,0.64,87.1,133.4,15.7,315,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2452,2086,0,0,0,0,0,0
$GC,2149,0.66,87.1,104.7,15.8,346,2158,0.08,0.00,0.00,0.000,6,0.137,0.000,3004,2452,2085,0,0,0,0,0,0
$GC,2331,0.60,87.1,72.1,19.2,377,2340,0.20,2.05,0.00,0.000,4,0.181,0.056,2950,3772,2084,0,0,0,0,0,0
$GC,2492,0.60,87.1,45.4,12.8,404,2500,0.00,1.95,0.00,0.000,6,0.000,0.031,2953,2455,2084,0,0,0,0,0,0
$GC,2685,0.69,87.1,23.8,11.2,435,2695,0.12,2.08,0.00,0.000,4,0.099,0.037,3026,1054,2083,0,0,0,0,0,0
$GC,2728,0.69,87.1,18.2,12.7,441,2739,0.12,2.28,0.00,0.000,6,0.166,0.047,2986,2523,2082,0,0,0,0,0,0
$GC,2788,0.69,87.1,10.9,12.5,450,2798,0.00,1.92,0.00,0.000,4,0.000,0.058,2986,3766,2082,0,0,0,0,0,0
$STATE,2849,end climb,SURFACE_DEPTH_REACHED
$STATE,2849,begin surface coast
$FINISH,2.5,1.020945
$STATE,2869,end surface coast,CONTROL_FINISHED_OK
$STATE,2869,begin surface
$SM_CCo,2887,103.25,0.134,0,0,1019,350.04
$SM_GC,1.42,0.00,0.00,103.25,0.000,0.000,0.134,206,2436,1019,-8.00,-1.81,350.04
$IRIDIUM_FIX,4713.38,-12613.86,300611,070757
$TT8_MAMPS,0.026964
$HUMID,45.58
$INTERNAL_PRESSURE,9.007
$TCM_TEMP,13.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.4,46.7
$24V_AH,23.8,2.135
$10V_AH,10.5,1.238
$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,19.975,34.050,153.475,103.250,0.000,29.412,28.833,264.508,3.250,0.000,14.295,1122.961,241.775,329.162,1499.526,240.669,33.322,769.389,0.000,1281.365,0.000,24.022,0.000
$DEVICE_MAMPS,248.625,141.525,1208.700,133.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.901,0.000,894.896,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,20283,462
$CAP_FILE_SIZE,58167,0
$CFSIZE,260165632,222068736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,221.2,1
$GPS,300611,093010,4742.739,-12224.688,11,2.5,30,18.2