version: 66.04
glider: 170
mission: 1
dive: 14
start: 7 16 109 5 45 10
data:
$ID,170
$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,71
$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,-8
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51437
$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,480
$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,-9565.9121
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3418
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-62.362949
$PRESSURE_SLOPE,0.000115925
$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,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$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,0.0043652086
$SEABIRD_T_H,0.00063100836
$SEABIRD_T_I,2.5667814e-05
$SEABIRD_T_J,2.9083003e-06
$SEABIRD_C_G,-9.8859177
$SEABIRD_C_H,1.1208299
$SEABIRD_C_I,-0.0010195741
$SEABIRD_C_J,0.00016822568
$GPS1,053628,4806.029,-12222.067,10,2.2,29,18.3
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-77.1
$GPS2,054413,4805.978,-12222.018,11,1.7,16,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.071,0.196
$KALMAN_X,-1622.7,-282.2,-52.3,3585.3,-78.2
$KALMAN_Y,-483.3,-6.2,-59.3,-1746.7,-151.6
$MHEAD_RNG_PITCHd_Wd,321.9,4476,-14.0,-7.042
$D_GRID,108
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.56,-117.3,0.0,0.0,0,101,0.00,0.00,-84.20,0.000,2,0.000,0.000,132,2117,3598
$GC,103,-0.56,-117.3,3.1,-2.6,16,126,10.48,0.00,-7.50,0.000,6,0.248,0.000,2735,2118,3897
$GC,196,-0.56,-117.3,13.2,-8.7,35,202,0.00,2.30,0.00,0.000,4,0.000,0.070,2735,3510,3898
$GC,240,-0.56,-117.3,17.0,-8.6,44,246,0.00,2.25,0.00,0.000,6,0.000,0.046,2735,2080,3898
$GC,316,-0.56,-117.3,23.2,-7.9,60,322,0.00,2.35,0.00,0.000,4,0.000,0.071,2735,3501,3898
$GC,345,-0.56,-117.3,25.9,-8.5,66,351,0.00,2.20,0.00,0.000,6,0.000,0.046,2735,2099,3899
$GC,421,-0.56,-117.3,32.5,-8.7,82,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2095,3899
$GC,497,-0.56,-117.3,39.2,-8.7,98,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2095,3899
$GC,572,-0.56,-117.3,46.0,-9.2,114,578,0.00,2.33,0.00,0.000,4,0.000,0.074,2735,3504,3899
$GC,643,-0.56,-117.3,52.7,-9.6,129,649,0.00,2.20,0.00,0.000,6,0.000,0.046,2735,2095,3899
$GC,788,-0.56,-117.3,65.7,-9.0,160,793,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2090,3899
$GC,933,-0.56,-117.3,78.5,-8.6,191,939,0.00,2.33,0.00,0.000,4,0.000,0.074,2735,3506,3899
$GC,966,-0.56,-117.3,81.5,-8.8,198,972,0.00,2.20,0.00,0.000,6,0.000,0.046,2735,2088,3899
$GC,1111,-0.56,-117.3,94.0,-8.4,229,1117,0.00,2.35,0.00,0.000,4,0.000,0.074,2735,3514,3898
$GC,1150,-0.56,-117.3,97.2,-8.4,237,1157,0.00,2.20,0.00,0.000,6,0.000,0.045,2735,2090,3898
$STATE,1282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1282,begin apogee
$GC,1286,-0.24,0.0,108.1,8.1,265,1378,0.32,0.00,84.57,0.691,6,0.146,0.000,2840,2089,3418
$STATE,1379,end apogee,CONTROL_FINISHED_OK
$STATE,1379,begin climb
$GC,1381,0.56,117.3,110.8,0.0,282,1478,0.75,2.33,86.47,0.683,4,0.115,0.052,3091,706,2938
$GC,1502,0.56,117.3,101.8,10.1,305,1508,0.00,2.28,0.00,0.000,6,0.000,0.047,3091,2099,2938
$GC,1648,0.56,117.3,85.9,10.9,336,1654,0.00,2.33,0.00,0.000,4,0.000,0.061,3091,3519,2937
$GC,1683,0.56,117.3,81.6,11.8,343,1689,0.00,2.25,0.00,0.000,6,0.000,0.045,3101,2113,2938
$GC,1828,0.56,117.3,65.2,11.4,374,1834,0.00,2.25,0.00,0.000,4,0.000,0.054,3110,686,2937
$GC,1890,0.56,117.3,58.1,11.3,387,1896,0.00,2.25,0.00,0.000,6,0.000,0.048,3110,2112,2936
$GC,2036,0.56,117.3,41.7,10.7,418,2042,0.00,2.25,0.00,0.000,4,0.000,0.061,3111,3512,2936
$GC,2075,0.56,117.3,36.8,12.2,426,2081,0.00,2.25,0.00,0.000,6,0.000,0.047,3119,2087,2936
$GC,2151,0.56,117.3,28.1,11.5,442,2157,0.00,2.20,0.00,0.000,4,0.000,0.054,3130,679,2936
$GC,2195,0.56,117.3,23.3,11.6,451,2201,0.00,2.22,0.00,0.000,6,0.000,0.048,3130,2099,2936
$GC,2271,0.56,117.3,14.7,11.3,467,2277,0.00,2.28,0.00,0.000,4,0.000,0.061,3130,3522,2935
$GC,2305,0.56,117.3,10.8,10.9,474,2312,0.15,2.22,0.00,0.000,6,0.172,0.044,3099,2094,2935
$GC,2382,0.56,117.3,4.6,7.2,490,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2089,2935
$STATE,2391,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,1.8,1.019203
$STATE,2467,end surface coast,CONTROL_FINISHED_OK
$STATE,2467,begin surface
$SM_CCo,2483,268.80,0.630,1,0,1460,480.05
$SM_GC,1.50,0.00,0.00,268.80,0.000,0.000,0.630,134,2089,1460,-8.71,-0.31,480.05
$IRIDIUM_FIX,4748.51,-12220.12,101098,050525
$TT8_MAMPS,0.026078
$HUMID,1907
$INTERNAL_PRESSURE,9.1367
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,24.6,1.922
$10V_AH,10.8,0.567
$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,19.825,49.800,171.050,268.800,0.000,46.231,106.642,170.307,2.000,0.000,0.000,16.768,776.524,731.744,570.643,764.161,401.270,33.335,1014.501,0.000,750.169,0.000,10.297,0.000
$DEVICE_MAMPS,247.741,74.399,691.067,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.615,252.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15854,508
$CAP_FILE_SIZE,55740,0
$CFSIZE,260165632,256008192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160709,063206,4806.160,-12222.194,10,1.2,26,18.3