version: 66.04
glider: 177
mission: 1
dive: 14
start: 8 26 109 5 47 14
data:
$ID,177
$MISSION,1
$DIVE,14
$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,75
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$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,350
$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,-3330.7217
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2386
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,43
$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,2200
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,14
$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,10
$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
$GPS1,053938,4806.793,-12222.842,10,1.9,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-76.3
$GPS2,054636,4806.757,-12222.863,16,1.1,32,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.138
$KALMAN_X,-868.4,14.7,-47.8,947.1,-43.2
$KALMAN_Y,1755.1,-85.6,295.3,-3686.9,245.8
$MHEAD_RNG_PITCHd_Wd,133.8,1762,-19.0,-6.667
$D_GRID,150
$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,-0.52,-63.5,0.0,0.0,0,76,0.00,0.00,-61.95,0.000,2,0.000,0.000,145,2195,3821
$GC,77,-0.52,-63.5,3.4,-4.5,11,96,8.98,2.28,-3.42,0.000,4,0.271,0.090,2217,781,3950
$GC,343,-0.52,-63.5,23.3,-5.6,71,349,0.00,2.30,0.00,0.000,6,0.000,0.074,2209,2197,3951
$GC,413,-0.52,-63.5,27.6,-6.1,87,419,0.00,2.25,0.00,0.000,4,0.000,0.073,2209,780,3951
$GC,444,-0.52,-63.5,29.7,-7.1,94,451,0.05,2.30,0.00,0.000,6,0.169,0.075,2213,2192,3951
$GC,515,-0.52,-63.5,34.4,-6.8,110,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2192,3951
$GC,585,-0.52,-63.5,38.8,-6.3,126,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2192,3951
$GC,654,-0.52,-63.5,43.3,-6.4,142,661,0.00,2.25,0.00,0.000,4,0.000,0.074,2214,794,3951
$GC,673,-0.52,-63.5,44.5,-6.2,146,679,0.00,2.28,0.00,0.000,6,0.000,0.076,2206,2198,3951
$GC,809,-0.52,-63.5,54.5,-7.4,177,814,0.00,2.28,0.00,0.000,4,0.000,0.077,2195,3622,3952
$GC,826,-0.52,-63.5,55.9,-7.6,181,833,0.05,2.25,0.00,0.000,6,0.164,0.064,2210,2203,3952
$GC,962,-0.52,-63.5,66.4,-7.5,212,968,0.00,2.28,0.00,0.000,4,0.000,0.076,2201,3610,3952
$GC,1015,-0.52,-63.5,70.7,-8.5,224,1022,0.03,2.22,0.00,0.000,6,0.179,0.062,2210,2200,3952
$GC,1152,-0.52,-63.5,80.9,-7.2,255,1158,0.00,2.25,0.00,0.000,4,0.000,0.076,2201,3613,3952
$GC,1192,-0.52,-63.5,84.1,-8.1,264,1198,0.03,2.22,0.00,0.000,6,0.174,0.063,2210,2205,3952
$GC,1327,-0.52,-63.5,94.2,-7.3,295,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2205,3952
$GC,1462,-0.52,-63.5,103.8,-7.3,326,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,2210,2205,3952
$STATE,1591,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1591,begin apogee
$GC,1594,-0.12,0.0,112.5,6.5,356,1668,0.43,0.00,70.95,0.653,6,0.149,0.000,2346,2306,3688
$STATE,1668,end apogee,CONTROL_FINISHED_OK
$STATE,1668,begin climb
$GC,1669,0.52,63.5,113.3,0.0,369,1747,0.57,0.00,71.28,0.640,6,0.078,0.000,2552,2306,3428
$GC,1876,0.52,63.5,89.8,13.7,413,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2306,3427
$GC,2010,0.52,63.5,71.4,13.4,444,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2306,3427
$GC,2145,0.52,63.5,53.7,12.8,475,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2306,3427
$GC,2280,0.52,63.5,36.6,12.5,506,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,2306,3426
$GC,2349,0.52,63.5,28.2,12.0,522,2356,0.00,2.33,0.00,0.000,4,0.000,0.081,2563,884,3427
$GC,2442,0.52,63.5,17.8,11.2,543,2448,0.00,2.30,0.00,0.000,6,0.000,0.084,2563,2299,3426
$GC,2513,0.52,63.5,10.3,10.7,559,2518,0.00,2.30,0.00,0.000,4,0.000,0.084,2563,3722,3426
$GC,2535,0.52,63.5,8.0,10.7,564,2541,0.10,2.30,0.00,0.000,6,0.204,0.077,2553,2291,3425
$GC,2606,0.61,135.9,5.0,1.6,580,2670,0.10,2.40,57.12,0.601,4,0.088,0.084,2593,3723,3132
$STATE,2677,end climb,SURFACE_DEPTH_REACHED
$STATE,2677,begin surface coast
$FINISH,-0.0,1.020104
$STATE,2811,end surface coast,CONTROL_FINISHED_OK
$STATE,2812,begin surface
$SM_CCo,2825,91.70,0.601,0,0,2260,350.04
$SM_GC,1.60,0.00,0.00,91.70,0.000,0.000,0.601,143,2192,2260,-7.01,-0.23,350.04
$IRIDIUM_FIX,4748.51,-12221.84,201198,040429
$TT8_MAMPS,0.052156
$HUMID,2220
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,17.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,42.2
$24V_AH,24.4,1.408
$10V_AH,10.6,0.821
$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,16.900,41.425,199.350,91.700,0.000,30.617,24.332,267.615,0.500,0.000,0.000,33.932,0.000,1313.656,388.416,1222.109,404.516,33.308,885.892,0.000,982.560,0.000,5.838,0.000
$DEVICE_MAMPS,270.751,92.807,653.484,601.328,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,421.094,713.422,624.922,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44473,624
$CAP_FILE_SIZE,62039,0
$CFSIZE,260165632,258392064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,063619,4806.548,-12222.634,10,1.5,10,18.3