version: 66.04
glider: 176
mission: 1
dive: 16
start: 8 26 109 7 24 6
data:
$ID,176
$MISSION,1
$DIVE,16
$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,-4013.3997
$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
$GPS1,071416,4806.861,-12223.057,9,2.7,28,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.2
$GPS2,072328,4806.816,-12223.092,12,2.3,31,18.3
$SPEED_LIMITS,0.115,0.253
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.009,0.169
$KALMAN_X,-1413.8,-26.4,32.7,990.2,84.3
$KALMAN_Y,4522.6,270.4,-35.1,-5582.8,-187.1
$MHEAD_RNG_PITCHd_Wd,344.8,359,-17.2,-6.667
$D_GRID,103
$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,12,-0.50,-76.3,0.0,0.0,0,109,0.00,0.00,-94.40,0.000,2,0.000,0.000,208,2259,3114
$GC,110,-0.56,-126.0,3.5,-3.7,15,136,9.00,2.15,-9.85,0.000,4,0.255,0.058,2434,858,3556
$GC,140,-0.56,-126.0,9.5,-12.6,20,147,0.00,2.33,0.00,0.000,6,0.000,0.061,2434,2301,3556
$GC,212,-0.56,-126.0,18.9,-13.1,36,218,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2301,3557
$GC,283,-0.56,-126.0,28.2,-13.3,52,289,0.00,2.28,0.00,0.000,4,0.000,0.071,2432,3717,3557
$GC,324,-0.56,-126.0,33.8,-13.7,61,330,0.00,2.17,0.00,0.000,6,0.000,0.039,2432,2271,3557
$GC,395,-0.56,-126.0,43.9,-14.1,77,400,0.00,2.10,0.00,0.000,4,0.000,0.043,2432,852,3558
$GC,416,-0.56,-126.0,47.2,-14.3,82,423,0.00,2.33,0.00,0.000,6,0.000,0.061,2432,2309,3557
$GC,553,-0.56,-126.0,66.2,-13.9,113,559,0.00,2.17,0.00,0.000,4,0.000,0.041,2432,846,3558
$GC,589,-0.56,-126.0,71.1,-13.9,121,595,0.00,2.30,0.00,0.000,6,0.000,0.063,2432,2309,3558
$GC,724,-0.56,-126.0,89.3,-13.2,152,731,0.00,2.25,0.00,0.000,4,0.000,0.071,2430,3717,3557
$GC,774,-0.56,-126.0,96.1,-13.6,163,780,0.00,2.15,0.00,0.000,6,0.000,0.039,2431,2259,3558
$STATE,830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,830,begin apogee
$GC,833,-0.12,0.0,103.5,12.8,176,928,0.47,0.00,92.10,0.617,6,0.164,0.000,2577,2142,3039
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,929,begin climb
$GC,930,0.56,126.0,106.7,0.0,192,1031,0.65,2.45,93.85,0.594,4,0.107,0.064,2800,3617,2524
$GC,1048,0.56,126.0,96.9,12.0,213,1054,0.00,2.28,0.00,0.000,6,0.000,0.043,2802,2171,2524
$GC,1184,0.56,126.0,77.9,13.8,244,1190,0.00,2.35,0.00,0.000,4,0.000,0.065,2803,3612,2522
$GC,1242,0.56,126.0,68.7,16.1,257,1247,0.00,2.20,0.00,0.000,6,0.000,0.043,2803,2178,2522
$GC,1377,0.56,126.0,50.0,13.2,288,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2174,2522
$GC,1514,0.56,126.0,32.7,12.4,319,1520,0.00,2.33,0.00,0.000,4,0.000,0.066,2803,3626,2522
$GC,1550,0.56,126.0,27.7,13.7,327,1556,0.00,2.20,0.00,0.000,6,0.000,0.042,2805,2176,2522
$GC,1621,0.56,126.0,20.3,11.3,343,1627,0.00,2.30,0.00,0.000,4,0.000,0.065,2804,3615,2522
$GC,1697,0.56,126.0,10.2,13.7,360,1703,0.03,2.20,0.00,0.000,6,0.223,0.042,2801,2171,2521
$GC,1768,0.56,126.0,4.0,7.1,376,1774,0.00,2.30,0.00,0.000,4,0.000,0.064,2800,3615,2521
$GC,1783,0.57,135.2,3.0,6.1,379,1796,0.00,2.17,7.80,0.509,6,0.000,0.041,2802,2176,2487
$GC,1861,0.72,253.5,2.5,-0.3,396,1902,0.15,0.00,38.62,0.550,2,0.078,0.000,2867,2174,2120
$STATE,1902,end climb,SURFACE_DEPTH_REACHED
$STATE,1902,begin surface coast
$FINISH,0.1,1.005802
$STATE,2101,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2101,begin surface
$SM_CCo,2113,88.53,0.551,0,0,1408,400.08
$SM_GC,1.07,0.00,0.00,88.53,0.000,0.000,0.551,212,2321,1408,-7.52,0.59,400.08
$IRIDIUM_FIX,4748.51,-12221.84,201198,070713
$TT8_MAMPS,0.052923
$HUMID,2125
$INTERNAL_PRESSURE,9.45349
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.5,1.458
$10V_AH,10.9,1.009
$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,17.450,45.350,232.375,88.525,0.000,48.529,109.692,241.992,0.000,0.000,0.000,32.576,0.000,742.291,395.280,1131.673,471.720,33.310,829.024,0.000,955.681,0.000,0.537,0.000
$DEVICE_MAMPS,255.411,72.098,617.435,551.473,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,300.455,780.145,710.628,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31912,448
$CAP_FILE_SIZE,50671,0
$CFSIZE,260165632,257830912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,080137,4806.940,-12223.085,39,0.9,39,18.3