version: 66.08
glider: 176
mission: 4
dive: 19
start: 6 30 111 14 4 1
data:
$ID,176
$MISSION,4
$DIVE,19
$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,-6852.5483
$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
$GPS1,300611,134558,4743.915,-12224.763,11,3.2,30,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-74.7
$GPS2,300611,140304,4744.142,-12224.641,17,2.9,36,18.2
$SPEED_LIMITS,0.141,0.202
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.031,-0.199
$KALMAN_X,107.3,106.8,76.8,-50.7,92.4
$KALMAN_Y,118.1,116.6,35.9,1956.6,146.6
$MHEAD_RNG_PITCHd_Wd,176.5,2678,-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,-97.3,0.0,0.0,0,84,0.00,0.00,-64.95,0.000,2,0.000,0.000,212,2531,2711,0,0,0,0,0,0
$GC,87,-0.65,-97.3,3.5,-4.3,8,105,9.35,1.98,-2.88,0.000,4,0.249,0.073,2546,3770,2851,0,0,0,0,0,0
$GC,168,-0.38,-97.3,21.8,-18.0,20,177,0.30,1.95,0.00,0.000,6,0.148,0.027,2641,2413,2851,0,0,0,0,0,0
$GC,229,-0.38,-97.3,27.7,-7.4,29,237,0.00,2.03,0.00,0.000,4,0.000,0.034,2642,1048,2851,0,0,0,0,0,0
$GC,313,-0.43,-97.3,34.2,-7.8,42,322,0.00,2.25,0.00,0.000,6,0.000,0.050,2632,2480,2851,0,0,0,0,0,0
$GC,373,-0.43,-97.3,38.9,-7.5,51,382,0.00,2.00,0.00,0.000,4,0.000,0.060,2623,3759,2851,0,0,0,0,0,0
$GC,474,-0.39,-97.3,47.8,-8.4,67,481,0.10,1.88,0.00,0.000,6,0.169,0.027,2651,2399,2851,0,0,0,0,0,0
$GC,662,-0.47,-97.3,57.7,-5.2,98,672,0.12,0.00,0.00,0.000,6,0.093,0.000,2577,2399,2851,0,0,0,0,0,0
$GC,853,-0.36,-97.3,72.8,-8.3,129,860,0.25,1.95,0.00,0.000,4,0.147,0.031,2667,1051,2851,0,0,0,0,0,0
$GC,930,-0.51,-97.3,77.3,-4.8,141,937,0.17,2.28,0.00,0.000,6,0.073,0.050,2570,2526,2850,0,0,0,0,0,0
$GC,1118,-0.39,-97.3,92.7,-8.9,172,1127,0.25,1.90,0.00,0.000,4,0.151,0.057,2646,3753,2851,0,0,0,0,0,0
$GC,1202,-0.46,-97.3,97.3,-4.9,185,1210,0.10,1.88,0.00,0.000,6,0.112,0.027,2579,2385,2850,0,0,0,0,0,0
$GC,1391,-0.37,-97.3,111.0,-6.7,216,1400,0.25,0.00,0.00,0.000,6,0.145,0.000,2663,2384,2850,0,0,0,0,0,0
$GC,1584,-0.48,-97.3,117.8,-4.5,247,1591,0.17,0.00,0.00,0.000,6,0.073,0.000,2566,2384,2850,0,0,0,0,0,0
$GC,1770,-0.37,-97.3,133.1,-8.6,278,1779,0.25,0.00,0.00,0.000,6,0.152,0.000,2648,2384,2850,0,0,0,0,0,0
$GC,1965,-0.46,-97.3,143.6,-4.7,309,1972,0.12,2.15,0.00,0.000,4,0.091,0.060,2565,3770,2850,0,0,0,0,0,0
$GC,2065,-0.31,-97.3,151.0,-8.2,325,2072,0.32,1.88,0.00,0.000,6,0.141,0.027,2667,2390,2850,0,0,0,0,0,0
$GC,2254,-0.47,-97.3,158.4,-3.7,356,2264,0.17,2.15,0.00,0.000,4,0.074,0.062,2561,3758,2850,0,0,0,0,0,0
$GC,2355,-0.31,-97.3,167.2,-9.9,372,2364,0.32,1.88,0.00,0.000,6,0.134,0.028,2671,2410,2849,0,0,0,0,0,0
$GC,2546,-0.48,-97.3,175.3,-3.4,403,2554,0.20,2.08,0.00,0.000,4,0.067,0.061,2557,3762,2849,0,0,0,0,0,0
$GC,2646,-0.32,-97.3,184.1,-10.6,419,2653,0.35,1.83,0.00,0.000,6,0.142,0.027,2667,2405,2849,0,0,0,0,0,0
$STATE,2660,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2660,begin apogee
$GC,2665,-0.21,0.0,185.7,10.1,421,2752,0.12,0.08,82.72,1.208,4,0.131,0.102,2714,2444,2448,0,0,0,0,0,0
$STATE,2753,end apogee,CONTROL_FINISHED_OK
$STATE,2753,begin climb
$GC,2756,0.65,97.3,187.5,0.0,433,2849,0.75,0.12,87.30,1.181,6,0.080,0.100,2986,2532,2051,0,0,0,0,0,0
$GC,3027,0.45,97.3,145.1,18.6,476,3036,0.28,1.98,0.00,0.000,4,0.167,0.055,2902,3767,2045,0,0,0,0,0,0
$GC,3122,0.39,97.3,132.2,13.9,491,3130,0.10,1.92,0.00,0.000,6,0.186,0.028,2886,2449,2043,0,0,0,0,0,0
$GC,3311,0.43,97.3,112.8,10.0,522,3321,0.10,0.00,0.00,0.000,6,0.105,0.000,2940,2447,2042,0,0,0,0,0,0
$GC,3500,0.37,97.3,86.5,14.1,553,3507,0.20,0.00,0.00,0.000,6,0.155,0.000,2881,2447,2041,0,0,0,0,0,0
$GC,3687,0.43,97.3,69.4,8.5,584,3696,0.10,2.05,0.00,0.000,4,0.104,0.059,2938,3756,2041,0,0,0,0,0,0
$GC,3747,0.31,97.3,61.5,15.3,593,3754,0.28,1.88,0.00,0.000,6,0.161,0.028,2863,2449,2041,0,0,0,0,0,0
$GC,3934,0.49,136.3,47.0,5.9,624,3959,0.20,2.05,15.45,0.245,4,0.070,0.056,2952,3774,1890,0,0,0,0,0,0
$GC,4064,0.39,136.3,31.3,15.2,644,4073,0.20,1.88,0.00,0.000,6,0.141,0.029,2886,2487,1886,0,0,0,0,0,0
$GC,4125,0.55,146.2,25.0,7.6,653,4134,0.17,0.00,3.38,0.224,6,0.076,0.000,2964,2485,1852,0,0,0,0,0,0
$GC,4186,0.50,146.2,18.8,11.3,662,4196,0.15,2.15,0.00,0.000,4,0.161,0.040,2927,1061,1850,0,0,0,0,0,0
$GC,4248,0.67,183.3,14.0,6.0,671,4274,0.15,2.28,15.45,0.164,6,0.050,0.047,3017,2535,1697,0,0,0,0,0,0
$GC,4326,0.57,183.3,4.2,14.7,682,4336,0.25,1.90,0.00,0.000,4,0.161,0.054,2936,3762,1693,0,0,0,0,0,0
$STATE,4342,end climb,SURFACE_DEPTH_REACHED
$STATE,4343,begin surface coast
$FINISH,0.6,1.020616
$STATE,4375,end surface coast,CONTROL_FINISHED_OK
$STATE,4375,begin surface
$SM_CCo,4392,66.15,0.135,0,0,1019,350.04
$SM_GC,1.31,0.00,0.00,66.15,0.000,0.000,0.135,193,2426,1019,-8.04,-2.09,350.04
$IRIDIUM_FIX,4726.11,-12223.37,300611,131336
$TT8_MAMPS,0.026964
$HUMID,45.98
$INTERNAL_PRESSURE,9.01676
$TCM_TEMP,13.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.1,59.1
$24V_AH,23.8,2.469
$10V_AH,10.4,1.602
$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,22.850,52.400,204.300,66.150,0.000,88.549,189.238,474.819,2.750,0.000,37.936,1698.865,609.275,374.628,2460.947,345.192,31.411,1017.313,0.000,1843.807,0.000,19.611,0.000
$DEVICE_MAMPS,248.625,101.745,1207.935,134.640,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.468,0.000,1276.633,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355320
$DATA_FILE_SIZE,33521,689
$CAP_FILE_SIZE,93752,0
$CFSIZE,260165632,221843456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209,  9.4,1
$GPS,300611,151907,4744.220,-12224.630,13,1.5,18,18.2