version: 66.04
glider: 170
mission: 1
dive: 20
start: 7 16 109 11 11 31
data:
$ID,170
$MISSION,1
$DIVE,20
$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,-9682.0508
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,110434,4806.757,-12223.008,9,3.5,28,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-79.5
$GPS2,111037,4806.728,-12222.979,14,1.7,32,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.064,0.199
$KALMAN_X,-1842.9,22.1,78.1,2181.2,18.4
$KALMAN_Y,-2293.6,-221.6,-79.7,1689.2,-268.4
$MHEAD_RNG_PITCHd_Wd,323.9,2673,-14.0,-7.042
$D_GRID,103
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.56,-117.3,0.0,0.0,0,91,0.00,0.00,-73.07,0.000,2,0.000,0.000,137,2119,3348
$GC,93,-0.56,-117.3,3.3,-3.1,14,128,10.35,2.38,-16.02,0.000,4,0.243,0.089,2738,3508,3899
$GC,143,-0.56,-117.3,5.7,-3.8,23,149,0.00,2.25,0.00,0.000,6,0.000,0.049,2738,2096,3898
$GC,219,-0.56,-117.3,11.3,-7.8,39,224,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,3898
$GC,294,-0.56,-117.3,17.2,-7.8,55,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,3898
$GC,369,-0.56,-117.3,23.3,-8.1,71,374,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,3898
$GC,443,-0.56,-117.3,29.9,-9.1,87,449,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,3899
$GC,518,-0.56,-117.3,37.0,-9.7,103,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,3899
$GC,593,-0.56,-117.3,44.0,-9.1,119,598,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2096,3899
$GC,737,-0.56,-117.3,57.4,-9.2,150,743,0.00,2.35,0.00,0.000,4,0.000,0.078,2738,3507,3899
$GC,809,-0.56,-117.3,63.7,-8.5,165,815,0.00,2.22,0.00,0.000,6,0.000,0.049,2738,2090,3899
$GC,954,-0.56,-117.3,76.2,-8.2,196,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2090,3899
$GC,1100,-0.56,-117.3,88.3,-8.4,227,1106,0.00,2.35,0.00,0.000,4,0.000,0.081,2738,3500,3899
$GC,1159,-0.56,-117.3,93.3,-8.2,239,1165,0.00,2.20,0.00,0.000,6,0.000,0.050,2738,2093,3899
$STATE,1280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1280,begin apogee
$GC,1285,-0.24,0.0,103.0,7.9,265,1376,0.30,0.00,84.88,0.692,6,0.140,0.000,2835,2093,3418
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1379,0.56,117.3,106.3,0.0,282,1470,0.77,0.00,86.85,0.681,6,0.115,0.000,3091,2093,2939
$GC,1609,0.56,117.3,85.6,11.1,329,1615,0.00,2.25,0.00,0.000,4,0.000,0.051,3091,689,2937
$GC,1639,0.56,117.3,82.5,10.6,335,1645,0.00,2.28,0.00,0.000,6,0.000,0.048,3091,2111,2937
$GC,1785,0.56,117.3,67.5,10.1,366,1790,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2111,2937
$GC,1929,0.56,117.3,52.2,10.1,397,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2111,2937
$GC,2073,0.56,117.3,38.1,9.6,428,2079,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2111,2936
$GC,2148,0.56,117.3,31.2,9.3,444,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2111,2936
$GC,2223,0.56,117.3,24.5,8.9,460,2229,0.00,2.22,0.00,0.000,4,0.000,0.052,3094,698,2936
$GC,2253,0.56,117.3,21.9,8.4,466,2259,0.00,2.20,0.00,0.000,6,0.000,0.048,3095,2104,2936
$GC,2329,0.56,117.3,15.5,8.5,482,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2104,2936
$GC,2404,0.56,117.3,9.4,7.9,498,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2104,2936
$GC,2479,0.61,157.1,4.8,5.4,514,2502,0.00,0.00,21.05,0.634,2,0.000,0.000,3094,2104,2822
$STATE,2503,end climb,SURFACE_DEPTH_REACHED
$STATE,2503,begin surface coast
$FINISH,3.6,1.019985
$STATE,2604,end surface coast,CONTROL_FINISHED_OK
$STATE,2605,begin surface
$SM_CCo,2620,250.35,0.635,0,0,1460,480.05
$SM_GC,1.40,0.00,0.00,250.35,0.000,0.000,0.635,136,2109,1460,-8.70,0.23,480.05
$IRIDIUM_FIX,4748.51,-12229.01,101098,101004
$TT8_MAMPS,0.026078
$HUMID,1916
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.6,2.505
$10V_AH,10.8,0.757
$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,19.650,22.700,192.775,250.350,0.000,22.461,27.228,209.507,1.500,0.000,0.000,32.191,809.219,727.942,546.946,829.720,337.340,33.333,1006.433,0.000,796.376,0.000,11.594,0.000
$DEVICE_MAMPS,243.139,88.972,691.834,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.897,277.673,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18991,540
$CAP_FILE_SIZE,53380,0
$CFSIZE,260165632,255807488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,120008,4806.881,-12223.126,13,1.9,13,18.3