version: 66.08
glider: 176
mission: 4
dive: 21
start: 6 30 111 17 17 27
data:
$ID,176
$MISSION,4
$DIVE,21
$N_DIVES,458
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,30
$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,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6922.751
$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
$GPS1,300611,171202,4744.972,-12224.373,16,2.0,16,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-74.4
$GPS2,300611,171628,4745.015,-12224.323,16,4.6,35,18.2
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.024,-0.214
$KALMAN_X,659.8,242.3,24.0,-292.2,49.1
$KALMAN_Y,2912.6,703.5,-31.1,253.3,431.4
$MHEAD_RNG_PITCHd_Wd,167.1,4328,-21.7,-10.000
$D_GRID,90
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.76,-97.3,0.0,0.0,0,83,0.00,0.00,-64.72,0.000,2,0.000,0.000,223,2494,2706,0,0,0,0,0,0
$GC,86,-0.76,-97.3,3.4,-6.4,8,104,8.98,2.00,-3.10,0.000,4,0.246,0.066,2511,3774,2850,0,0,0,0,0,0
$GC,195,-0.54,-97.3,28.1,-20.9,25,205,0.28,1.92,0.00,0.000,6,0.156,0.027,2597,2423,2850,0,0,0,0,0,0
$GC,254,-0.54,-97.3,36.6,-11.4,34,264,0.00,2.10,0.00,0.000,4,0.000,0.057,2589,3764,2850,0,0,0,0,0,0
$GC,315,-0.47,-97.3,43.5,-11.6,43,322,0.12,1.85,0.00,0.000,6,0.164,0.025,2624,2423,2850,0,0,0,0,0,0
$GC,504,-0.53,-97.3,61.7,-8.9,74,514,0.12,2.03,0.00,0.000,4,0.096,0.032,2561,1047,2850,0,0,0,0,0,0
$GC,552,-0.48,-97.3,66.9,-11.2,81,560,0.22,2.28,0.00,0.000,6,0.157,0.047,2617,2540,2850,0,0,0,0,0,0
$GC,739,-0.55,-97.3,81.6,-6.9,112,748,0.10,0.00,0.00,0.000,6,0.104,0.000,2558,2541,2850,0,0,0,0,0,0
$STATE,826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,826,begin apogee
$GC,831,-0.21,0.0,90.6,12.0,126,877,0.45,0.12,40.62,0.358,4,0.143,0.102,2705,2547,2448,0,0,0,0,0,0
$STATE,878,end apogee,CONTROL_FINISHED_OK
$STATE,878,begin climb
$GC,880,0.76,97.3,94.5,0.0,132,932,0.88,1.92,42.33,0.365,4,0.102,0.060,3011,3765,2050,0,0,0,0,0,0
$GC,951,0.52,97.3,87.8,16.2,142,962,0.30,1.95,0.00,0.000,6,0.174,0.027,2933,2441,2045,0,0,0,0,0,0
$GC,1142,0.56,99.4,66.4,9.9,173,1149,0.08,0.00,0.00,0.000,6,0.132,0.000,2969,2439,2040,0,0,0,0,0,0
$GC,1328,0.52,99.4,43.0,12.2,204,1336,0.15,0.00,0.00,0.000,6,0.168,0.000,2928,2439,2039,0,0,0,0,0,0
$GC,1525,0.60,104.5,21.1,9.6,235,1535,0.12,2.05,1.85,0.241,4,0.098,0.054,2987,3775,2018,0,0,0,0,0,0
$STATE,1681,end climb,SURFACE_DEPTH_REACHED
$STATE,1681,begin surface coast
$FINISH,0.5,1.020614
$STATE,1725,end surface coast,CONTROL_FINISHED_OK
$STATE,1725,begin surface
$SM_CCo,1742,97.50,0.134,0,0,1019,350.04
$SM_GC,1.55,0.00,0.00,97.50,0.000,0.000,0.134,199,2399,1019,-8.02,-2.88,350.04
$IRIDIUM_FIX,4729.30,-12226.80,300611,171721
$TT8_MAMPS,0.026964
$HUMID,44.95
$INTERNAL_PRESSURE,9.02653
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,25.5,2.613
$10V_AH,10.5,1.752
$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,18.925,20.250,84.800,97.500,0.000,0.000,0.000,0.000,0.250,0.000,38.741,674.133,140.549,252.755,748.250,116.000,33.339,535.185,0.000,788.756,0.000,2.555,0.000
$DEVICE_MAMPS,246.330,101.745,364.905,133.875,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,181.309,0.000,587.314,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355080
$DATA_FILE_SIZE,13563,268
$CAP_FILE_SIZE,61662,0
$CFSIZE,260165632,221806592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,  7.5,1
$GPS,300611,174906,4745.034,-12224.251,15,1.2,31,18.2