version: 66.04
glider: 176
mission: 1
dive: 21
start: 8 26 109 11 29 22
data:
$ID,176
$MISSION,1
$DIVE,21
$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,-4118.6904
$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
$GPS1,112306,4806.342,-12222.280,15,0.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-79.3
$GPS2,112843,4806.312,-12222.239,10,1.8,21,18.3
$SPEED_LIMITS,0.115,0.253
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.221,0.122
$KALMAN_X,-934.0,248.4,-155.5,1472.0,239.9
$KALMAN_Y,6233.4,-1181.3,-187.5,-6621.9,282.6
$MHEAD_RNG_PITCHd_Wd,280.6,3810,-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,-195.5,0.0,0.0,0,64,0.00,0.00,-51.25,0.000,2,0.000,0.000,212,2329,2808
$GC,66,-0.46,-195.5,3.2,-4.5,8,105,9.25,2.22,-24.00,0.000,4,0.258,0.054,2465,848,3838
$GC,118,-0.46,-195.5,11.0,-13.5,17,124,0.00,2.38,0.00,0.000,6,0.000,0.064,2464,2309,3840
$GC,189,-0.46,-195.5,19.4,-11.7,33,196,0.00,2.30,0.00,0.000,4,0.000,0.072,2463,3720,3839
$GC,213,-0.46,-195.5,22.2,-11.7,38,219,0.00,2.20,0.00,0.000,6,0.000,0.041,2463,2277,3839
$GC,284,-0.46,-195.5,30.4,-11.8,54,291,0.03,0.00,0.00,0.000,6,0.273,0.000,2471,2273,3839
$GC,356,-0.46,-195.5,37.8,-10.0,70,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2273,3839
$GC,426,-0.46,-195.5,44.8,-9.7,86,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2272,3839
$GC,563,-0.46,-195.5,58.2,-9.9,117,568,0.00,2.30,0.00,0.000,4,0.000,0.071,2471,3719,3839
$GC,590,-0.46,-195.5,60.9,-9.9,123,595,0.00,2.15,0.00,0.000,6,0.000,0.041,2471,2272,3840
$GC,724,-0.46,-195.5,74.2,-9.6,154,731,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2268,3840
$GC,861,-0.46,-195.5,87.2,-9.4,185,866,0.00,2.30,0.00,0.000,4,0.000,0.072,2471,3720,3840
$GC,888,-0.46,-195.5,89.6,-9.3,191,893,0.00,2.15,0.00,0.000,6,0.000,0.041,2471,2272,3840
$GC,1022,-0.46,-195.5,101.9,-8.9,222,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,2268,3840
$STATE,1079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1079,begin apogee
$GC,1082,-0.12,0.0,107.1,9.0,235,1230,0.32,0.00,142.18,0.630,6,0.133,0.000,2580,2156,3039
$STATE,1230,end apogee,CONTROL_FINISHED_OK
$STATE,1230,begin climb
$GC,1231,0.46,195.5,112.4,0.0,260,1380,0.55,0.00,145.82,0.604,6,0.100,0.000,2767,2156,2242
$GC,1511,0.46,195.5,88.5,10.7,315,1516,0.00,2.40,0.00,0.000,4,0.000,0.068,2767,3630,2240
$GC,1546,0.46,195.5,84.0,12.4,323,1552,0.08,2.25,0.00,0.000,6,0.182,0.042,2757,2170,2240
$GC,1682,0.46,195.5,70.7,9.2,354,1688,0.00,2.38,0.00,0.000,4,0.000,0.068,2757,3616,2238
$GC,1700,0.46,195.5,68.7,9.4,358,1707,0.00,2.22,0.00,0.000,6,0.000,0.041,2761,2178,2239
$GC,1838,0.46,195.5,55.3,9.6,389,1844,0.00,2.33,0.00,0.000,4,0.000,0.067,2762,3633,2238
$GC,1869,0.46,195.5,51.8,10.6,396,1875,0.00,2.22,0.00,0.000,6,0.000,0.041,2761,2178,2239
$GC,2006,0.46,195.5,38.9,9.1,427,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2175,2239
$GC,2077,0.46,195.5,32.6,9.2,443,2083,0.00,2.33,0.00,0.000,4,0.000,0.067,2762,3622,2239
$GC,2113,0.46,195.5,28.7,10.4,451,2119,0.00,2.20,0.00,0.000,6,0.000,0.042,2762,2176,2238
$GC,2185,0.46,195.5,21.9,9.2,467,2191,0.00,2.15,0.00,0.000,4,0.000,0.051,2762,771,2238
$GC,2195,0.46,195.5,21.1,9.0,469,2201,0.00,2.28,0.00,0.000,6,0.000,0.057,2762,2215,2237
$GC,2267,0.46,195.5,14.5,9.1,485,2273,0.00,2.22,0.00,0.000,4,0.000,0.067,2762,3616,2238
$GC,2304,0.46,195.5,11.0,9.6,493,2310,0.00,2.17,0.00,0.000,6,0.000,0.042,2761,2179,2238
$GC,2375,0.54,261.8,6.8,5.1,509,2428,0.12,2.40,49.25,0.573,4,0.077,0.067,2821,3626,1971
$STATE,2453,end climb,SURFACE_DEPTH_REACHED
$STATE,2453,begin surface coast
$FINISH,0.2,1.001923
$STATE,2484,end surface coast,CONTROL_FINISHED_OK
$STATE,2484,begin surface
$SM_CCo,2498,81.15,0.558,0,0,1409,400.08
$SM_GC,1.58,0.00,0.00,81.15,0.000,0.000,0.558,212,2261,1409,-7.52,-1.10,400.08
$IRIDIUM_FIX,4742.09,-12017.01,201198,101018
$TT8_MAMPS,0.052156
$HUMID,2130
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,24.4,1.879
$10V_AH,10.9,1.320
$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,17.475,49.750,337.250,81.150,0.000,23.150,26.153,206.554,0.000,0.000,0.000,24.580,0.000,820.987,456.652,1294.534,333.348,33.301,969.652,0.000,1106.742,0.000,0.536,0.000
$DEVICE_MAMPS,273.052,74.399,629.707,557.609,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,355.270,850.054,763.490,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38313,530
$CAP_FILE_SIZE,56366,0
$CFSIZE,260165632,257622016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,121238,4806.528,-12222.577,6,1.8,6,18.3