version: 66.04
glider: 176
mission: 1
dive: 18
start: 8 26 109 8 55 22
data:
$ID,176
$MISSION,1
$DIVE,18
$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,-4044.4182
$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
$GPS1,084913,4806.738,-12222.603,10,1.2,15,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.1
$GPS2,085443,4806.713,-12222.601,10,1.9,10,18.3
$SPEED_LIMITS,0.115,0.253
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.143,-0.209
$KALMAN_X,-1732.9,215.2,89.3,1616.2,-67.9
$KALMAN_Y,5447.2,-521.6,-372.4,-5578.8,-21.1
$MHEAD_RNG_PITCHd_Wd,127.3,1515,-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,-195.5,0.0,0.0,0,83,0.00,0.00,-69.97,0.000,2,0.000,0.000,210,2327,3327
$GC,85,-0.46,-195.5,3.0,-3.3,11,111,9.25,2.20,-10.62,0.000,4,0.260,0.054,2474,860,3837
$GC,223,-0.46,-195.5,23.5,-9.5,41,230,0.00,2.33,0.00,0.000,6,0.000,0.064,2472,2299,3839
$GC,295,-0.46,-195.5,30.8,-10.5,57,301,0.00,2.30,0.00,0.000,4,0.000,0.072,2472,3720,3839
$GC,331,-0.46,-195.5,34.5,-10.2,65,337,0.00,2.20,0.00,0.000,6,0.000,0.040,2472,2271,3839
$GC,402,-0.46,-195.5,41.5,-10.0,81,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2266,3839
$GC,536,-0.46,-195.5,54.9,-9.8,112,543,0.00,2.33,0.00,0.000,4,0.000,0.071,2472,3710,3839
$GC,564,-0.46,-195.5,57.6,-9.7,118,571,0.00,2.17,0.00,0.000,6,0.000,0.038,2472,2267,3839
$GC,701,-0.46,-195.5,70.8,-9.7,149,706,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2264,3838
$GC,836,-0.46,-195.5,83.8,-9.3,180,843,0.00,2.33,0.00,0.000,4,0.000,0.071,2472,3715,3839
$GC,869,-0.46,-195.5,86.6,-9.0,187,874,0.00,2.15,0.00,0.000,6,0.000,0.040,2472,2260,3839
$GC,1003,-0.46,-195.5,98.7,-9.0,218,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2255,3839
$STATE,1098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1098,begin apogee
$GC,1101,-0.12,0.0,107.3,8.7,240,1250,0.32,0.00,141.93,0.628,6,0.132,0.000,2581,2143,3040
$STATE,1251,end apogee,CONTROL_FINISHED_OK
$STATE,1251,begin climb
$GC,1252,0.46,195.5,112.3,0.0,265,1405,0.55,0.00,145.95,0.605,6,0.099,0.000,2769,2143,2243
$GC,1535,0.46,195.5,86.4,11.9,321,1541,0.00,2.40,0.00,0.000,4,0.000,0.068,2769,3616,2239
$GC,1588,0.46,195.5,79.0,13.9,333,1594,0.08,2.20,0.00,0.000,6,0.183,0.041,2757,2178,2239
$GC,1724,0.46,195.5,64.8,10.0,364,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2174,2238
$GC,1861,0.46,195.5,51.7,9.4,395,1866,0.00,2.30,0.00,0.000,4,0.000,0.067,2757,3619,2238
$GC,1891,0.46,195.5,48.3,10.6,402,1898,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,2181,2238
$GC,2029,0.46,195.5,34.9,9.8,433,2035,0.00,2.33,0.00,0.000,4,0.000,0.067,2761,3626,2238
$GC,2061,0.46,195.5,31.1,10.8,440,2067,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,2178,2238
$GC,2133,0.46,195.5,23.9,9.6,456,2138,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2174,2238
$GC,2203,0.46,195.5,17.5,9.0,472,2210,0.00,2.33,0.00,0.000,4,0.000,0.068,2761,3626,2238
$GC,2227,0.46,195.5,14.9,9.5,477,2233,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,2175,2238
$GC,2298,0.46,195.5,8.6,8.7,493,2304,0.00,2.15,0.00,0.000,4,0.000,0.050,2761,763,2238
$GC,2335,0.46,195.5,5.7,8.1,501,2341,0.00,2.28,0.00,0.000,6,0.000,0.059,2761,2205,2237
$GC,2406,0.60,312.4,2.6,3.9,517,2427,0.17,0.00,19.08,0.561,2,0.070,0.000,2845,2205,2089
$STATE,2427,end climb,SURFACE_DEPTH_REACHED
$STATE,2427,begin surface coast
$FINISH,0.3,1.002384
$STATE,2483,end surface coast,CONTROL_FINISHED_OK
$STATE,2483,begin surface
$SM_CCo,2495,86.78,0.565,0,0,1408,400.08
$SM_GC,1.06,0.00,0.00,86.78,0.000,0.000,0.565,213,2334,1408,-7.52,0.93,400.08
$IRIDIUM_FIX,4748.51,-12221.84,201198,080832
$TT8_MAMPS,0.052156
$HUMID,2130
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,24.4,1.620
$10V_AH,10.9,1.131
$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,17.425,40.850,306.950,86.775,0.000,29.589,30.806,201.090,0.000,0.000,0.000,12.272,0.000,842.162,439.642,1284.483,335.425,33.298,940.036,0.000,1112.194,0.000,0.536,0.000
$DEVICE_MAMPS,260.013,77.467,628.173,564.512,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,358.485,860.696,779.395,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38211,533
$CAP_FILE_SIZE,54168,0
$CFSIZE,260165632,257744896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,093844,4806.463,-12222.187,12,2.0,12,18.3