version: 66.04
glider: 176
mission: 1
dive: 26
start: 8 26 109 15 45 41
data:
$ID,176
$MISSION,1
$DIVE,26
$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,-4246.5879
$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
$GPS1,153937,4807.484,-12223.525,13,2.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-79.4
$GPS2,154502,4807.486,-12223.525,12,2.0,12,18.3
$SPEED_LIMITS,0.115,0.253
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.194,0.162
$KALMAN_X,-40.9,695.2,155.9,-1765.3,226.7
$KALMAN_Y,6246.3,-1630.2,158.0,-4363.3,104.8
$MHEAD_RNG_PITCHd_Wd,291.5,1119,-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,10,begin dive
$GC,11,-0.46,-195.5,0.0,0.0,0,64,0.00,0.00,-51.35,0.000,2,0.000,0.000,210,2323,2789
$GC,66,-0.46,-195.5,3.0,-4.2,8,105,9.20,2.22,-24.88,0.000,4,0.257,0.057,2474,856,3839
$GC,166,-0.46,-195.5,14.4,-9.4,28,172,0.00,2.35,0.00,0.000,6,0.000,0.065,2473,2304,3840
$GC,237,-0.46,-195.5,21.3,-10.1,44,244,0.00,2.30,0.00,0.000,4,0.000,0.072,2473,3720,3840
$GC,278,-0.46,-195.5,25.3,-9.7,53,284,0.00,2.20,0.00,0.000,6,0.000,0.041,2472,2275,3840
$GC,349,-0.46,-195.5,32.1,-10.0,69,355,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2271,3840
$GC,421,-0.46,-195.5,38.8,-9.5,85,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2271,3840
$GC,492,-0.46,-195.5,45.7,-9.5,101,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2271,3840
$GC,626,-0.46,-195.5,58.4,-9.7,132,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,2271,3840
$GC,763,-0.46,-195.5,71.5,-9.5,163,768,0.00,2.30,0.00,0.000,4,0.000,0.071,2472,3723,3840
$GC,785,-0.46,-195.5,73.6,-9.4,168,791,0.00,2.17,0.00,0.000,6,0.000,0.040,2473,2277,3840
$GC,921,-0.46,-195.5,86.3,-9.5,199,926,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,2274,3840
$GC,1055,-0.46,-195.5,98.7,-9.1,230,1063,0.00,2.30,0.00,0.000,4,0.000,0.071,2472,3710,3840
$GC,1075,-0.46,-195.5,100.5,-9.4,234,1082,0.00,2.15,0.00,0.000,6,0.000,0.039,2472,2274,3840
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1110,-0.12,0.0,103.3,8.9,241,1258,0.32,0.00,142.25,0.627,6,0.134,0.000,2580,2146,3040
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1259,0.46,195.5,108.8,0.0,266,1413,0.55,2.22,146.02,0.603,4,0.101,0.050,2775,770,2241
$GC,1439,0.46,195.5,96.4,11.0,298,1446,0.05,2.40,0.00,0.000,6,0.134,0.059,2757,2211,2239
$GC,1577,0.46,195.5,83.1,9.4,329,1582,0.00,2.28,0.00,0.000,4,0.000,0.068,2757,3620,2239
$GC,1616,0.46,195.5,78.5,11.6,338,1623,0.00,2.25,0.00,0.000,6,0.000,0.042,2762,2177,2239
$GC,1754,0.46,195.5,64.6,9.7,369,1759,0.00,2.33,0.00,0.000,4,0.000,0.067,2761,3622,2238
$GC,1772,0.46,195.5,62.5,9.9,373,1778,0.00,2.20,0.00,0.000,6,0.000,0.041,2761,2174,2238
$GC,1907,0.46,195.5,48.7,9.8,404,1914,0.00,2.35,0.00,0.000,4,0.000,0.068,2761,3623,2238
$GC,1926,0.46,195.5,46.5,10.2,408,1933,0.00,2.22,0.00,0.000,6,0.000,0.042,2761,2175,2238
$GC,2064,0.46,195.5,32.9,9.8,439,2070,0.00,2.33,0.00,0.000,4,0.000,0.066,2761,3623,2238
$GC,2084,0.46,195.5,30.8,10.1,443,2090,0.00,2.20,0.00,0.000,6,0.000,0.041,2762,2177,2238
$GC,2155,0.46,195.5,23.5,9.6,459,2161,0.00,2.33,0.00,0.000,4,0.000,0.067,2761,3623,2237
$GC,2170,0.46,195.5,22.0,9.6,462,2176,0.00,2.20,0.00,0.000,6,0.000,0.041,2762,2178,2238
$GC,2241,0.46,195.5,14.8,9.2,478,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2172,2238
$GC,2313,0.46,195.5,8.5,8.9,494,2319,0.00,2.30,0.00,0.000,4,0.000,0.067,2761,3613,2238
$GC,2323,0.46,195.5,7.5,8.8,496,2329,0.00,2.17,0.00,0.000,6,0.000,0.040,2762,2176,2238
$GC,2394,0.60,313.9,3.4,3.9,512,2429,0.17,0.00,32.40,0.566,2,0.069,0.000,2852,2171,2002
$STATE,2429,end climb,SURFACE_DEPTH_REACHED
$STATE,2429,begin surface coast
$FINISH,0.4,0.999034
$STATE,2480,end surface coast,CONTROL_FINISHED_OK
$STATE,2480,begin surface
$SM_CCo,2492,79.35,0.559,0,0,1409,400.08
$SM_GC,1.66,0.00,0.00,79.35,0.000,0.000,0.559,211,2334,1409,-7.52,0.96,400.08
$IRIDIUM_FIX,4748.51,-12237.92,201198,151542
$TT8_MAMPS,0.052923
$HUMID,2124
$INTERNAL_PRESSURE,9.41442
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,24.4,2.319
$10V_AH,10.9,1.632
$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,17.450,50.150,320.675,79.350,0.000,24.526,26.509,202.796,0.000,0.000,0.000,13.942,0.000,810.422,450.740,1291.519,333.135,33.300,962.531,0.000,1109.887,0.000,0.536,0.000
$DEVICE_MAMPS,256.945,72.098,627.406,559.143,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,355.291,864.736,778.649,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38197,529
$CAP_FILE_SIZE,56697,0
$CFSIZE,260165632,257417216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,162916,4807.774,-12223.820,15,2.7,34,18.3