version: 66.04
glider: 177
mission: 1
dive: 11
start: 8 26 109 3 2 35
data:
$ID,177
$MISSION,1
$DIVE,11
$D_SURF,4
$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,63
$T_MISSION,70
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,65
$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,370
$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,-3265.6296
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2390
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3688
$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,3
$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,-43.008797
$PRESSURE_SLOPE,0.0001167561
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,0
$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,0.0043573868
$SEABIRD_T_H,0.00062801503
$SEABIRD_T_I,2.4905019e-05
$SEABIRD_T_J,2.7586682e-06
$SEABIRD_C_G,-10.06375
$SEABIRD_C_H,1.1391832
$SEABIRD_C_I,-0.00095358328
$SEABIRD_C_J,0.00016952561
$GPS1,025636,4807.315,-12223.218,13,0.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-76.0
$GPS2,030156,4807.316,-12223.216,11,1.4,11,18.3
$SPEED_LIMITS,0.137,0.164
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.152
$KALMAN_X,-801.1,-112.6,95.5,425.7,-134.6
$KALMAN_Y,1470.3,130.7,-345.9,-1943.0,334.7
$MHEAD_RNG_PITCHd_Wd,139.3,644,-22.3,-7.937
$D_GRID,105
$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,12,-0.64,-63.5,0.0,0.0,0,76,0.00,0.00,-62.40,0.000,2,0.000,0.000,148,2244,3711
$GC,78,-0.64,-63.5,3.2,-4.8,11,97,8.82,2.28,-6.10,0.000,4,0.271,0.076,2188,833,3950
$GC,344,-0.64,-63.5,29.4,-6.6,71,349,0.00,2.30,0.00,0.000,6,0.000,0.075,2180,2265,3951
$GC,414,-0.64,-63.5,34.6,-7.5,87,420,0.00,2.28,0.00,0.000,4,0.000,0.073,2179,832,3951
$GC,519,-0.64,-63.5,43.6,-9.2,111,525,0.08,2.28,0.00,0.000,6,0.200,0.075,2184,2254,3951
$GC,655,-0.64,-63.5,56.0,-9.2,142,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2254,3952
$GC,790,-0.64,-63.5,68.3,-8.8,173,795,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2253,3952
$GC,924,-0.64,-63.5,79.8,-8.7,204,929,0.00,0.00,0.00,0.000,6,0.000,0.000,2184,2254,3952
$GC,1059,-0.64,-63.5,91.6,-9.2,235,1065,0.00,2.22,0.00,0.000,4,0.000,0.073,2184,838,3952
$GC,1086,-0.64,-63.5,94.0,-8.9,241,1092,0.00,2.25,0.00,0.000,6,0.000,0.077,2175,2251,3952
$STATE,1207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1210,-0.12,0.0,105.0,8.8,269,1288,0.55,0.00,71.10,0.638,6,0.172,0.000,2341,2251,3688
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1289,0.64,63.5,106.2,0.0,283,1366,0.73,0.00,71.05,0.630,6,0.086,0.000,2596,2251,3427
$GC,1496,0.64,63.5,78.6,15.9,327,1502,0.00,2.33,0.00,0.000,4,0.000,0.077,2607,832,3427
$GC,1531,0.64,63.5,72.9,16.3,335,1537,0.00,2.38,0.00,0.000,6,0.000,0.085,2607,2252,3427
$GC,1668,0.64,63.5,50.5,16.2,366,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2252,3427
$GC,1802,0.64,63.5,30.0,15.0,397,1808,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2252,3427
$GC,1872,0.64,63.5,20.0,14.3,413,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2252,3427
$GC,1942,0.64,63.5,10.6,13.4,429,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2252,3426
$GC,2011,0.72,128.4,6.6,2.5,445,2069,0.00,2.35,52.47,0.593,4,0.000,0.084,2607,3662,3163
$STATE,2093,end climb,SURFACE_DEPTH_REACHED
$STATE,2093,begin surface coast
$FINISH,1.8,1.020299
$STATE,2137,end surface coast,CONTROL_FINISHED_OK
$STATE,2137,begin surface
$SM_CCo,2151,110.57,0.599,0,0,2178,370.16
$SM_GC,1.14,0.00,0.00,110.57,0.000,0.000,0.599,151,2241,2178,-7.00,-0.25,370.16
$IRIDIUM_FIX,4751.72,-12223.57,201198,020231
$TT8_MAMPS,0.051389
$HUMID,2230
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,6.5
$24V_AH,24.3,1.168
$10V_AH,10.6,0.651
$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,17.525,23.000,194.625,110.575,0.000,22.316,23.175,202.275,1.000,0.000,0.000,13.617,0.000,974.476,373.401,916.790,313.719,33.329,759.525,0.000,742.233,0.000,10.063,0.000
$DEVICE_MAMPS,270.751,85.137,638.144,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,316.819,536.192,471.198,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31831,471
$CAP_FILE_SIZE,45933,0
$CFSIZE,260165632,258535424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,034044,4807.235,-12223.068,9,1.8,9,18.3