version: 66.04
glider: 171
mission: 1
dive: 5
start: 7 15 109 22 16 0
data:
$ID,171
$MISSION,1
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$T_MISSION,70
$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,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-554.21814
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2883
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2199
$C_ROLL_CLIMB,2199
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3497
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-75.123062
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043688784
$SEABIRD_T_H,0.00062944769
$SEABIRD_T_I,2.4717139e-05
$SEABIRD_T_J,2.7241397e-06
$SEABIRD_C_G,-10.19732
$SEABIRD_C_H,1.1460223
$SEABIRD_C_I,-0.00094820879
$SEABIRD_C_J,0.00016859215
$GPS1,221037,4807.081,-12222.896,28,1.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-79.0
$GPS2,221507,4807.090,-12222.909,9,1.3,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,-0.144
$KALMAN_X,137.7,28.9,6.2,-269.7,52.9
$KALMAN_Y,247.6,144.3,119.2,-1350.2,79.4
$MHEAD_RNG_PITCHd_Wd,195.3,201,-27.2,-10.000
$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,-0.83,-63.1,0.0,0.0,0,106,0.00,0.00,-89.15,0.000,2,0.000,0.000,150,2206,3656
$GC,107,-0.86,-86.1,3.3,-7.5,17,131,10.05,2.40,-4.95,0.000,4,0.249,0.087,2601,787,3852
$GC,394,-0.86,-86.1,32.5,-11.5,78,400,0.00,2.33,0.00,0.000,6,0.000,0.074,2591,2193,3852
$GC,470,-0.86,-86.1,41.1,-11.7,94,476,0.00,2.33,0.00,0.000,4,0.000,0.074,2592,777,3852
$GC,720,-0.86,-86.1,72.7,-12.4,148,726,0.00,2.35,0.00,0.000,6,0.000,0.075,2580,2206,3852
$GC,865,-0.86,-86.1,90.9,-12.5,179,870,0.00,2.33,0.00,0.000,4,0.000,0.074,2580,784,3852
$GC,889,-0.86,-86.1,94.3,-13.4,184,896,0.12,2.33,0.00,0.000,6,0.173,0.074,2600,2202,3852
$STATE,982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,983,begin apogee
$GC,986,-0.14,0.0,105.2,11.6,204,1055,0.73,0.00,63.17,0.700,6,0.145,0.000,2831,2203,3496
$STATE,1056,end apogee,CONTROL_FINISHED_OK
$STATE,1056,begin climb
$GC,1057,0.86,86.1,106.9,0.0,217,1127,0.93,0.00,64.03,0.676,6,0.085,0.000,3154,2203,3145
$GC,1266,0.86,86.1,78.7,16.3,260,1272,0.00,2.35,0.00,0.000,4,0.000,0.063,3165,772,3144
$GC,1318,0.86,86.1,70.1,16.3,271,1324,0.00,2.33,0.00,0.000,6,0.000,0.058,3165,2205,3145
$GC,1463,0.86,86.1,46.8,15.4,302,1469,0.00,2.30,0.00,0.000,4,0.000,0.067,3165,3618,3144
$GC,1525,0.86,86.1,36.6,16.4,315,1531,0.00,2.30,0.00,0.000,6,0.000,0.056,3176,2190,3143
$GC,1600,0.86,86.1,25.4,14.7,331,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2189,3144
$GC,1675,0.86,86.1,15.1,13.0,347,1681,0.00,2.28,0.00,0.000,4,0.000,0.064,3187,771,3143
$GC,1709,0.86,86.1,10.6,13.9,354,1715,0.00,2.30,0.00,0.000,6,0.000,0.059,3187,2206,3143
$STATE,1779,end climb,SURFACE_DEPTH_REACHED
$STATE,1779,begin surface coast
$FINISH,3.8,1.021703
$STATE,1840,end surface coast,CONTROL_FINISHED_OK
$STATE,1841,begin surface
$SM_CCo,1842,354.98,0.618,1,1,1223,557.32
$SM_CCo,2204,150.05,0.588,0,0,435,751.11
$SM_GC,0.42,8.35,0.00,0.00,0.045,0.000,0.000,148,2206,431,-8.48,0.20,752.09
$IRIDIUM_FIX,4748.51,-12221.84,091098,212112
$TT8_MAMPS,0.027612
$HUMID,1960
$INTERNAL_PRESSURE,9.2128
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.7,0.618
$10V_AH,10.8,0.166
$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,20.175,27.900,127.200,505.025,0.000,31.477,25.776,147.229,0.000,0.000,0.000,15.195,579.735,619.641,734.397,575.645,238.082,33.321,1065.295,0.000,568.955,0.000,0.534,0.000
$DEVICE_MAMPS,248.508,87.438,699.504,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.968,194.448,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12698,382
$CAP_FILE_SIZE,40581,8
$CFSIZE,260165632,258277376
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
$GPS,150709,225801,4806.949,-12222.967,13,1.3,31,18.3