version: 66.04
glider: 177
mission: 1
dive: 9
start: 8 26 109 1 22 48
data:
$ID,177
$MISSION,1
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,63
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,65
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$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,370
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,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,-3234.7195
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2390
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,12
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3688
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-43.008797
$PRESSURE_SLOPE,0.0001167561
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043573868
$SEABIRD_T_H,0.00062801503
$SEABIRD_T_I,2.4905019e-05
$SEABIRD_T_J,2.7586682e-06
$SEABIRD_C_G,-10.06375
$SEABIRD_C_H,1.1391832
$SEABIRD_C_I,-0.00095358328
$SEABIRD_C_J,0.00016952561
$GPS1,011652,4807.398,-12223.446,9,2.1,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.7
$GPS2,012210,4807.405,-12223.475,13,2.3,32,18.3
$SPEED_LIMITS,0.137,0.164
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.115,-0.117
$KALMAN_X,-539.6,-159.6,104.0,-110.9,-82.1
$KALMAN_Y,798.4,306.1,-341.5,-1286.1,27.4
$MHEAD_RNG_PITCHd_Wd,117.4,953,-22.3,-7.937
$D_GRID,102
$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
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.64,-63.5,0.0,0.0,0,76,0.00,0.00,-62.08,0.000,2,0.000,0.000,146,2256,3689
$GC,77,-0.64,-63.5,3.1,-4.6,11,101,8.80,2.30,-6.53,0.000,4,0.271,0.073,2192,823,3950
$GC,348,-0.64,-63.5,29.6,-7.2,72,354,0.00,2.30,0.00,0.000,6,0.000,0.077,2183,2254,3951
$GC,419,-0.64,-63.5,34.2,-6.1,88,424,0.00,2.25,0.00,0.000,4,0.000,0.074,2183,828,3951
$GC,650,-0.64,-63.5,52.2,-8.1,141,655,0.00,2.30,0.00,0.000,6,0.000,0.077,2172,2246,3952
$GC,785,-0.64,-63.5,64.2,-9.2,172,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2173,2246,3951
$GC,920,-0.64,-63.5,76.4,-9.1,203,925,0.00,2.22,0.00,0.000,4,0.000,0.073,2173,832,3952
$GC,937,-0.64,-63.5,78.2,-9.4,207,944,0.05,2.30,0.00,0.000,6,0.196,0.077,2186,2254,3952
$GC,1073,-0.64,-63.5,90.2,-9.0,238,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2186,2254,3952
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1205,-0.12,0.0,102.0,8.9,268,1278,0.52,0.00,70.65,0.644,6,0.166,0.000,2347,2254,3688
$STATE,1279,end apogee,CONTROL_FINISHED_OK
$STATE,1279,begin climb
$GC,1280,0.64,63.5,103.3,0.0,281,1358,0.70,2.42,71.18,0.630,4,0.080,0.085,2597,3659,3427
$GC,1396,0.64,63.5,90.5,16.6,304,1402,0.00,2.33,0.00,0.000,6,0.000,0.073,2608,2250,3427
$GC,1532,0.64,63.5,67.5,17.2,335,1538,0.00,2.33,0.00,0.000,4,0.000,0.084,2619,832,3427
$GC,1576,0.64,63.5,60.4,15.7,345,1582,0.10,2.38,0.00,0.000,6,0.209,0.087,2597,2255,3427
$GC,1711,0.64,63.5,40.2,14.4,376,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2256,3427
$GC,1846,0.64,63.5,22.9,12.3,407,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2255,3426
$GC,1916,0.64,63.5,13.9,13.0,423,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,2256,3426
$GC,1986,0.66,80.0,8.0,6.6,439,2003,0.00,0.00,14.55,0.580,6,0.000,0.000,2597,2255,3361
$STATE,2045,end climb,SURFACE_DEPTH_REACHED
$STATE,2045,begin surface coast
$FINISH,3.8,1.020050
$STATE,2097,end surface coast,CONTROL_FINISHED_OK
$STATE,2098,begin surface
$SM_CCo,2099,344.58,0.575,8,0,465,790.60
$SM_GC,0.81,6.68,0.00,0.00,0.043,0.000,0.000,144,2256,461,-6.95,0.17,791.58
$IRIDIUM_FIX,4751.72,-12228.02,201198,000028
$TT8_MAMPS,0.052156
$HUMID,2244
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,6.5
$24V_AH,24.5,1.034
$10V_AH,10.7,0.556
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,16.850,23.125,156.375,344.575,0.000,22.706,26.690,178.781,0.500,0.000,0.000,35.513,0.000,1069.306,614.807,924.770,290.711,33.320,987.845,0.000,733.051,0.000,5.732,0.000
$DEVICE_MAMPS,270.751,86.671,643.513,575.250,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,312.941,533.455,468.161,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31955,464
$CAP_FILE_SIZE,45842,0
$CFSIZE,260165632,258609152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
$GPS,260809,020636,4807.374,-12223.357,9,1.9,25,18.3