version: 66.04
glider: 177
mission: 1
dive: 13
start: 8 26 109 4 48 40
data:
$ID,177
$MISSION,1
$DIVE,13
$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,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$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,350
$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,-3296.1604
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2386
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,43
$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,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,16
$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,10
$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
$GPS1,044125,4807.031,-12222.971,8,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-65.4
$GPS2,044802,4807.016,-12222.999,14,1.9,14,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.046,-0.149
$KALMAN_X,-811.4,-46.1,-5.5,740.8,-59.8
$KALMAN_Y,1781.4,-28.7,33.4,-3029.7,447.1
$MHEAD_RNG_PITCHd_Wd,144.5,2251,-19.0,-6.667
$D_GRID,150
$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,-0.52,-63.5,0.0,0.0,0,155,0.00,0.00,-140.38,0.000,6,0.000,0.000,139,2189,3948
$GC,157,-0.52,-63.5,2.9,-3.7,25,169,9.05,2.25,0.00,0.000,4,0.274,0.063,2223,776,3950
$GC,412,-0.52,-63.5,23.7,-5.6,83,418,0.00,2.28,0.00,0.000,6,0.000,0.074,2215,2202,3951
$GC,483,-0.52,-63.5,27.9,-5.8,99,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2202,3951
$GC,552,-0.52,-63.5,32.0,-5.8,115,558,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2202,3951
$GC,622,-0.52,-63.5,36.1,-6.0,131,627,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2202,3951
$GC,692,-0.52,-63.5,40.9,-6.9,147,697,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2202,3951
$GC,826,-0.52,-63.5,50.2,-7.2,178,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2201,3952
$GC,961,-0.52,-63.5,59.6,-6.8,209,967,0.00,2.25,0.00,0.000,4,0.000,0.078,2204,3613,3951
$GC,992,-0.52,-63.5,61.9,-7.4,216,998,0.00,2.22,0.00,0.000,6,0.000,0.061,2203,2199,3952
$GC,1128,-0.52,-63.5,71.8,-7.1,247,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2198,3952
$GC,1263,-0.52,-63.5,81.3,-7.1,278,1269,0.00,2.25,0.00,0.000,4,0.000,0.077,2194,3615,3951
$GC,1294,-0.52,-63.5,84.0,-8.0,285,1300,0.10,2.20,0.00,0.000,6,0.163,0.062,2217,2200,3951
$GC,1430,-0.52,-63.5,93.4,-6.6,316,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2200,3951
$GC,1565,-0.52,-63.5,102.1,-6.3,347,1570,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2200,3951
$GC,1700,-0.52,-63.5,110.4,-6.0,378,1706,0.00,2.28,0.00,0.000,4,0.000,0.079,2209,3610,3951
$STATE,1743,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1743,begin apogee
$GC,1748,-0.12,0.0,113.4,6.9,388,1821,0.43,0.00,70.62,0.651,6,0.150,0.000,2342,2300,3688
$STATE,1821,end apogee,CONTROL_FINISHED_OK
$STATE,1821,begin climb
$GC,1822,0.52,63.5,114.3,0.0,401,1901,0.57,2.42,70.97,0.627,4,0.081,0.084,2548,3713,3428
$GC,1913,0.52,63.5,106.3,11.1,418,1919,0.00,2.38,0.00,0.000,6,0.000,0.071,2559,2307,3428
$GC,2049,0.52,63.5,86.9,14.1,449,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2559,2307,3427
$GC,2184,0.52,63.5,67.4,14.2,480,2190,0.00,2.33,0.00,0.000,4,0.000,0.080,2570,891,3427
$GC,2232,0.52,63.5,60.6,14.0,491,2239,0.05,2.35,0.00,0.000,6,0.190,0.085,2557,2298,3426
$GC,2369,0.52,63.5,42.6,12.9,522,2375,0.00,2.30,0.00,0.000,4,0.000,0.084,2556,3710,3426
$GC,2382,0.52,63.5,40.7,13.2,525,2388,0.00,2.30,0.00,0.000,6,0.000,0.071,2565,2297,3426
$GC,2519,0.52,63.5,23.4,13.0,556,2524,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2296,3426
$GC,2588,0.52,63.5,14.8,11.9,572,2594,0.00,2.25,0.00,0.000,4,0.000,0.080,2577,877,3426
$GC,2676,0.52,63.5,6.3,8.0,592,2682,0.08,2.35,0.00,0.000,6,0.176,0.084,2554,2299,3426
$GC,2747,0.65,167.3,5.3,-0.6,608,2834,0.12,2.45,82.15,0.604,4,0.084,0.083,2602,3720,3005
$STATE,2837,end climb,SURFACE_DEPTH_REACHED
$STATE,2837,begin surface coast
$FINISH,0.0,1.013244
$STATE,2941,end surface coast,CONTROL_FINISHED_OK
$STATE,2941,begin surface
$SM_CCo,2955,74.47,0.598,0,0,2260,350.04
$SM_GC,0.94,0.00,0.00,74.47,0.000,0.000,0.598,145,2194,2260,-7.00,-0.14,350.04
$IRIDIUM_FIX,4751.72,-12226.29,201198,030338
$TT8_MAMPS,0.052156
$HUMID,2231
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,42.9
$24V_AH,24.4,1.338
$10V_AH,10.6,0.765
$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,17.100,41.425,223.750,74.475,0.000,25.142,28.852,266.686,0.500,0.000,0.000,15.999,0.000,1335.578,439.290,1244.847,401.243,33.311,970.430,0.000,1017.950,0.000,5.838,0.000
$DEVICE_MAMPS,273.819,85.137,651.183,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,435.607,740.803,650.705,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44458,648
$CAP_FILE_SIZE,62665,0
$CFSIZE,260165632,258433024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,053938,4806.793,-12222.842,10,1.9,10,18.3