version: 66.04
glider: 176
mission: 1
dive: 13
start: 8 26 109 4 46 37
data:
$ID,176
$MISSION,1
$DIVE,13
$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,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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-3946.3623
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,224
$PITCH_MAX,4024
$C_PITCH,2618
$PITCH_DBAND,0.02
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,42
$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,2300
$C_ROLL_CLIMB,2200
$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,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,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
$GPS1,043952,4807.240,-12222.716,15,6.3,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-77.0
$GPS2,044558,4807.212,-12222.749,10,5.3,29,18.3
$SPEED_LIMITS,0.115,0.253
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.052,-0.247
$KALMAN_X,-1315.8,-323.7,14.1,1627.3,-78.0
$KALMAN_Y,4276.9,789.9,-59.3,-5096.9,472.4
$MHEAD_RNG_PITCHd_Wd,173.7,501,-9.2,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.46,-195.5,0.0,0.0,0,70,0.00,0.00,-56.78,0.000,2,0.000,0.000,214,2323,2973
$GC,71,-0.46,-195.5,3.2,-4.5,9,104,9.25,2.28,-18.88,0.000,4,0.261,0.060,2472,867,3838
$GC,287,-0.46,-195.5,28.4,-9.4,56,293,0.00,2.30,0.00,0.000,6,0.000,0.064,2472,2299,3840
$GC,358,-0.46,-195.5,35.5,-10.1,72,364,0.00,2.28,0.00,0.000,4,0.000,0.072,2472,3712,3840
$GC,386,-0.46,-195.5,38.3,-10.0,78,392,0.00,2.17,0.00,0.000,6,0.000,0.040,2472,2273,3840
$GC,456,-0.46,-195.5,45.2,-9.9,94,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2269,3840
$GC,592,-0.46,-195.5,58.5,-9.8,125,598,0.00,2.30,0.00,0.000,4,0.000,0.072,2472,3716,3841
$GC,619,-0.46,-195.5,61.0,-9.5,131,625,0.00,2.15,0.00,0.000,6,0.000,0.040,2472,2265,3840
$GC,755,-0.46,-195.5,73.5,-9.3,162,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2261,3840
$GC,891,-0.46,-195.5,86.2,-9.4,193,896,0.00,2.30,0.00,0.000,4,0.000,0.072,2472,3726,3840
$GC,913,-0.46,-195.5,88.4,-9.4,198,920,0.00,2.17,0.00,0.000,6,0.000,0.039,2472,2273,3840
$GC,1050,-0.46,-195.5,101.2,-9.3,229,1055,0.00,2.30,0.00,0.000,4,0.000,0.072,2472,3724,3840
$GC,1077,-0.46,-195.5,103.5,-9.2,235,1083,0.00,2.15,0.00,0.000,6,0.000,0.041,2472,2268,3840
$STATE,1120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1120,begin apogee
$GC,1123,-0.12,0.0,107.5,8.7,245,1271,0.32,0.00,141.85,0.627,6,0.141,0.000,2578,2153,3039
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1273,0.46,195.5,112.7,0.0,270,1427,0.55,2.25,145.25,0.601,4,0.103,0.052,2767,777,2241
$GC,1449,0.46,195.5,100.5,10.9,301,1455,0.00,2.35,0.00,0.000,6,0.000,0.059,2767,2214,2240
$GC,1584,0.46,195.5,86.0,11.0,332,1591,0.00,2.30,0.00,0.000,4,0.000,0.068,2767,3622,2238
$GC,1652,0.46,195.5,77.5,12.8,347,1657,0.08,2.22,0.00,0.000,6,0.185,0.042,2757,2167,2238
$GC,1787,0.46,195.5,63.2,10.1,378,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2163,2238
$GC,1923,0.46,195.5,49.7,9.5,409,1928,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2163,2238
$GC,2058,0.46,195.5,36.9,9.6,440,2064,0.00,2.35,0.00,0.000,4,0.000,0.067,2757,3626,2237
$GC,2099,0.46,195.5,32.5,10.9,449,2105,0.00,2.20,0.00,0.000,6,0.000,0.044,2761,2183,2238
$GC,2170,0.46,195.5,25.4,9.6,465,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2179,2237
$GC,2242,0.46,195.5,19.1,8.6,481,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2179,2237
$GC,2313,0.46,195.5,12.3,9.4,497,2319,0.00,2.30,0.00,0.000,4,0.000,0.066,2761,3625,2237
$GC,2350,0.46,195.5,8.7,10.0,505,2356,0.00,2.20,0.00,0.000,6,0.000,0.042,2761,2172,2237
$GC,2421,0.53,250.1,4.4,5.4,521,2461,0.10,0.00,37.85,0.568,6,0.088,0.000,2813,2167,2020
$STATE,2464,end climb,SURFACE_DEPTH_REACHED
$STATE,2464,begin surface coast
$FINISH,0.9,1.019800
$STATE,2499,end surface coast,CONTROL_FINISHED_OK
$STATE,2499,begin surface
$SM_CCo,2511,83.72,0.556,0,0,1409,400.08
$SM_GC,1.63,0.00,0.00,83.72,0.000,0.000,0.556,216,2325,1409,-7.51,0.71,400.08
$IRIDIUM_FIX,4751.72,-12226.29,201198,040450
$TT8_MAMPS,0.052923
$HUMID,2162
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.5,1.245
$10V_AH,10.9,0.819
$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,17.575,40.925,324.950,83.725,0.000,23.797,29.116,224.261,0.000,0.000,0.000,30.881,0.000,843.110,442.319,1312.359,352.356,33.307,947.396,0.000,1120.498,0.000,0.537,0.000
$DEVICE_MAMPS,260.780,73.632,627.406,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,359.983,863.886,777.322,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38257,536
$CAP_FILE_SIZE,54314,0
$CFSIZE,260165632,257945600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,053034,4806.890,-12222.780,13,9.1,32,18.3