version: 66.04
glider: 177
mission: 1
dive: 15
start: 8 26 109 6 43 10
data:
$ID,177
$MISSION,1
$DIVE,15
$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,-3344.2764
$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,17
$R_STBD_OVSHOOT,13
$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
$GPS1,063619,4806.548,-12222.634,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-76.9
$GPS2,064232,4806.538,-12222.648,11,1.7,11,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.090,-0.128
$KALMAN_X,-996.8,96.4,-64.8,1277.2,-73.9
$KALMAN_Y,1981.4,-217.2,412.5,-4306.7,165.1
$MHEAD_RNG_PITCHd_Wd,126.7,1279,-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,-63.5,0.0,0.0,0,70,0.00,0.00,-56.88,0.000,2,0.000,0.000,143,2192,3663
$GC,72,-0.52,-63.5,3.2,-4.4,10,96,9.00,2.33,-8.15,0.000,4,0.270,0.087,2204,3620,3950
$GC,342,-0.52,-63.5,25.8,-8.4,71,349,0.00,2.28,0.00,0.000,6,0.000,0.063,2204,2198,3951
$GC,413,-0.52,-63.5,30.9,-7.1,87,419,0.00,2.30,0.00,0.000,4,0.000,0.074,2194,3612,3952
$GC,666,-0.52,-63.5,52.6,-8.6,145,672,0.08,2.25,0.00,0.000,6,0.161,0.063,2228,2201,3952
$GC,802,-0.52,-63.5,61.2,-6.0,176,808,0.00,2.28,0.00,0.000,4,0.000,0.076,2219,3628,3952
$GC,889,-0.52,-63.5,67.4,-7.1,196,895,0.00,2.25,0.00,0.000,6,0.000,0.063,2219,2209,3953
$GC,1026,-0.52,-63.5,76.5,-6.8,227,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2209,3953
$STATE,1083,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1083,begin apogee
$GC,1087,-0.12,0.0,80.1,6.2,240,1164,0.40,0.00,71.18,0.627,6,0.148,0.000,2344,2310,3689
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1166,0.52,63.5,81.2,0.0,254,1243,0.60,0.00,71.03,0.626,6,0.086,0.000,2554,2310,3428
$GC,1372,0.52,63.5,57.6,13.8,298,1377,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2310,3428
$GC,1507,0.52,63.5,39.8,13.3,329,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2310,3428
$GC,1577,0.52,63.5,30.8,12.8,345,1582,0.00,0.00,0.00,0.000,6,0.000,0.000,2554,2310,3428
$GC,1646,0.52,63.5,22.2,12.1,361,1652,0.00,2.35,0.00,0.000,4,0.000,0.081,2565,859,3428
$GC,1704,0.52,63.5,15.6,11.4,374,1710,0.00,2.35,0.00,0.000,6,0.000,0.084,2565,2298,3427
$GC,1775,0.52,63.5,7.8,11.2,390,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2297,3427
$STATE,1821,end climb,SURFACE_DEPTH_REACHED
$STATE,1821,begin surface coast
$FINISH,4.2,1.020565
$STATE,1874,end surface coast,CONTROL_FINISHED_OK
$STATE,1874,begin surface
$SM_CCo,1875,335.80,0.578,4,0,464,790.60
$SM_GC,0.81,6.60,0.00,0.00,0.041,0.000,0.000,144,2180,460,-6.94,-0.54,791.58
$IRIDIUM_FIX,4748.51,-12224.57,201198,050545
$TT8_MAMPS,0.051389
$HUMID,2213
$INTERNAL_PRESSURE,8.68197
$TCM_TEMP,17.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,6.5
$24V_AH,24.5,1.505
$10V_AH,10.7,0.864
$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,16.675,18.725,142.200,335.800,0.000,24.396,27.385,242.886,0.750,0.000,0.000,12.927,0.000,955.837,570.234,810.239,362.932,33.306,906.178,0.000,656.199,0.000,5.736,0.000
$DEVICE_MAMPS,269.984,92.040,627.406,577.551,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,278.432,494.871,434.125,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28691,413
$CAP_FILE_SIZE,43270,0
$CFSIZE,260165632,258383872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,260809,072226,4806.352,-12222.539,6,1.7,6,18.3