version: 66.04
glider: 176
mission: 1
dive: 11
start: 8 26 109 3 7 41
data:
$ID,176
$MISSION,1
$DIVE,11
$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,-3899.5891
$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
$GPS1,030326,4807.539,-12223.146,18,1.2,18,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.7
$GPS2,030702,4807.542,-12223.141,13,1.5,13,18.3
$SPEED_LIMITS,0.137,0.201
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,-0.181
$KALMAN_X,-1443.1,-290.5,170.1,1083.7,-354.0
$KALMAN_Y,3488.4,882.5,-171.8,-3681.3,819.7
$MHEAD_RNG_PITCHd_Wd,135.9,1019,-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,-57.08,0.000,2,0.000,0.000,214,2217,2991
$GC,71,-0.57,-97.8,3.5,-4.7,9,97,9.18,2.25,-9.60,0.000,4,0.261,0.061,2443,772,3441
$GC,167,-0.57,-97.8,21.0,-12.9,29,173,0.00,2.33,0.00,0.000,6,0.000,0.062,2443,2213,3442
$GC,238,-0.57,-97.8,29.5,-11.9,45,244,0.00,2.22,0.00,0.000,4,0.000,0.043,2443,759,3442
$GC,492,-0.57,-97.8,59.6,-11.5,103,497,0.00,2.28,0.00,0.000,6,0.000,0.061,2443,2213,3442
$GC,627,-0.57,-97.8,75.7,-11.9,134,633,0.00,2.20,0.00,0.000,4,0.000,0.043,2443,759,3443
$GC,747,-0.57,-97.8,89.7,-11.6,161,752,0.00,2.28,0.00,0.000,6,0.000,0.062,2443,2214,3443
$GC,881,-0.57,-97.8,105.4,-11.2,192,888,0.00,2.22,0.00,0.000,4,0.000,0.071,2443,3615,3443
$GC,922,-0.57,-97.8,110.1,-12.2,201,928,0.00,2.15,0.00,0.000,6,0.000,0.040,2443,2160,3443
$STATE,952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,952,begin apogee
$GC,955,-0.13,0.0,113.7,11.5,208,1032,0.47,0.00,72.18,0.632,6,0.163,0.000,2590,2045,3039
$STATE,1033,end apogee,CONTROL_FINISHED_OK
$STATE,1033,begin climb
$GC,1034,0.57,97.8,116.2,0.0,221,1110,0.65,0.00,72.80,0.610,6,0.097,0.000,2821,2045,2641
$GC,1239,0.57,97.8,94.8,13.1,264,1247,0.00,2.40,0.00,0.000,4,0.000,0.065,2821,3512,2640
$GC,1311,0.57,97.8,84.6,14.4,280,1318,0.05,2.25,0.00,0.000,6,0.212,0.045,2815,2073,2639
$GC,1449,0.57,97.8,67.5,12.2,311,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2070,2639
$GC,1584,0.57,97.8,51.0,12.2,342,1591,0.00,2.33,0.00,0.000,4,0.000,0.064,2815,3522,2639
$GC,1643,0.57,97.8,43.1,13.9,355,1648,0.00,2.20,0.00,0.000,6,0.000,0.048,2818,2074,2639
$GC,1779,0.57,97.8,26.7,11.3,386,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2070,2639
$GC,1850,0.57,97.8,19.3,10.0,402,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2071,2639
$GC,1921,0.57,97.8,12.4,10.0,418,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2071,2638
$GC,1992,0.62,137.7,6.9,5.7,434,2026,0.05,2.38,29.45,0.574,4,0.135,0.064,2851,3530,2477
$GC,2274,0.79,277.7,3.2,0.3,496,2353,0.05,2.22,74.70,0.565,2,0.081,0.044,2898,2070,1950
$STATE,2354,end climb,SURFACE_DEPTH_REACHED
$STATE,2354,begin surface coast
$FINISH,0.1,1.019835
$STATE,2426,end surface coast,CONTROL_FINISHED_OK
$STATE,2426,begin surface
$SM_CCo,2438,66.38,0.547,0,0,1409,400.08
$SM_GC,1.23,0.00,0.00,66.38,0.000,0.000,0.547,210,2228,1409,-7.56,0.79,400.08
$IRIDIUM_FIX,4745.30,-12306.56,201198,020240
$TT8_MAMPS,0.052156
$HUMID,2232
$INTERNAL_PRESSURE,9.46325
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,43.1
$24V_AH,24.5,1.080
$10V_AH,10.9,0.694
$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,17.725,32.050,249.125,66.375,0.000,23.507,25.332,107.843,0.500,0.000,0.000,13.603,0.000,864.568,345.759,1280.555,220.796,33.303,813.263,0.000,1111.885,0.000,5.519,0.000
$DEVICE_MAMPS,260.780,74.399,632.008,546.871,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,354.990,893.787,811.245,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35024,525
$CAP_FILE_SIZE,47124,0
$CFSIZE,260165632,258031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,034950,4807.503,-12222.961,14,2.0,14,18.3