version: 66.04
glider: 177
mission: 1
dive: 17
start: 8 26 109 8 27 4
data:
$ID,177
$MISSION,1
$DIVE,17
$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,-3374.335
$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,27
$R_STBD_OVSHOOT,15
$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
$GPS1,082037,4806.140,-12222.209,27,1.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-77.9
$GPS2,082626,4806.111,-12222.198,13,1.3,13,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.112,-0.085
$KALMAN_X,-1405.9,198.6,-95.3,2168.4,-257.4
$KALMAN_Y,2462.1,-411.1,372.6,-5342.0,174.5
$MHEAD_RNG_PITCHd_Wd,108.9,320,-21.5,-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,-0.56,-51.2,0.0,0.0,0,74,0.00,0.00,-61.15,0.000,2,0.000,0.000,143,2175,3794
$GC,76,-0.58,-63.5,3.6,-5.0,8,94,8.82,2.22,-3.95,0.000,4,0.267,0.087,2204,790,3949
$GC,341,-0.58,-63.5,25.8,-6.4,68,347,0.00,2.30,0.00,0.000,6,0.000,0.074,2196,2201,3950
$GC,412,-0.58,-63.5,30.2,-6.2,84,418,0.00,2.22,0.00,0.000,4,0.000,0.074,2196,798,3951
$GC,435,-0.58,-63.5,31.6,-6.5,89,440,0.00,2.25,0.00,0.000,6,0.000,0.076,2186,2199,3950
$GC,505,-0.58,-63.5,36.6,-6.9,105,511,0.00,2.28,0.00,0.000,4,0.000,0.077,2175,3623,3950
$GC,532,-0.58,-63.5,38.8,-7.6,111,538,0.10,2.25,0.00,0.000,6,0.189,0.063,2195,2192,3951
$GC,603,-0.58,-63.5,44.1,-7.5,127,608,0.00,2.28,0.00,0.000,4,0.000,0.074,2187,3613,3951
$GC,621,-0.58,-63.5,45.7,-7.4,131,627,0.00,2.22,0.00,0.000,6,0.000,0.062,2187,2192,3951
$GC,756,-0.58,-63.5,56.4,-8.0,162,762,0.00,2.30,0.00,0.000,4,0.000,0.074,2176,3613,3951
$GC,800,-0.58,-63.5,60.5,-9.4,172,807,0.05,2.25,0.00,0.000,6,0.173,0.063,2192,2197,3951
$GC,937,-0.58,-63.5,71.8,-8.0,203,942,0.00,2.28,0.00,0.000,4,0.000,0.074,2183,3623,3951
$GC,958,-0.58,-63.5,73.8,-8.5,208,965,0.05,2.25,0.00,0.000,6,0.170,0.064,2197,2207,3951
$GC,1095,-0.58,-63.5,84.4,-7.4,239,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2197,2206,3951
$GC,1229,-0.58,-63.5,94.2,-7.4,270,1236,0.00,2.28,0.00,0.000,4,0.000,0.077,2197,784,3951
$GC,1270,-0.58,-63.5,97.1,-7.4,279,1275,0.00,2.25,0.00,0.000,6,0.000,0.076,2189,2202,3951
$GC,1405,-0.58,-63.5,107.1,-7.4,310,1410,0.00,0.00,0.00,0.000,6,0.000,0.000,2189,2202,3950
$STATE,1500,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1500,begin apogee
$GC,1503,-0.12,0.0,114.4,7.9,332,1580,0.50,0.00,70.68,0.652,6,0.164,0.000,2341,2306,3688
$STATE,1581,end apogee,CONTROL_FINISHED_OK
$STATE,1581,begin climb
$GC,1582,0.58,63.5,115.4,0.0,346,1660,0.65,2.42,71.28,0.648,4,0.086,0.083,2570,3718,3429
$GC,1664,0.58,63.5,108.3,10.3,361,1669,0.00,2.38,0.00,0.000,6,0.000,0.068,2581,2301,3428
$GC,1799,0.58,63.5,86.7,16.4,392,1805,0.00,2.33,0.00,0.000,4,0.000,0.081,2591,879,3428
$GC,1860,0.58,63.5,77.2,15.0,406,1867,0.05,2.38,0.00,0.000,6,0.197,0.084,2578,2285,3428
$GC,1996,0.58,63.5,56.3,15.6,437,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,2286,3428
$GC,2131,0.58,63.5,36.5,14.8,468,2137,0.00,2.35,0.00,0.000,4,0.000,0.087,2577,3718,3427
$GC,2184,0.58,63.5,28.3,15.7,480,2190,0.00,2.28,0.00,0.000,6,0.000,0.070,2586,2297,3427
$GC,2255,0.58,63.5,18.1,14.2,496,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2296,3427
$GC,2324,0.58,63.5,8.7,13.1,512,2330,0.00,2.30,0.00,0.000,4,0.000,0.081,2596,881,3427
$STATE,2372,end climb,SURFACE_DEPTH_REACHED
$STATE,2372,begin surface coast
$FINISH,4.2,1.020834
$STATE,2420,end surface coast,CONTROL_FINISHED_OK
$STATE,2420,begin surface
$SM_CCo,2421,331.02,0.591,3,0,464,790.60
$SM_GC,0.77,6.70,0.00,0.00,0.042,0.000,0.000,147,2204,460,-6.93,0.08,791.83
$IRIDIUM_FIX,4748.51,-12220.12,201198,070720
$TT8_MAMPS,0.052156
$HUMID,2158
$INTERNAL_PRESSURE,8.64291
$TCM_TEMP,17.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,44.3
$24V_AH,24.5,1.668
$10V_AH,10.7,0.972
$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,16.925,50.450,141.950,331.025,0.000,22.858,27.572,221.075,0.500,0.000,0.000,15.253,0.000,1214.743,592.804,1057.133,347.234,33.306,1034.330,0.000,838.909,0.000,5.842,0.000
$DEVICE_MAMPS,266.916,92.040,651.950,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,360.753,598.738,512.516,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38259,534
$CAP_FILE_SIZE,57795,0
$CFSIZE,260165632,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,0
$GPS,260809,091526,4805.974,-12221.871,12,1.6,12,18.3