version: 66.04
glider: 170
mission: 1
dive: 17
start: 7 16 109 8 29 4
data:
$ID,170
$MISSION,1
$DIVE,17
$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,-9617.5557
$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,32
$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
$GPS1,082004,4806.424,-12222.535,12,2.9,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-79.0
$GPS2,082807,4806.384,-12222.510,14,0.9,14,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.084,0.191
$KALMAN_X,-1694.1,-171.0,9.0,2875.1,62.2
$KALMAN_Y,-1342.5,-108.8,-91.8,1.6,-260.7
$MHEAD_RNG_PITCHd_Wd,317.8,3514,-14.0,-7.042
$D_GRID,105
$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,-117.3,0.0,0.0,0,95,0.00,0.00,-79.05,0.000,2,0.000,0.000,131,2110,3482
$GC,98,-0.56,-117.3,3.0,-2.6,15,126,10.40,0.00,-12.27,0.000,6,0.245,0.000,2732,2110,3896
$GC,196,-0.56,-117.3,10.3,-8.6,35,202,0.00,2.35,0.00,0.000,4,0.000,0.079,2732,3509,3895
$GC,272,-0.56,-117.3,16.6,-8.0,51,278,0.00,2.25,0.00,0.000,6,0.000,0.049,2732,2089,3895
$GC,348,-0.56,-117.3,23.0,-8.7,67,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2088,3896
$GC,423,-0.56,-117.3,29.8,-9.2,83,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2089,3896
$GC,498,-0.56,-117.3,37.0,-9.8,99,504,0.00,2.38,0.00,0.000,4,0.000,0.077,2732,3510,3896
$GC,542,-0.56,-117.3,41.4,-10.0,108,548,0.00,2.22,0.00,0.000,6,0.000,0.048,2732,2093,3896
$GC,687,-0.56,-117.3,55.2,-9.3,139,693,0.00,2.35,0.00,0.000,4,0.000,0.079,2732,3500,3897
$GC,740,-0.56,-117.3,60.3,-9.8,150,746,0.00,2.20,0.00,0.000,6,0.000,0.048,2732,2094,3897
$GC,885,-0.56,-117.3,73.7,-9.5,181,890,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2094,3897
$GC,1029,-0.56,-117.3,86.9,-9.2,212,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2094,3897
$GC,1173,-0.56,-117.3,99.4,-8.3,243,1179,0.00,2.35,0.00,0.000,4,0.000,0.081,2732,3505,3896
$GC,1235,-0.56,-117.3,104.8,-8.5,256,1242,0.00,2.20,0.00,0.000,6,0.000,0.051,2732,2099,3896
$STATE,1245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1249,-0.24,0.0,105.9,8.6,258,1337,0.32,0.00,84.60,0.696,6,0.143,0.000,2836,2099,3418
$STATE,1338,end apogee,CONTROL_FINISHED_OK
$STATE,1338,begin climb
$GC,1340,0.56,117.3,108.6,0.0,274,1431,0.77,0.00,86.97,0.678,6,0.116,0.000,3091,2098,2938
$GC,1570,0.56,117.3,87.4,11.0,321,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2099,2937
$GC,1714,0.56,117.3,72.0,10.4,352,1720,0.00,2.22,0.00,0.000,4,0.000,0.052,3099,695,2936
$GC,1762,0.56,117.3,67.1,10.3,362,1768,0.00,2.22,0.00,0.000,6,0.000,0.045,3099,2107,2936
$GC,1908,0.56,117.3,51.7,10.7,393,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2107,2936
$GC,2053,0.56,117.3,37.2,9.6,424,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2107,2935
$GC,2127,0.56,117.3,30.1,9.6,440,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2107,2935
$GC,2203,0.56,117.3,23.0,9.5,456,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2107,2935
$GC,2278,0.56,117.3,16.1,9.1,472,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,3099,2107,2935
$GC,2353,0.56,117.3,9.6,8.5,488,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,3098,2107,2935
$GC,2428,0.59,147.4,4.8,5.8,504,2451,0.00,0.00,21.05,0.633,2,0.000,0.000,3099,2107,2821
$STATE,2452,end climb,SURFACE_DEPTH_REACHED
$STATE,2452,begin surface coast
$FINISH,2.8,1.019493
$STATE,2544,end surface coast,CONTROL_FINISHED_OK
$STATE,2544,begin surface
$SM_CCo,2560,250.02,0.635,0,0,1460,480.05
$SM_GC,1.32,0.00,0.00,250.02,0.000,0.000,0.635,133,2106,1460,-8.71,0.20,480.05
$IRIDIUM_FIX,4751.72,-12242.37,101098,080815
$TT8_MAMPS,0.026078
$HUMID,1907
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.6,2.212
$10V_AH,10.8,0.662
$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,19.750,22.750,192.625,250.025,0.000,58.774,109.112,171.365,1.500,0.000,0.000,14.150,790.112,773.704,542.675,790.865,415.536,33.335,991.664,0.000,778.518,0.000,10.298,0.000
$DEVICE_MAMPS,245.440,80.535,695.669,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.521,269.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18974,528
$CAP_FILE_SIZE,52501,0
$CFSIZE,260165632,255909888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,091638,4806.518,-12222.705,11,1.3,11,18.3