version: 66.04
glider: 177
mission: 1
dive: 16
start: 8 26 109 7 28 10
data:
$ID,177
$MISSION,1
$DIVE,16
$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,-3358.4526
$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,24
$R_STBD_OVSHOOT,15
$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
$GPS1,072226,4806.352,-12222.539,6,1.7,6,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-67.7
$GPS2,072732,4806.332,-12222.542,11,1.6,11,18.3
$SPEED_LIMITS,0.115,0.156
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.112,-0.109
$KALMAN_X,-1461.8,235.1,-22.3,1694.2,-353.4
$KALMAN_Y,2362.8,-381.1,390.5,-4884.5,348.5
$MHEAD_RNG_PITCHd_Wd,115.7,910,-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,11,-0.52,-63.5,0.0,0.0,0,150,0.00,0.00,-135.70,0.000,2,0.000,0.000,144,2181,3853
$GC,151,-0.52,-63.5,3.3,-4.2,24,169,9.05,2.25,-2.72,0.000,4,0.274,0.093,2217,795,3951
$GC,417,-0.52,-63.5,21.6,-6.2,84,423,0.00,2.30,0.00,0.000,6,0.000,0.074,2209,2204,3951
$GC,487,-0.52,-63.5,26.0,-6.4,100,493,0.00,2.22,0.00,0.000,4,0.000,0.071,2209,794,3952
$GC,531,-0.52,-63.5,29.0,-7.0,110,537,0.05,2.28,0.00,0.000,6,0.163,0.075,2213,2197,3952
$GC,602,-0.52,-63.5,33.7,-6.6,126,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2197,3952
$GC,672,-0.52,-63.5,38.3,-6.6,142,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2198,3952
$GC,741,-0.52,-63.5,42.8,-6.6,158,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2197,3952
$GC,876,-0.52,-63.5,51.5,-6.3,189,882,0.00,2.28,0.00,0.000,4,0.000,0.077,2205,3623,3952
$GC,981,-0.52,-63.5,60.0,-8.2,213,987,0.00,2.25,0.00,0.000,6,0.000,0.064,2205,2209,3952
$GC,1117,-0.52,-63.5,70.3,-7.6,244,1123,0.00,2.25,0.00,0.000,4,0.000,0.076,2194,3619,3952
$GC,1174,-0.52,-63.5,74.9,-8.3,257,1180,0.05,2.25,0.00,0.000,6,0.159,0.064,2221,2198,3952
$GC,1310,-0.52,-63.5,83.5,-6.0,288,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2198,3952
$GC,1445,-0.52,-63.5,91.4,-5.8,319,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2198,3952
$GC,1579,-0.52,-63.5,99.5,-6.0,350,1584,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2198,3952
$GC,1714,-0.52,-63.5,107.1,-5.8,381,1720,0.00,2.22,0.00,0.000,4,0.000,0.077,2221,782,3952
$GC,1750,-0.52,-63.5,109.4,-6.3,389,1756,0.00,2.25,0.00,0.000,6,0.000,0.076,2213,2204,3951
$STATE,1797,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1797,begin apogee
$GC,1800,-0.12,0.0,112.5,6.3,400,1874,0.43,0.00,70.68,0.647,6,0.154,0.000,2345,2310,3688
$STATE,1874,end apogee,CONTROL_FINISHED_OK
$STATE,1874,begin climb
$GC,1875,0.52,63.5,113.2,0.0,413,1952,0.60,0.00,70.65,0.625,6,0.084,0.000,2556,2310,3430
$GC,2082,0.52,63.5,89.1,13.8,457,2088,0.00,2.35,0.00,0.000,4,0.000,0.079,2567,887,3429
$GC,2117,0.52,63.5,84.3,13.7,465,2123,0.00,2.35,0.00,0.000,6,0.000,0.084,2566,2296,3429
$GC,2253,0.52,63.5,64.8,14.2,496,2259,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2296,3428
$GC,2388,0.52,63.5,45.4,14.3,527,2393,0.00,0.00,0.00,0.000,6,0.000,0.000,2567,2296,3428
$GC,2523,0.52,63.5,26.7,13.7,558,2529,0.00,2.30,0.00,0.000,4,0.000,0.084,2567,3715,3428
$GC,2567,0.52,63.5,20.1,15.1,568,2574,0.08,2.30,0.00,0.000,6,0.203,0.071,2558,2303,3427
$GC,2638,0.52,63.5,11.4,11.5,584,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2302,3427
$GC,2708,0.52,63.5,4.7,9.4,600,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,2302,3427
$GC,2777,0.67,187.8,5.1,-2.1,616,2854,0.15,0.00,73.82,0.596,2,0.081,0.000,2615,2302,3039
$STATE,2854,end climb,SURFACE_DEPTH_REACHED
$STATE,2854,begin surface coast
$FINISH,0.0,1.020030
$STATE,3009,end surface coast,CONTROL_FINISHED_OK
$STATE,3009,begin surface
$SM_CCo,3020,81.18,0.595,0,0,2260,350.04
$SM_GC,1.49,0.00,0.00,81.18,0.000,0.000,0.595,143,2175,2260,-7.01,-0.71,350.04
$IRIDIUM_FIX,4748.51,-12217.40,201198,060620
$TT8_MAMPS,0.052156
$HUMID,2212
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,42.3
$24V_AH,24.4,1.571
$10V_AH,10.6,0.922
$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,17.175,32.200,215.150,81.175,0.000,23.755,28.648,185.911,0.500,0.000,0.000,13.547,0.000,1381.601,434.038,1273.540,316.846,33.305,973.023,0.000,1045.827,0.000,5.837,0.000
$DEVICE_MAMPS,273.819,92.807,646.581,595.192,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,447.556,764.427,670.839,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44592,665
$CAP_FILE_SIZE,60836,0
$CFSIZE,260165632,258322432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260809,082037,4806.140,-12222.209,27,1.3,27,18.3