version: 66.04
glider: 170
mission: 1
dive: 25
start: 7 16 109 15 57 38
data:
$ID,170
$MISSION,1
$DIVE,25
$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,100
$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,470
$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,-9774.8594
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2916
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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,8
$ALTIM_SENSITIVITY,0
$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
$GPS1,155136,4807.167,-12223.357,15,1.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.7
$GPS2,155644,4807.145,-12223.314,13,1.6,13,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,0.177
$KALMAN_X,-1483.1,264.0,6.6,1236.4,57.3
$KALMAN_Y,-4126.7,-353.3,-65.0,4409.7,-209.9
$MHEAD_RNG_PITCHd_Wd,318.5,1797,-15.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.57,-97.8,0.0,0.0,0,116,0.00,0.00,-99.30,0.000,2,0.000,0.000,136,2103,3101
$GC,119,-0.57,-97.8,3.4,-3.1,19,153,10.25,2.40,-18.25,0.000,4,0.241,0.096,2725,3505,3817
$GC,417,-0.57,-97.8,26.9,-8.0,82,423,0.00,2.25,0.00,0.000,6,0.000,0.053,2725,2092,3818
$GC,493,-0.57,-97.8,33.2,-8.3,98,499,0.00,2.40,0.00,0.000,4,0.000,0.085,2725,3508,3818
$GC,597,-0.57,-97.8,42.2,-8.9,120,603,0.00,2.25,0.00,0.000,6,0.000,0.053,2726,2093,3818
$GC,742,-0.57,-97.8,54.9,-9.1,151,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2090,3819
$GC,886,-0.57,-97.8,67.6,-8.8,182,892,0.00,2.38,0.00,0.000,4,0.000,0.085,2726,3500,3819
$GC,939,-0.57,-97.8,72.3,-9.0,193,945,0.00,2.22,0.00,0.000,6,0.000,0.053,2725,2089,3818
$GC,1087,-0.57,-97.8,84.9,-8.2,224,1099,0.00,2.38,0.00,0.000,4,0.000,0.084,2725,3504,3818
$GC,1118,-0.57,-97.8,87.6,-8.3,229,1124,0.00,2.22,0.00,0.000,6,0.000,0.053,2725,2092,3818
$GC,1264,-0.57,-97.8,99.4,-8.0,260,1270,0.00,2.38,0.00,0.000,4,0.000,0.084,2726,3510,3818
$STATE,1311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1311,begin apogee
$GC,1318,-0.23,0.0,103.2,8.1,270,1394,0.35,0.00,71.18,0.686,6,0.146,0.000,2837,2193,3417
$STATE,1394,end apogee,CONTROL_FINISHED_OK
$STATE,1394,begin climb
$GC,1396,0.57,97.8,105.7,0.0,284,1472,0.77,0.00,72.12,0.674,6,0.117,0.000,3094,2193,3018
$GC,1611,0.57,97.8,85.2,10.9,328,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,3094,2193,3017
$GC,1754,0.57,97.8,69.9,10.2,359,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2193,3017
$GC,1899,0.57,97.8,55.9,9.5,390,1905,0.00,2.22,0.00,0.000,4,0.000,0.051,3105,776,3017
$GC,1961,0.57,97.8,50.1,9.4,403,1967,0.00,2.25,0.00,0.000,6,0.000,0.048,3105,2204,3016
$GC,2107,0.57,97.8,36.2,9.5,434,2113,0.00,2.25,0.00,0.000,4,0.000,0.051,3114,776,3016
$GC,2169,0.57,97.8,30.6,8.7,447,2175,0.00,2.25,0.00,0.000,6,0.000,0.048,3114,2209,3016
$GC,2245,0.57,97.8,24.1,8.5,463,2250,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2209,3015
$GC,2320,0.57,97.8,18.2,7.7,479,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2209,3015
$GC,2395,0.57,100.9,13.0,6.9,495,2402,0.00,0.00,3.42,0.403,6,0.000,0.000,3114,2209,3006
$GC,2472,0.62,143.7,8.7,5.0,511,2505,0.00,0.00,31.52,0.637,6,0.000,0.000,3113,2209,2832
$GC,2575,0.70,209.0,4.3,3.9,532,2603,0.00,0.00,26.35,0.630,2,0.000,0.000,3113,2209,2687
$STATE,2604,end climb,SURFACE_DEPTH_REACHED
$STATE,2604,begin surface coast
$FINISH,3.3,1.019350
$STATE,2765,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2765,begin surface
$SM_CCo,2781,215.57,0.630,0,0,1501,470.24
$SM_GC,1.40,0.00,0.00,215.57,0.000,0.000,0.630,132,2079,1501,-8.70,-0.59,470.24
$IRIDIUM_FIX,4748.51,-12224.57,101098,151531
$TT8_MAMPS,0.026078
$HUMID,1915
$INTERNAL_PRESSURE,9.15623
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.4,12.3
$24V_AH,24.7,3.047
$10V_AH,10.8,0.922
$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,19.675,32.150,204.600,215.575,0.000,25.207,27.769,171.299,1.000,0.000,0.000,13.631,846.711,787.566,530.279,855.227,301.354,33.335,1009.595,0.000,841.732,0.000,9.806,0.000
$DEVICE_MAMPS,240.838,95.875,686.465,630.474,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.801,300.908,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18992,572
$CAP_FILE_SIZE,53857,0
$CFSIZE,260165632,255647744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,164820,4807.376,-12223.562,12,1.5,12,18.3