version: 66.04
glider: 170
mission: 1
dive: 21
start: 7 16 109 12 6 51
data:
$ID,170
$MISSION,1
$DIVE,21
$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,-9716.3662
$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,35
$R_STBD_OVSHOOT,27
$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
$GPS1,120008,4806.881,-12223.126,13,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-80.5
$GPS2,120556,4806.841,-12223.076,33,1.9,33,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,0.198
$KALMAN_X,-1823.6,78.3,66.2,1996.9,28.5
$KALMAN_Y,-2651.7,-250.3,-60.0,2266.4,-267.8
$MHEAD_RNG_PITCHd_Wd,323.4,2431,-14.0,-7.042
$D_GRID,101
$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,-117.3,0.0,0.0,0,80,0.00,0.00,-63.03,0.000,2,0.000,0.000,136,2108,3089
$GC,82,-0.56,-117.3,3.4,-3.1,12,122,10.45,2.25,-23.08,0.000,4,0.246,0.064,2733,688,3897
$GC,298,-0.56,-117.3,19.5,-8.5,57,304,0.00,2.30,0.00,0.000,6,0.000,0.066,2733,2092,3897
$GC,374,-0.56,-117.3,25.9,-8.4,73,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2093,3898
$GC,448,-0.56,-117.3,32.7,-9.2,89,454,0.00,2.38,0.00,0.000,4,0.000,0.079,2733,3515,3898
$GC,464,-0.56,-117.3,34.3,-9.7,92,470,0.00,2.22,0.00,0.000,6,0.000,0.048,2733,2102,3898
$GC,540,-0.56,-117.3,41.6,-9.6,108,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2101,3898
$GC,685,-0.56,-117.3,55.6,-9.6,139,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2101,3898
$GC,829,-0.56,-117.3,69.0,-9.4,170,835,0.00,2.35,0.00,0.000,4,0.000,0.077,2733,3516,3898
$GC,910,-0.56,-117.3,76.7,-9.2,187,916,0.00,2.22,0.00,0.000,6,0.000,0.047,2733,2086,3898
$GC,1053,-0.56,-117.3,89.5,-8.8,218,1060,0.00,2.38,0.00,0.000,4,0.000,0.078,2733,3516,3898
$GC,1093,-0.56,-117.3,92.7,-8.6,226,1099,0.00,2.22,0.00,0.000,6,0.000,0.047,2733,2086,3898
$STATE,1189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1190,begin apogee
$GC,1194,-0.24,0.0,101.0,8.3,247,1285,0.32,0.00,84.88,0.687,6,0.147,0.000,2837,2085,3417
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1287,0.56,117.3,104.3,0.0,264,1379,0.77,0.00,86.70,0.676,6,0.117,0.000,3092,2085,2938
$GC,1518,0.56,117.3,83.7,11.0,311,1524,0.00,2.22,0.00,0.000,4,0.000,0.051,3096,696,2937
$GC,1566,0.56,117.3,78.7,10.6,321,1572,0.00,2.28,0.00,0.000,6,0.000,0.047,3096,2121,2937
$GC,1712,0.56,117.3,62.9,10.7,352,1718,0.00,2.25,0.00,0.000,4,0.000,0.061,3096,3510,2936
$GC,1760,0.56,117.3,57.0,12.3,362,1767,0.00,2.22,0.00,0.000,6,0.000,0.043,3107,2100,2936
$GC,1907,0.56,117.3,41.2,10.6,393,1912,0.00,2.20,0.00,0.000,4,0.000,0.051,3115,690,2936
$GC,1969,0.56,117.3,34.8,10.2,406,1975,0.00,2.22,0.00,0.000,6,0.000,0.048,3115,2109,2936
$GC,2045,0.56,117.3,26.6,11.1,422,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2110,2936
$GC,2120,0.56,117.3,18.7,10.4,438,2125,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2110,2936
$GC,2195,0.56,117.3,11.2,9.8,454,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2109,2936
$GC,2270,0.56,117.3,5.1,7.2,470,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2110,2935
$STATE,2289,end climb,SURFACE_DEPTH_REACHED
$STATE,2289,begin surface coast
$FINISH,3.7,1.018534
$STATE,2360,end surface coast,CONTROL_FINISHED_OK
$STATE,2360,begin surface
$SM_CCo,2375,270.83,0.632,0,0,1461,480.05
$SM_GC,1.39,0.00,0.00,270.83,0.000,0.000,0.632,131,2114,1461,-8.71,0.40,480.05
$IRIDIUM_FIX,4748.51,-12221.84,101098,111133
$TT8_MAMPS,0.026845
$HUMID,1886
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.5,2.600
$10V_AH,10.8,0.787
$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,19.825,31.725,171.575,270.825,0.000,30.653,24.624,187.756,1.250,0.000,0.000,33.686,742.264,655.449,544.291,753.949,316.546,33.356,963.258,0.000,723.072,0.000,8.746,0.000
$DEVICE_MAMPS,246.207,79.001,687.232,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,327.336,248.257,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15855,489
$CAP_FILE_SIZE,50495,0
$CFSIZE,260165632,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,8
$GPS,160709,125144,4806.975,-12223.189,13,1.8,13,18.3