version: 66.04
glider: 177
mission: 1
dive: 20
start: 8 26 109 11 6 49
data:
$ID,177
$MISSION,1
$DIVE,20
$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,-3462.0537
$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,21
$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
$GPS1,110022,4805.776,-12222.068,8,2.7,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-70.3
$GPS2,110610,4805.758,-12222.046,11,2.8,30,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.026
$KALMAN_X,-722.0,-38.5,-157.1,1972.0,316.0
$KALMAN_Y,3165.2,-346.5,-219.9,-6170.5,385.7
$MHEAD_RNG_PITCHd_Wd,264.6,452,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.66,-34.5,0.0,0.0,0,143,0.00,0.00,-129.32,0.000,2,0.000,0.000,144,2196,3674
$GC,144,-0.69,-56.4,3.1,-3.8,23,163,8.55,0.00,-6.43,0.000,6,0.265,0.000,2157,2194,3919
$GC,227,-0.69,-56.4,12.8,-9.8,41,232,0.00,0.00,0.00,0.000,6,0.000,0.000,2157,2194,3921
$GC,297,-0.69,-57.4,17.6,-6.5,57,302,0.00,2.28,0.00,0.000,4,0.000,0.070,2148,3621,3921
$GC,332,-0.69,-61.4,19.9,-6.2,65,339,0.00,2.28,-0.30,0.000,6,0.000,0.061,2148,2197,3940
$GC,403,-0.69,-61.4,25.1,-7.5,81,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2148,2197,3941
$GC,473,-0.69,-61.4,30.7,-8.1,97,478,0.05,0.00,0.00,0.000,6,0.219,0.000,2159,2196,3941
$GC,543,-0.69,-61.4,36.3,-7.9,113,549,0.00,2.22,0.00,0.000,4,0.000,0.074,2161,784,3941
$GC,596,-0.69,-61.4,40.7,-8.2,125,602,0.00,2.28,0.00,0.000,6,0.000,0.071,2152,2199,3941
$GC,731,-0.69,-61.4,52.6,-9.1,156,738,0.00,2.28,0.00,0.000,4,0.000,0.074,2141,3613,3941
$GC,754,-0.69,-61.4,54.9,-9.7,161,760,0.05,2.25,0.00,0.000,6,0.198,0.063,2155,2198,3941
$GC,891,-0.69,-61.4,67.8,-9.3,192,896,0.00,2.25,0.00,0.000,4,0.000,0.071,2146,3626,3941
$GC,913,-0.69,-61.4,70.2,-9.8,197,919,0.03,2.25,0.00,0.000,6,0.206,0.062,2153,2206,3941
$GC,1049,-0.69,-61.4,83.2,-9.4,228,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2205,3941
$GC,1184,-0.69,-61.4,95.8,-9.6,259,1189,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2205,3941
$GC,1318,-0.69,-61.4,107.9,-8.9,290,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2205,3941
$STATE,1356,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1356,begin apogee
$GC,1359,-0.12,0.0,111.4,9.0,299,1432,0.62,0.00,68.40,0.643,6,0.179,0.000,2338,2308,3688
$STATE,1433,end apogee,CONTROL_FINISHED_OK
$STATE,1433,begin climb
$GC,1434,0.69,61.4,112.6,0.0,312,1506,0.77,0.00,68.57,0.634,6,0.087,0.000,2609,2308,3437
$GC,1636,0.69,61.4,83.6,16.7,355,1641,0.00,2.35,0.00,0.000,4,0.000,0.081,2620,887,3437
$GC,1663,0.69,61.4,79.2,16.7,361,1668,0.00,2.35,0.00,0.000,6,0.000,0.083,2620,2298,3437
$GC,1798,0.69,61.4,56.0,17.0,392,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2298,3436
$GC,1933,0.69,61.4,33.4,16.7,423,1939,0.00,2.30,0.00,0.000,4,0.000,0.077,2630,893,3436
$GC,1956,0.69,61.4,30.0,16.0,428,1962,0.10,2.30,0.00,0.000,6,0.209,0.081,2611,2300,3436
$GC,2027,0.69,61.4,19.5,14.6,444,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2300,3436
$GC,2096,0.69,61.4,9.9,13.5,460,2102,0.00,2.30,0.00,0.000,4,0.000,0.078,2620,889,3436
$GC,2106,0.69,61.4,8.7,13.1,462,2112,0.00,2.35,0.00,0.000,6,0.000,0.084,2611,2300,3436
$GC,2177,0.75,108.2,5.7,0.6,478,2219,0.00,2.40,38.33,0.593,4,0.000,0.081,2611,3718,3246
$STATE,2321,end climb,SURFACE_DEPTH_REACHED
$STATE,2321,begin surface coast
$FINISH,3.6,1.020530
$STATE,2343,end surface coast,CONTROL_FINISHED_OK
$STATE,2343,begin surface
$SM_CCo,2358,116.05,0.572,4,0,2260,350.04
$SM_GC,1.31,0.00,0.00,116.05,0.000,0.000,0.572,149,2197,2260,-6.99,-0.08,350.04
$IRIDIUM_FIX,4751.72,-12223.57,201198,101040
$TT8_MAMPS,0.051389
$HUMID,2182
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,41.0
$24V_AH,24.3,1.924
$10V_AH,10.6,1.117
$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,17.525,37.075,175.300,116.050,0.000,25.143,24.621,207.301,0.500,0.000,0.000,33.455,0.000,1024.822,457.348,1025.082,332.266,33.304,896.098,0.000,813.714,0.000,7.079,0.000
$DEVICE_MAMPS,264.615,88.972,642.746,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,344.577,600.939,525.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34968,514
$CAP_FILE_SIZE,54299,0
$CFSIZE,260165632,258183168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,260809,114924,4805.801,-12222.203,24,1.5,41,18.3