version: 66.04
glider: 177
mission: 1
dive: 19
start: 8 26 109 10 13 42
data:
$ID,177
$MISSION,1
$DIVE,19
$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,-3427.9712
$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,22
$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
$GPS1,100746,4805.776,-12221.887,10,2.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.0
$GPS2,101304,4805.761,-12221.880,13,2.8,32,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,0.001
$KALMAN_X,-1154.2,95.6,-198.2,2516.2,68.5
$KALMAN_Y,3296.1,-582.8,-63.2,-6219.8,440.7
$MHEAD_RNG_PITCHd_Wd,252.2,467,-26.6,-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,-0.66,-34.5,0.0,0.0,0,144,0.00,0.00,-129.50,0.000,2,0.000,0.000,148,2187,3677
$GC,146,-0.69,-58.6,3.1,-3.5,23,164,8.75,0.00,-6.62,0.000,6,0.273,0.000,2161,2185,3929
$GC,228,-0.69,-58.6,11.7,-7.9,41,233,0.00,0.00,0.00,0.000,6,0.000,0.000,2160,2185,3929
$GC,298,-0.69,-59.4,16.4,-6.6,57,304,0.00,2.28,0.00,0.000,4,0.000,0.070,2151,3618,3930
$GC,329,-0.69,-61.4,18.6,-6.4,64,335,0.00,2.28,-0.12,0.000,6,0.000,0.062,2151,2197,3940
$GC,400,-0.69,-61.4,23.2,-6.9,80,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2197,3941
$GC,469,-0.69,-61.4,28.5,-7.4,96,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2152,2197,3941
$GC,539,-0.69,-61.4,34.0,-8.0,112,544,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2197,3941
$GC,609,-0.69,-61.4,39.5,-7.6,128,614,0.00,0.00,0.00,0.000,6,0.000,0.000,2151,2197,3942
$GC,678,-0.69,-61.4,45.0,-8.0,144,684,0.00,2.25,0.00,0.000,4,0.000,0.075,2151,795,3942
$GC,701,-0.69,-61.4,47.2,-8.7,149,707,0.05,2.25,0.00,0.000,6,0.196,0.071,2164,2196,3942
$GC,837,-0.69,-61.4,59.1,-8.9,180,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2195,3941
$GC,972,-0.69,-61.4,71.6,-9.2,211,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2195,3941
$GC,1107,-0.69,-61.4,83.6,-9.1,242,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,2164,2195,3942
$GC,1242,-0.69,-61.4,95.5,-8.2,273,1248,0.00,2.28,0.00,0.000,4,0.000,0.074,2155,3613,3941
$GC,1342,-0.69,-61.4,105.8,-10.6,296,1349,0.00,2.22,0.00,0.000,6,0.000,0.062,2155,2202,3942
$STATE,1438,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1438,begin apogee
$GC,1441,-0.12,0.0,114.3,8.1,318,1514,0.62,0.00,68.30,0.647,6,0.179,0.000,2339,2303,3688
$STATE,1514,end apogee,CONTROL_FINISHED_OK
$STATE,1514,begin climb
$GC,1515,0.69,61.4,115.5,0.0,331,1593,0.77,2.42,68.85,0.639,4,0.084,0.081,2622,892,3437
$GC,1632,0.69,61.4,101.2,16.3,354,1638,0.00,2.38,0.00,0.000,6,0.000,0.082,2622,2298,3437
$GC,1768,0.69,61.4,76.9,17.9,385,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2298,3437
$GC,1902,0.69,61.4,53.0,17.2,416,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2298,3436
$GC,2037,0.69,61.4,30.1,17.0,447,2043,0.00,2.30,0.00,0.000,4,0.000,0.077,2633,892,3436
$GC,2063,0.69,61.4,25.9,16.2,453,2070,0.08,2.35,0.00,0.000,6,0.205,0.083,2613,2301,3436
$GC,2134,0.69,61.4,15.2,14.8,469,2140,0.00,2.28,0.00,0.000,4,0.000,0.078,2621,881,3436
$GC,2148,0.69,61.4,13.2,14.6,472,2154,0.00,2.35,0.00,0.000,6,0.000,0.084,2622,2298,3435
$GC,2219,0.69,61.4,4.4,12.0,488,2225,0.00,2.30,0.00,0.000,4,0.000,0.083,2618,3722,3435
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,4.6,1.020773
$STATE,2266,end surface coast,CONTROL_FINISHED_OK
$STATE,2266,begin surface
$SM_CCo,2268,345.98,0.577,7,0,465,790.60
$SM_GC,0.87,6.72,0.00,0.00,0.039,0.000,0.000,143,2196,460,-6.94,-0.11,791.83
$IRIDIUM_FIX,4748.51,-12222.84,201198,090926
$TT8_MAMPS,0.051389
$HUMID,2162
$INTERNAL_PRESSURE,8.65268
$TCM_TEMP,17.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,44.2
$24V_AH,24.5,1.858
$10V_AH,10.7,1.068
$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,17.000,32.625,137.150,345.975,0.000,22.706,24.241,177.865,0.500,0.000,0.000,35.041,0.000,1098.913,676.162,995.520,296.685,33.296,1097.159,0.000,785.719,0.000,5.844,0.000
$DEVICE_MAMPS,273.052,88.972,647.348,576.784,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,335.202,563.090,493.999,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35042,499
$CAP_FILE_SIZE,52927,0
$CFSIZE,260165632,258224128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,7,0
$GPS,260809,110022,4805.776,-12222.068,8,2.7,27,18.3