version: 66.08
glider: 176
mission: 4
dive: 18
start: 6 30 111 12 36 54
data:
$ID,176
$MISSION,4
$DIVE,18
$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,-6851.2896
$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
$GPS1,300611,123207,4743.250,-12224.756,34,1.2,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.1
$GPS2,300611,123550,4743.278,-12224.738,13,1.9,13,18.2
$SPEED_LIMITS,0.141,0.202
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,0.201
$KALMAN_X,23.6,23.6,23.6,48.5,62.9
$KALMAN_Y,-85.4,-85.4,-85.4,907.8,-228.1
$MHEAD_RNG_PITCHd_Wd,331.3,1155,-18.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.67,-89.4,0.0,0.0,0,82,0.00,0.00,-64.47,0.000,2,0.000,0.000,202,2460,2708,0,0,0,0,0,0
$GC,85,-0.68,-97.3,3.7,-4.4,8,103,9.23,2.10,-2.88,0.000,4,0.249,0.047,2548,1043,2850,0,0,0,0,0,0
$GC,368,-0.54,-97.3,47.2,-11.7,55,376,0.20,2.28,0.00,0.000,6,0.171,0.050,2595,2518,2851,0,0,0,0,0,0
$GC,555,-0.48,-97.3,64.4,-8.7,86,565,0.10,2.17,0.00,0.000,4,0.189,0.032,2624,1054,2851,0,0,0,0,0,0
$GC,824,-0.52,-97.3,84.5,-7.9,130,834,0.05,2.28,0.00,0.000,6,0.073,0.052,2574,2514,2851,0,0,0,0,0,0
$GC,1019,-0.42,-97.3,101.9,-8.4,161,1026,0.20,1.90,0.00,0.000,4,0.155,0.060,2624,3766,2851,0,0,0,0,0,0
$GC,1054,-0.39,-97.3,104.2,-6.6,166,1064,0.05,1.92,0.00,0.000,6,0.142,0.028,2644,2404,2851,0,0,0,0,0,0
$GC,1244,-0.48,-97.3,113.1,-4.4,197,1251,0.12,2.10,0.00,0.000,4,0.093,0.063,2564,3763,2850,0,0,0,0,0,0
$GC,1412,-0.34,-97.3,132.1,-11.9,224,1421,0.28,1.90,0.00,0.000,6,0.135,0.028,2658,2406,2850,0,0,0,0,0,0
$GC,1603,-0.47,-97.3,143.6,-5.0,255,1609,0.15,0.00,0.00,0.000,6,0.081,0.000,2571,2406,2850,0,0,0,0,0,0
$GC,1787,-0.39,-97.3,159.8,-7.9,286,1797,0.25,2.12,0.00,0.000,4,0.147,0.060,2646,3764,2850,0,0,0,0,0,0
$GC,1805,-0.33,-97.3,161.1,-7.8,288,1814,0.05,1.88,0.00,0.000,6,0.126,0.026,2669,2416,2850,0,0,0,0,0,0
$GC,1995,-0.51,-97.3,167.3,-3.3,319,2002,0.20,0.00,0.00,0.000,6,0.067,0.000,2561,2416,2850,0,0,0,0,0,0
$GC,2179,-0.42,-97.3,182.9,-9.3,350,2189,0.25,1.98,0.00,0.000,4,0.146,0.031,2644,1051,2850,0,0,0,0,0,0
$STATE,2205,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2205,begin apogee
$GC,2213,-0.21,0.0,184.8,7.1,354,2298,0.20,0.00,82.60,1.209,4,0.126,0.000,2713,2515,2449,0,0,0,0,0,0
$STATE,2299,end apogee,CONTROL_FINISHED_OK
$STATE,2299,begin climb
$GC,2301,0.68,97.3,186.2,0.0,366,2396,0.77,0.00,87.45,1.180,6,0.083,0.000,2993,2515,2051,0,0,0,0,0,0
$GC,2575,0.49,97.3,141.1,19.1,409,2582,0.25,0.00,0.00,0.000,6,0.175,0.000,2920,2515,2045,0,0,0,0,0,0
$GC,2761,0.49,97.3,118.6,11.2,440,2770,0.00,1.98,0.00,0.000,4,0.000,0.060,2919,3759,2043,0,0,0,0,0,0
$GC,2844,0.41,97.3,107.9,13.9,453,2852,0.12,1.90,0.00,0.000,6,0.185,0.031,2893,2456,2042,0,0,0,0,0,0
$GC,3032,0.46,97.3,90.7,8.4,484,3041,0.10,2.08,0.00,0.000,4,0.107,0.061,2943,3757,2041,0,0,0,0,0,0
$GC,3104,0.33,97.3,80.6,16.0,495,3112,0.30,1.85,0.00,0.000,6,0.161,0.030,2863,2464,2041,0,0,0,0,0,0
$GC,3292,0.46,107.6,65.5,7.5,526,3303,0.17,0.00,3.40,0.313,6,0.075,0.000,2944,2462,2009,0,0,0,0,0,0
$GC,3483,0.43,107.6,44.3,10.8,557,3490,0.17,0.00,0.00,0.000,6,0.162,0.000,2893,2462,2008,0,0,0,0,0,0
$GC,3669,0.54,118.7,30.6,7.4,588,3679,0.15,2.15,4.53,0.231,4,0.082,0.041,2966,1052,1962,0,0,0,0,0,0
$GC,3708,0.57,118.7,27.1,8.9,593,3717,0.05,2.30,0.00,0.000,6,0.150,0.049,2946,2534,1960,0,0,0,0,0,0
$GC,3768,0.55,118.7,21.0,9.7,602,3779,0.00,1.90,0.00,0.000,4,0.000,0.059,2947,3763,1959,0,0,0,0,0,0
$GC,3788,0.52,118.7,18.8,9.8,604,3798,0.08,1.92,0.00,0.000,6,0.160,0.030,2927,2448,1960,0,0,0,0,0,0
$GC,3851,0.57,118.7,12.7,9.1,613,3859,0.10,0.00,0.00,0.000,6,0.113,0.000,2978,2447,1959,0,0,0,0,0,0
$GC,3910,0.50,118.7,5.8,12.9,622,3920,0.20,2.08,0.00,0.000,4,0.152,0.037,2927,1058,1959,0,0,0,0,0,0
$STATE,3934,end climb,SURFACE_DEPTH_REACHED
$STATE,3935,begin surface coast
$FINISH,2.6,1.020558
$STATE,3974,end surface coast,CONTROL_FINISHED_OK
$STATE,3974,begin surface
$SM_CCo,3992,92.15,0.134,0,0,1022,350.04
$SM_GC,1.54,0.00,0.00,92.15,0.000,0.000,0.134,213,2530,1022,-7.98,0.85,350.04
$IRIDIUM_FIX,4729.30,-12208.13,300611,111107
$TT8_MAMPS,0.027713
$HUMID,45.86
$INTERNAL_PRESSURE,9.01676
$TCM_TEMP,12.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.4,64.3
$24V_AH,23.8,2.366
$10V_AH,10.5,1.505
$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,20.975,45.325,177.975,92.150,0.000,29.553,33.962,37.116,2.500,0.000,14.475,1551.190,427.417,363.566,1675.354,300.969,30.202,943.056,0.000,1708.416,0.000,18.058,0.000
$DEVICE_MAMPS,249.390,62.730,1208.700,133.875,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.465,0.000,1186.769,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355276
$DATA_FILE_SIZE,30240,631
$CAP_FILE_SIZE,72849,0
$CFSIZE,260165632,221868032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151, 18.3,1
$GPS,300611,134558,4743.915,-12224.763,11,3.2,30,18.2