version: 66.04
glider: 177
mission: 1
dive: 24
start: 8 26 109 14 28 10
data:
$ID,177
$MISSION,1
$DIVE,24
$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,-4
$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,-3542.02
$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,25
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,142137,4806.081,-12222.258,31,1.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-78.6
$GPS2,142732,4806.054,-12222.216,14,1.4,14,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.035,0.152
$KALMAN_X,-1023.6,392.8,561.0,915.2,-43.5
$KALMAN_Y,1359.6,567.4,-347.1,-4607.4,-237.1
$MHEAD_RNG_PITCHd_Wd,328.9,4225,-19.0,-6.667
$D_GRID,107
$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,-0.52,-63.5,0.0,0.0,0,69,0.00,0.00,-56.15,0.000,2,0.000,0.000,146,2191,3658
$GC,71,-0.52,-63.5,3.3,-4.4,10,94,8.98,2.30,-7.43,0.000,4,0.269,0.084,2217,787,3951
$GC,98,-0.52,-63.5,8.4,-12.4,15,104,0.00,2.33,0.00,0.000,6,0.000,0.071,2208,2200,3950
$GC,169,-0.52,-63.5,14.1,-6.7,31,174,0.00,2.25,0.00,0.000,4,0.000,0.071,2208,792,3950
$GC,200,-0.52,-63.5,16.0,-5.9,38,206,0.03,2.30,0.00,0.000,6,0.142,0.074,2220,2197,3950
$GC,270,-0.52,-63.5,19.9,-5.3,54,276,0.00,2.22,0.00,0.000,4,0.000,0.071,2219,796,3951
$GC,293,-0.52,-63.5,21.0,-5.1,59,299,0.00,2.25,0.00,0.000,6,0.000,0.073,2212,2200,3951
$GC,364,-0.52,-63.5,25.0,-5.6,75,369,0.00,2.25,0.00,0.000,4,0.000,0.075,2200,3613,3951
$GC,382,-0.52,-63.5,26.2,-6.1,79,388,0.05,2.25,0.00,0.000,6,0.167,0.060,2215,2207,3951
$GC,453,-0.52,-63.5,30.7,-6.2,95,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2205,3952
$GC,522,-0.52,-63.5,34.9,-6.3,111,528,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2205,3952
$GC,592,-0.52,-63.5,39.5,-6.3,127,598,0.00,2.28,0.00,0.000,4,0.000,0.073,2215,786,3952
$GC,623,-0.52,-63.5,41.7,-6.9,134,630,0.00,2.28,0.00,0.000,6,0.000,0.074,2207,2191,3952
$GC,759,-0.52,-63.5,51.3,-7.3,165,765,0.00,2.28,0.00,0.000,4,0.000,0.076,2197,3616,3952
$GC,912,-0.52,-63.5,65.1,-9.1,200,919,0.03,2.25,0.00,0.000,6,0.140,0.062,2219,2198,3952
$GC,1049,-0.52,-63.5,75.0,-6.7,231,1054,0.00,2.25,0.00,0.000,4,0.000,0.074,2211,3613,3952
$GC,1114,-0.52,-63.5,79.9,-7.6,246,1120,0.00,2.22,0.00,0.000,6,0.000,0.061,2211,2204,3952
$GC,1251,-0.52,-63.5,89.4,-6.8,277,1256,0.00,2.22,0.00,0.000,4,0.000,0.074,2211,783,3952
$GC,1316,-0.52,-63.5,94.4,-7.4,292,1323,0.05,2.28,0.00,0.000,6,0.166,0.073,2217,2201,3951
$GC,1452,-0.52,-63.5,103.2,-6.3,323,1458,0.00,2.25,0.00,0.000,4,0.000,0.077,2208,3618,3951
$GC,1487,-0.52,-63.5,105.6,-6.8,331,1493,0.00,2.25,0.00,0.000,6,0.000,0.063,2208,2194,3952
$STATE,1509,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1509,begin apogee
$GC,1512,-0.12,0.0,107.1,7.3,336,1586,0.43,0.00,71.15,0.647,6,0.150,0.000,2341,2310,3688
$STATE,1586,end apogee,CONTROL_FINISHED_OK
$STATE,1586,begin climb
$GC,1587,0.52,63.5,108.1,0.0,349,1665,0.60,0.00,71.07,0.647,6,0.086,0.000,2552,2310,3429
$GC,1795,0.52,63.5,84.5,13.5,393,1800,0.00,2.35,0.00,0.000,4,0.000,0.078,2562,887,3428
$GC,1822,0.52,63.5,81.3,12.8,399,1827,0.00,2.35,0.00,0.000,6,0.000,0.081,2563,2298,3428
$GC,1957,0.52,63.5,63.3,13.0,430,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,2299,3428
$GC,2092,0.52,63.5,46.3,12.9,461,2098,0.00,2.30,0.00,0.000,4,0.000,0.081,2563,3716,3427
$GC,2154,0.52,63.5,36.9,15.9,475,2160,0.10,2.28,0.00,0.000,6,0.214,0.069,2554,2292,3427
$GC,2225,0.52,63.5,27.5,12.9,491,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2290,3427
$GC,2294,0.52,63.5,19.2,11.9,507,2300,0.00,2.28,0.00,0.000,4,0.000,0.079,2563,894,3427
$GC,2322,0.52,63.5,16.1,11.6,513,2327,0.00,2.28,0.00,0.000,6,0.000,0.081,2563,2300,3427
$GC,2392,0.52,63.5,9.7,8.3,529,2398,0.00,2.25,0.00,0.000,4,0.000,0.076,2573,885,3427
$GC,2645,0.62,147.6,9.0,0.8,587,2720,0.00,2.28,69.50,0.608,6,0.000,0.081,2573,2301,3085
$STATE,2757,end climb,SURFACE_DEPTH_REACHED
$STATE,2757,begin surface coast
$FINISH,0.9,1.020073
$STATE,2818,end surface coast,CONTROL_FINISHED_OK
$STATE,2818,begin surface
$SM_CCo,2830,86.00,0.604,0,0,2260,350.04
$SM_GC,1.78,0.00,0.00,86.00,0.000,0.000,0.604,147,2181,2260,-7.00,-0.54,350.04
$IRIDIUM_FIX,4748.51,-12221.84,201198,131316
$TT8_MAMPS,0.052923
$HUMID,2197
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,24.3,2.205
$10V_AH,10.6,1.328
$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,17.250,59.425,211.725,86.000,0.000,24.583,30.986,222.667,0.000,0.000,0.000,15.953,0.000,1280.352,406.843,1210.189,367.945,33.302,915.964,0.000,983.988,0.000,0.846,0.000
$DEVICE_MAMPS,269.217,88.972,646.581,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,419.271,735.578,643.506,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44451,623
$CAP_FILE_SIZE,65238,0
$CFSIZE,260165632,258002944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,151714,4806.266,-12222.230,10,1.8,10,18.3