version: 66.04
glider: 170
mission: 1
dive: 16
start: 7 16 109 7 33 28
data:
$ID,170
$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,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,-9602.7764
$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,30
$R_STBD_OVSHOOT,28
$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
$GPS1,072714,4806.298,-12222.362,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.5
$GPS2,073232,4806.272,-12222.349,18,1.3,18,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.190
$KALMAN_X,-1660.8,-225.6,-27.4,3132.1,39.0
$KALMAN_Y,-1020.6,-73.1,-84.2,-570.8,-235.9
$MHEAD_RNG_PITCHd_Wd,317.7,3795,-14.0,-7.042
$D_GRID,107
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.56,-117.3,0.0,0.0,0,106,0.00,0.00,-88.82,0.000,2,0.000,0.000,133,2109,3682
$GC,108,-0.56,-117.3,3.1,-2.6,17,127,10.50,0.00,-5.53,0.000,6,0.249,0.000,2733,2108,3898
$GC,197,-0.56,-117.3,13.4,-9.9,35,202,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2109,3899
$GC,272,-0.56,-117.3,19.5,-8.0,51,277,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2109,3899
$GC,347,-0.56,-117.3,26.1,-8.7,67,353,0.00,2.33,0.00,0.000,4,0.000,0.078,2733,3500,3899
$GC,390,-0.56,-117.3,30.2,-9.3,76,396,0.00,2.22,0.00,0.000,6,0.000,0.051,2733,2098,3900
$GC,466,-0.56,-117.3,37.2,-9.5,92,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2094,3900
$GC,541,-0.56,-117.3,44.4,-9.5,108,547,0.00,2.35,0.00,0.000,4,0.000,0.078,2733,3500,3900
$GC,590,-0.56,-117.3,48.9,-9.3,118,596,0.00,2.22,0.00,0.000,6,0.000,0.050,2733,2088,3900
$GC,735,-0.56,-117.3,61.9,-9.0,149,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2087,3900
$GC,879,-0.56,-117.3,74.5,-9.2,180,885,0.00,2.38,0.00,0.000,4,0.000,0.080,2733,3512,3900
$GC,949,-0.56,-117.3,81.0,-9.0,195,956,0.00,2.22,0.00,0.000,6,0.000,0.049,2733,2090,3900
$GC,1094,-0.56,-117.3,93.4,-8.5,226,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2088,3900
$GC,1239,-0.56,-117.3,105.4,-8.2,257,1245,0.00,2.35,0.00,0.000,4,0.000,0.081,2733,3500,3900
$STATE,1258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1258,begin apogee
$GC,1264,-0.24,0.0,107.2,8.1,261,1356,0.32,0.00,85.45,0.698,6,0.142,0.000,2838,2096,3417
$STATE,1357,end apogee,CONTROL_FINISHED_OK
$STATE,1357,begin climb
$GC,1359,0.56,117.3,110.3,0.0,278,1450,0.77,0.00,86.68,0.684,6,0.117,0.000,3093,2096,2939
$GC,1589,0.56,117.3,88.7,11.1,325,1595,0.00,2.25,0.00,0.000,4,0.000,0.053,3103,695,2938
$GC,1632,0.56,117.3,83.8,11.3,334,1638,0.00,2.25,0.00,0.000,6,0.000,0.047,3103,2104,2938
$GC,1778,0.56,117.3,67.2,10.9,365,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2104,2937
$GC,1922,0.56,117.3,51.3,10.9,396,1928,0.00,2.25,0.00,0.000,4,0.000,0.053,3110,684,2936
$GC,1952,0.56,117.3,48.1,10.9,402,1958,0.00,2.25,0.00,0.000,6,0.000,0.048,3111,2114,2936
$GC,2098,0.56,117.3,32.3,10.5,433,2104,0.00,2.25,0.00,0.000,4,0.000,0.061,3111,3515,2936
$GC,2137,0.56,117.3,27.6,11.6,441,2143,0.00,2.22,0.00,0.000,6,0.000,0.046,3119,2097,2936
$GC,2213,0.56,117.3,19.3,10.9,457,2218,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2091,2936
$GC,2288,0.56,117.3,11.7,10.0,473,2294,0.00,2.20,0.00,0.000,4,0.000,0.054,3129,684,2935
$GC,2327,0.56,117.3,8.0,9.8,481,2333,0.00,2.22,0.00,0.000,6,0.000,0.048,3129,2109,2935
$STATE,2379,end climb,SURFACE_DEPTH_REACHED
$STATE,2379,begin surface coast
$FINISH,1.9,1.018645
$STATE,2445,end surface coast,CONTROL_FINISHED_OK
$STATE,2445,begin surface
$SM_CCo,2460,270.15,0.636,0,0,1461,480.05
$SM_GC,1.39,0.00,0.00,270.15,0.000,0.000,0.636,131,2109,1461,-8.72,0.25,480.05
$IRIDIUM_FIX,4748.51,-12219.12,101098,060616
$TT8_MAMPS,0.026845
$HUMID,1923
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.6,2.113
$10V_AH,10.8,0.629
$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,19.925,36.200,172.125,270.150,0.000,25.405,25.770,178.385,1.500,0.000,0.000,18.543,764.971,677.752,554.710,763.659,305.889,33.338,989.257,0.000,747.103,0.000,10.291,0.000
$DEVICE_MAMPS,248.508,80.535,697.970,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.838,252.144,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15872,506
$CAP_FILE_SIZE,52148,0
$CFSIZE,260165632,255946752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,082004,4806.424,-12222.535,12,2.9,31,18.3