version: 66.04
glider: 176
mission: 1
dive: 20
start: 8 26 109 10 38 23
data:
$ID,176
$MISSION,1
$DIVE,20
$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,-4093.481
$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
$GPS1,103216,4806.116,-12221.996,11,3.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-79.4
$GPS2,103744,4806.107,-12221.994,13,1.4,13,18.3
$SPEED_LIMITS,0.115,0.253
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.216,0.131
$KALMAN_X,-1515.2,290.5,-23.4,2185.2,50.5
$KALMAN_Y,6650.6,-1214.0,-513.0,-7065.2,495.5
$MHEAD_RNG_PITCHd_Wd,282.9,4294,-9.2,-6.667
$D_GRID,108
$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,-195.5,0.0,0.0,0,71,0.00,0.00,-57.40,0.000,2,0.000,0.000,216,2322,2980
$GC,72,-0.46,-195.5,3.5,-4.7,9,105,9.18,2.25,-18.75,0.000,4,0.258,0.086,2472,3723,3838
$GC,197,-0.46,-195.5,18.7,-8.9,35,203,0.00,2.22,0.00,0.000,6,0.000,0.043,2473,2274,3838
$GC,268,-0.46,-195.5,25.7,-9.9,51,274,0.00,2.15,0.00,0.000,4,0.000,0.044,2473,859,3839
$GC,291,-0.46,-195.5,28.1,-10.2,56,297,0.00,2.33,0.00,0.000,6,0.000,0.063,2473,2303,3839
$GC,362,-0.46,-195.5,34.8,-9.5,72,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2304,3840
$GC,433,-0.46,-195.5,41.5,-9.6,88,439,0.00,2.28,0.00,0.000,4,0.000,0.073,2473,3715,3839
$GC,457,-0.46,-195.5,43.8,-9.3,93,462,0.00,2.15,0.00,0.000,6,0.000,0.040,2473,2274,3839
$GC,591,-0.46,-195.5,57.0,-10.0,124,597,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2269,3839
$GC,727,-0.46,-195.5,70.1,-9.7,155,733,0.00,2.30,0.00,0.000,4,0.000,0.072,2472,3719,3839
$GC,763,-0.46,-195.5,73.4,-9.5,163,768,0.00,2.15,0.00,0.000,6,0.000,0.041,2472,2270,3839
$GC,898,-0.46,-195.5,85.4,-8.7,194,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2267,3839
$GC,1034,-0.46,-195.5,97.2,-8.6,225,1040,0.00,2.30,0.00,0.000,4,0.000,0.071,2472,3724,3839
$GC,1061,-0.46,-195.5,99.3,-8.5,231,1067,0.00,2.15,0.00,0.000,6,0.000,0.041,2472,2273,3839
$STATE,1160,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1160,begin apogee
$GC,1163,-0.12,0.0,108.1,8.7,254,1312,0.32,0.00,142.12,0.630,6,0.133,0.000,2580,2157,3039
$STATE,1313,end apogee,CONTROL_FINISHED_OK
$STATE,1313,begin climb
$GC,1314,0.46,195.5,113.3,0.0,279,1468,0.55,2.45,146.05,0.605,4,0.097,0.067,2770,3619,2241
$GC,1494,0.46,195.5,99.2,13.0,311,1500,0.08,2.28,0.00,0.000,6,0.182,0.041,2758,2174,2239
$GC,1630,0.46,195.5,84.3,10.6,342,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,2169,2238
$GC,1766,0.46,195.5,70.2,10.4,373,1771,0.00,2.35,0.00,0.000,4,0.000,0.068,2757,3630,2237
$GC,1810,0.46,195.5,65.0,11.8,383,1816,0.00,2.22,0.00,0.000,6,0.000,0.043,2761,2165,2238
$GC,1946,0.46,195.5,50.7,10.3,414,1952,0.00,2.35,0.00,0.000,4,0.000,0.068,2762,3619,2237
$GC,1978,0.46,195.5,47.1,10.8,421,1983,0.00,2.17,0.00,0.000,6,0.000,0.042,2761,2178,2238
$GC,2114,0.46,195.5,33.8,9.5,452,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2174,2238
$GC,2185,0.46,195.5,27.3,9.3,468,2191,0.00,2.33,0.00,0.000,4,0.000,0.068,2761,3623,2237
$GC,2217,0.46,195.5,23.7,10.4,475,2223,0.00,2.20,0.00,0.000,6,0.000,0.041,2762,2178,2238
$GC,2288,0.46,195.5,16.9,9.3,491,2294,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2174,2238
$GC,2360,0.46,195.5,10.8,8.4,507,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2174,2237
$GC,2431,0.50,231.8,6.3,5.8,523,2464,0.08,2.30,27.52,0.573,4,0.103,0.067,2805,3624,2093
$GC,2477,0.50,231.8,3.0,6.8,531,2484,0.10,2.22,0.00,0.000,6,0.130,0.041,2770,2171,2092
$STATE,2504,end climb,SURFACE_DEPTH_REACHED
$STATE,2504,begin surface coast
$FINISH,1.3,1.019953
$STATE,2539,end surface coast,CONTROL_FINISHED_OK
$STATE,2539,begin surface
$SM_CCo,2551,92.50,0.563,0,0,1409,400.08
$SM_GC,1.11,0.00,0.00,92.50,0.000,0.000,0.563,211,2329,1409,-7.52,0.82,400.08
$IRIDIUM_FIX,4751.72,-12223.57,201198,090903
$TT8_MAMPS,0.052156
$HUMID,2132
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,24.4,1.793
$10V_AH,10.9,1.258
$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,17.375,45.500,315.700,92.500,0.000,24.699,31.978,198.988,0.000,0.000,0.000,15.522,0.000,857.169,452.380,1317.270,334.413,33.298,966.503,0.000,1137.609,0.000,0.536,0.000
$DEVICE_MAMPS,257.712,85.904,630.474,562.978,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,366.215,877.570,792.350,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38180,545
$CAP_FILE_SIZE,56291,0
$CFSIZE,260165632,257662976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,112306,4806.342,-12222.280,15,0.9,31,18.3