version: 66.04
glider: 176
mission: 1
dive: 17
start: 8 26 109 8 7 21
data:
$ID,176
$MISSION,1
$DIVE,17
$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,-4031.5173
$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
$GPS1,080137,4806.940,-12223.085,39,0.9,39,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.6
$GPS2,080643,4806.916,-12223.099,12,0.9,17,18.3
$SPEED_LIMITS,0.115,0.253
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.195,-0.161
$KALMAN_X,-1671.2,139.4,89.7,1016.6,-36.3
$KALMAN_Y,4569.7,1.8,-152.7,-5062.4,-212.0
$MHEAD_RNG_PITCHd_Wd,111.2,2173,-9.2,-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,11,begin dive
$GC,12,-0.46,-195.5,0.0,0.0,0,83,0.00,0.00,-68.97,0.000,2,0.000,0.000,212,2322,3309
$GC,85,-0.46,-195.5,3.0,-3.4,11,111,9.15,2.20,-11.23,0.000,4,0.255,0.057,2478,863,3837
$GC,193,-0.46,-195.5,19.4,-9.7,34,199,0.00,2.33,0.00,0.000,6,0.000,0.064,2476,2302,3839
$GC,265,-0.46,-195.5,26.2,-9.8,50,271,0.00,2.28,0.00,0.000,4,0.000,0.071,2475,3712,3839
$GC,301,-0.46,-195.5,29.7,-9.6,58,307,0.00,2.20,0.00,0.000,6,0.000,0.040,2475,2265,3839
$GC,372,-0.46,-195.5,36.5,-9.8,74,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2261,3839
$GC,442,-0.46,-195.5,43.3,-9.8,90,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2261,3839
$GC,579,-0.46,-195.5,56.2,-9.6,121,584,0.00,2.30,0.00,0.000,4,0.000,0.071,2475,3723,3839
$GC,618,-0.46,-195.5,59.9,-9.4,130,625,0.00,2.17,0.00,0.000,6,0.000,0.040,2475,2277,3839
$GC,755,-0.46,-195.5,72.7,-9.5,161,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2275,3839
$GC,889,-0.46,-195.5,85.3,-9.3,192,897,0.00,2.30,0.00,0.000,4,0.000,0.071,2475,3713,3839
$GC,914,-0.46,-195.5,87.6,-9.3,197,919,0.00,2.15,0.00,0.000,6,0.000,0.040,2475,2260,3839
$GC,1048,-0.46,-195.5,99.6,-8.5,228,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,2255,3839
$STATE,1092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1092,begin apogee
$GC,1095,-0.12,0.0,103.2,8.3,238,1243,0.32,0.00,141.45,0.624,6,0.133,0.000,2582,2146,3041
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,0.46,195.5,108.3,0.0,263,1399,0.52,0.00,146.05,0.601,6,0.097,0.000,2765,2146,2241
$GC,1529,0.46,195.5,83.2,11.5,319,1535,0.00,2.40,0.00,0.000,4,0.000,0.068,2766,3619,2238
$GC,1577,0.46,195.5,76.7,13.7,330,1584,0.00,2.25,0.00,0.000,6,0.000,0.041,2766,2173,2238
$GC,1714,0.46,195.5,61.0,11.2,361,1720,0.00,2.33,0.00,0.000,4,0.000,0.067,2766,3623,2238
$GC,1736,0.46,195.5,58.2,11.8,366,1743,0.00,2.22,0.00,0.000,6,0.000,0.041,2766,2176,2238
$GC,1874,0.46,195.5,43.2,10.5,397,1880,0.00,2.30,0.00,0.000,4,0.000,0.066,2767,3624,2237
$GC,1901,0.46,195.5,39.9,11.4,403,1908,0.05,2.20,0.00,0.000,6,0.170,0.041,2757,2179,2237
$GC,1973,0.46,195.5,32.4,9.6,419,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2174,2237
$GC,2044,0.46,195.5,25.8,9.2,435,2050,0.00,2.33,0.00,0.000,4,0.000,0.065,2757,3627,2237
$GC,2072,0.46,195.5,22.9,9.9,441,2078,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,2179,2237
$GC,2143,0.46,195.5,16.1,9.1,457,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2175,2237
$GC,2214,0.46,195.5,10.0,8.7,473,2220,0.00,2.30,0.00,0.000,4,0.000,0.067,2761,3617,2236
$GC,2242,0.46,195.5,7.3,9.3,479,2248,0.00,2.17,0.00,0.000,6,0.000,0.043,2761,2182,2236
$GC,2313,0.61,317.6,3.3,3.8,495,2347,0.17,0.00,31.27,0.565,2,0.067,0.000,2845,2177,2010
$STATE,2347,end climb,SURFACE_DEPTH_REACHED
$STATE,2347,begin surface coast
$FINISH,0.3,0.999827
$STATE,2398,end surface coast,CONTROL_FINISHED_OK
$STATE,2398,begin surface
$SM_CCo,2410,78.07,0.559,0,0,1408,400.08
$SM_GC,1.62,0.00,0.00,78.07,0.000,0.000,0.559,210,2327,1408,-7.53,0.76,400.08
$IRIDIUM_FIX,4751.72,-12219.12,201198,070700
$TT8_MAMPS,0.052923
$HUMID,2122
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,24.4,1.538
$10V_AH,10.9,1.069
$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,17.350,40.950,318.775,78.075,0.000,26.214,26.138,183.080,0.000,0.000,0.000,17.489,0.000,791.354,440.677,1244.620,307.094,33.310,935.806,0.000,1069.637,0.000,0.538,0.000
$DEVICE_MAMPS,254.644,73.632,624.338,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,343.529,833.726,757.949,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35073,512
$CAP_FILE_SIZE,52747,0
$CFSIZE,260165632,257794048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,084913,4806.738,-12222.603,10,1.2,15,18.3