version: 66.04
glider: 177
mission: 1
dive: 22
start: 8 26 109 12 48 11
data:
$ID,177
$MISSION,1
$DIVE,22
$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,-3493.2039
$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,16
$R_STBD_OVSHOOT,14
$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
$GPS1,124149,4805.860,-12222.283,11,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-78.6
$GPS2,124732,4805.808,-12222.259,14,1.9,14,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.013,0.115
$KALMAN_X,-689.7,173.4,225.0,1086.3,376.7
$KALMAN_Y,2006.1,451.8,-322.1,-5615.4,-144.7
$MHEAD_RNG_PITCHd_Wd,335.0,479,-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,10,begin dive
$GC,11,-0.66,-34.5,0.0,0.0,0,64,0.00,0.00,-50.90,0.000,2,0.000,0.000,149,2199,3512
$GC,65,-0.68,-51.2,3.0,-4.5,9,90,8.65,2.28,-10.48,0.000,4,0.267,0.085,2161,779,3898
$GC,150,-0.68,-51.2,12.7,-9.4,27,156,0.05,2.28,0.00,0.000,6,0.228,0.069,2161,2204,3898
$GC,221,-0.69,-59.4,17.2,-5.6,43,227,0.00,2.28,-0.55,0.000,4,0.000,0.084,2162,775,3932
$GC,231,-0.70,-63.5,17.9,-5.7,45,237,0.00,2.30,-0.30,0.000,6,0.000,0.072,2152,2210,3951
$GC,302,-0.70,-63.5,22.9,-7.8,61,307,0.00,2.28,0.00,0.000,4,0.000,0.071,2152,776,3951
$GC,324,-0.70,-63.5,24.7,-7.9,66,330,0.05,2.30,0.00,0.000,6,0.189,0.071,2156,2195,3951
$GC,395,-0.70,-63.5,30.5,-8.1,82,401,0.00,2.28,0.00,0.000,4,0.000,0.071,2156,780,3952
$GC,409,-0.70,-63.5,31.6,-8.1,85,415,0.03,2.30,0.00,0.000,6,0.210,0.071,2153,2200,3952
$GC,480,-0.70,-63.5,37.2,-8.1,101,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2200,3952
$GC,550,-0.70,-63.5,42.8,-8.3,117,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2153,2200,3952
$GC,684,-0.70,-63.5,54.1,-8.8,148,690,0.00,2.28,0.00,0.000,4,0.000,0.074,2144,3612,3952
$GC,842,-0.70,-63.5,70.9,-11.3,184,848,0.08,2.20,0.00,0.000,6,0.199,0.061,2159,2197,3952
$GC,978,-0.70,-63.5,83.4,-9.1,215,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2159,2196,3952
$GC,1112,-0.70,-63.5,96.0,-9.1,246,1118,0.00,2.25,0.00,0.000,4,0.000,0.074,2160,782,3952
$GC,1148,-0.70,-63.5,99.3,-9.5,254,1154,0.00,2.28,0.00,0.000,6,0.000,0.072,2151,2200,3952
$STATE,1269,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1269,begin apogee
$GC,1273,-0.12,0.0,111.0,9.3,282,1350,0.65,0.00,71.55,0.643,6,0.180,0.000,2341,2307,3688
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1352,0.70,63.5,112.4,0.0,296,1430,0.77,2.42,71.43,0.642,4,0.084,0.077,2624,881,3427
$GC,1434,0.70,63.5,103.6,13.0,311,1440,0.00,2.42,0.00,0.000,6,0.000,0.081,2624,2300,3427
$GC,1570,0.70,63.5,78.9,18.2,342,1576,0.00,2.33,0.00,0.000,4,0.000,0.077,2634,886,3427
$GC,1579,0.70,63.5,77.0,17.9,344,1585,0.08,2.38,0.00,0.000,6,0.206,0.081,2615,2297,3427
$GC,1715,0.70,63.5,53.0,17.1,375,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2297,3427
$GC,1849,0.70,63.5,30.6,15.9,406,1855,0.00,2.33,0.00,0.000,4,0.000,0.081,2614,3703,3426
$GC,1859,0.70,63.5,29.0,15.7,408,1865,0.00,2.28,0.00,0.000,6,0.000,0.068,2623,2305,3427
$GC,1930,0.70,63.5,17.9,15.3,424,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2304,3426
$GC,1999,0.70,63.5,8.6,12.8,440,2005,0.00,2.33,0.00,0.000,4,0.000,0.080,2634,878,3426
$GC,2061,0.76,116.3,7.4,-0.2,454,2113,0.00,2.30,44.53,0.594,6,0.000,0.081,2634,2299,3213
$GC,2177,0.79,140.6,5.6,3.5,478,2202,0.00,2.40,20.12,0.582,4,0.000,0.080,2634,3710,3114
$STATE,2222,end climb,SURFACE_DEPTH_REACHED
$STATE,2222,begin surface coast
$FINISH,3.1,1.020398
$STATE,2239,end surface coast,CONTROL_FINISHED_OK
$STATE,2239,begin surface
$SM_CCo,2254,104.18,0.601,0,0,2260,350.04
$SM_GC,1.70,0.00,0.00,104.18,0.000,0.000,0.601,145,2193,2260,-7.00,-0.20,350.04
$IRIDIUM_FIX,4748.51,-12219.12,201198,121224
$TT8_MAMPS,0.052923
$HUMID,2175
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,40.5
$24V_AH,24.3,2.061
$10V_AH,10.6,1.218
$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,18.050,51.125,207.625,104.175,0.000,25.914,29.931,209.720,0.500,0.000,0.000,17.281,0.000,978.582,408.223,968.931,340.452,33.296,827.029,0.000,775.377,0.000,5.832,0.000
$DEVICE_MAMPS,266.916,89.739,642.746,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,329.228,567.982,498.352,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35017,491
$CAP_FILE_SIZE,55531,0
$CFSIZE,260165632,258101248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,132816,4805.941,-12222.268,9,7.4,28,18.3