version: 66.04
glider: 176
mission: 1
dive: 9
start: 8 26 109 1 39 25
data:
$ID,176
$MISSION,1
$DIVE,9
$D_SURF,2
$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,63
$T_MISSION,73
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$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,400
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3869.4685
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2630
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,39
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3752
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,-15
$R_STBD_OVSHOOT,-15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3040
$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,4
$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,-70.19986
$PRESSURE_SLOPE,0.0001162977
$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,2
$XPDR_VALID,3
$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,0.00432827
$SEABIRD_T_H,0.00062557345
$SEABIRD_T_I,2.4575895e-05
$SEABIRD_T_J,2.763237e-06
$SEABIRD_C_G,-10.125947
$SEABIRD_C_H,1.1501343
$SEABIRD_C_I,-0.00052266428
$SEABIRD_C_J,0.00012672807
$GPS1,013458,4807.841,-12223.297,10,3.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-76.2
$GPS2,013846,4807.857,-12223.306,10,2.2,29,18.3
$SPEED_LIMITS,0.137,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.190
$KALMAN_X,-1012.7,-301.9,53.5,579.4,-201.2
$KALMAN_Y,2465.3,893.8,25.1,-2289.2,540.9
$MHEAD_RNG_PITCHd_Wd,143.0,1633,-17.6,-7.937
$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,-0.57,-97.8,0.0,0.0,0,70,0.00,0.00,-57.12,0.000,2,0.000,0.000,212,2217,2992
$GC,71,-0.57,-97.8,3.4,-4.6,9,97,9.15,2.28,-9.55,0.000,4,0.260,0.080,2442,3626,3441
$GC,275,-0.57,-97.8,33.9,-12.1,54,281,0.00,2.22,0.00,0.000,6,0.000,0.042,2442,2164,3442
$GC,346,-0.57,-97.8,42.4,-11.6,70,351,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2160,3442
$GC,482,-0.57,-97.8,58.8,-12.4,101,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2160,3443
$GC,615,-0.57,-97.8,76.0,-13.0,132,621,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2160,3443
$GC,751,-0.57,-97.8,92.9,-12.5,163,757,0.00,2.30,0.00,0.000,4,0.000,0.070,2442,3621,3443
$GC,778,-0.57,-97.8,96.5,-13.0,169,784,0.00,2.15,0.00,0.000,6,0.000,0.040,2442,2167,3443
$STATE,900,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,900,begin apogee
$GC,903,-0.13,0.0,111.0,11.7,197,979,0.47,0.00,71.90,0.627,6,0.162,0.000,2589,2053,3040
$STATE,979,end apogee,CONTROL_FINISHED_OK
$STATE,980,begin climb
$GC,981,0.57,97.8,113.6,0.0,210,1059,0.65,2.28,72.53,0.604,4,0.093,0.054,2830,663,2640
$GC,1103,0.57,97.8,103.8,12.1,233,1109,0.10,2.33,0.00,0.000,6,0.182,0.058,2807,2109,2639
$GC,1238,0.57,97.8,86.4,11.8,264,1245,0.00,2.28,0.00,0.000,4,0.000,0.065,2807,3519,2639
$GC,1300,0.57,97.8,77.4,14.9,278,1307,0.00,2.25,0.00,0.000,6,0.000,0.046,2817,2074,2639
$GC,1438,0.57,97.8,60.0,12.1,309,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2070,2639
$GC,1573,0.57,97.8,44.2,11.3,340,1579,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2070,2639
$GC,1709,0.57,97.8,29.0,11.0,371,1715,0.00,2.30,0.00,0.000,4,0.000,0.065,2817,3516,2639
$GC,1763,0.57,97.8,22.5,12.3,383,1769,0.00,2.22,0.00,0.000,6,0.000,0.048,2817,2073,2639
$GC,1834,0.57,97.8,15.5,9.1,399,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2068,2638
$GC,1905,0.57,97.8,9.1,8.6,415,1911,0.00,2.30,0.00,0.000,4,0.000,0.064,2818,3522,2638
$GC,2042,0.82,301.1,6.0,-3.2,446,2168,0.20,2.20,120.12,0.568,2,0.056,0.044,2915,2063,1952
$STATE,2168,end climb,SURFACE_DEPTH_REACHED
$STATE,2168,begin surface coast
$FINISH,0.2,1.008377
$STATE,2215,end surface coast,CONTROL_FINISHED_OK
$STATE,2215,begin surface
$SM_CCo,2227,70.82,0.548,0,0,1409,400.08
$SM_GC,1.32,0.00,0.00,70.82,0.000,0.000,0.548,209,2215,1409,-7.56,0.42,400.08
$IRIDIUM_FIX,4751.72,-12223.57,201198,010110
$TT8_MAMPS,0.052923
$HUMID,2192
$INTERNAL_PRESSURE,9.44372
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,40.6
$24V_AH,24.4,0.951
$10V_AH,10.9,0.576
$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,17.950,27.450,264.550,70.825,0.000,22.696,25.233,103.437,0.500,0.000,0.000,30.979,0.000,767.393,356.459,1176.190,216.515,33.337,797.451,0.000,1006.223,0.000,5.514,0.000
$DEVICE_MAMPS,260.013,79.768,627.406,548.405,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,320.841,797.742,721.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31796,476
$CAP_FILE_SIZE,43793,0
$CFSIZE,260165632,258105344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,021836,4807.693,-12223.221,37,1.0,42,18.3