version: 66.04
glider: 171
mission: 1
dive: 13
start: 7 16 109 4 23 26
data:
$ID,171
$MISSION,1
$DIVE,13
$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,-679.40399
$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,17
$R_STBD_OVSHOOT,17
$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
$GPS1,041755,4805.952,-12222.062,42,1.1,42,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-72.5
$GPS2,042231,4805.907,-12222.029,11,1.2,17,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.213
$KALMAN_X,-18.3,13.6,-50.2,1047.6,-42.1
$KALMAN_Y,1085.0,366.7,85.7,-4563.9,-55.3
$MHEAD_RNG_PITCHd_Wd,316.9,4578,-19.7,-10.000
$D_GRID,108
$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,13,-0.69,-117.3,0.0,0.0,0,148,0.00,0.00,-131.35,0.000,2,0.000,0.000,147,2195,3696
$GC,150,-0.69,-117.3,3.0,-7.0,25,172,10.18,0.00,-7.22,0.000,6,0.244,0.000,2651,2195,3960
$GC,242,-0.69,-117.3,11.1,-7.6,44,247,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2195,3960
$GC,317,-0.69,-117.3,17.5,-8.6,60,323,0.00,2.38,0.00,0.000,4,0.000,0.084,2651,785,3960
$GC,379,-0.69,-117.3,23.3,-9.7,73,385,0.00,2.40,0.00,0.000,6,0.000,0.087,2640,2195,3961
$GC,455,-0.69,-117.3,31.2,-10.4,89,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2195,3961
$GC,529,-0.69,-117.3,39.2,-10.8,105,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2195,3961
$GC,604,-0.69,-117.3,47.5,-10.8,121,610,0.00,2.45,0.00,0.000,4,0.000,0.097,2629,3616,3961
$GC,628,-0.69,-117.3,50.4,-11.9,126,635,0.10,2.38,0.00,0.000,6,0.154,0.081,2654,2196,3961
$GC,774,-0.69,-117.3,66.4,-10.6,157,780,0.00,2.35,0.00,0.000,4,0.000,0.084,2655,786,3961
$GC,818,-0.69,-117.3,71.4,-11.6,166,823,0.00,2.38,0.00,0.000,6,0.000,0.085,2645,2200,3961
$GC,962,-0.69,-117.3,87.3,-11.0,197,968,0.00,2.42,0.00,0.000,4,0.000,0.096,2633,3622,3961
$GC,996,-0.69,-117.3,91.3,-11.7,204,1002,0.00,2.38,0.00,0.000,6,0.000,0.081,2633,2198,3961
$GC,1141,-0.69,-117.3,107.5,-10.4,235,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2198,3961
$STATE,1151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1151,begin apogee
$GC,1154,-0.14,0.0,108.7,10.6,237,1241,0.60,0.00,81.95,0.696,6,0.125,0.000,2832,2198,3497
$STATE,1241,end apogee,CONTROL_FINISHED_OK
$STATE,1241,begin climb
$GC,1243,0.69,117.3,110.7,0.0,253,1334,0.77,0.00,87.22,0.670,6,0.083,0.000,3102,2198,3017
$GC,1473,0.69,117.3,82.8,14.6,300,1478,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2197,3017
$GC,1617,0.69,117.3,62.2,14.2,331,1623,0.00,2.35,0.00,0.000,4,0.000,0.074,3113,784,3015
$GC,1642,0.69,117.3,58.6,14.3,336,1648,0.00,2.38,0.00,0.000,6,0.000,0.071,3113,2211,3016
$GC,1787,0.69,117.3,38.0,14.3,367,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2212,3015
$GC,1861,0.69,117.3,27.6,13.7,383,1867,0.00,2.38,0.00,0.000,4,0.000,0.076,3124,783,3015
$GC,1877,0.69,117.3,25.5,13.9,386,1883,0.00,2.35,0.00,0.000,6,0.000,0.071,3124,2207,3015
$GC,1952,0.69,117.3,15.1,13.6,402,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3124,2207,3014
$GC,2027,0.69,117.3,6.3,12.5,418,2033,0.00,2.35,0.00,0.000,4,0.000,0.081,3124,3612,3014
$GC,2038,0.69,117.3,5.1,11.9,420,2044,0.00,2.30,0.00,0.000,6,0.000,0.067,3135,2196,3014
$STATE,2052,end climb,SURFACE_DEPTH_REACHED
$STATE,2052,begin surface coast
$FINISH,2.1,1.020687
$STATE,2096,end surface coast,CONTROL_FINISHED_OK
$STATE,2096,begin surface
$SM_CCo,2110,271.10,0.624,1,0,1538,480.05
$SM_GC,0.43,0.00,0.00,271.10,0.000,0.000,0.624,152,2196,1538,-8.53,-0.08,480.05
$IRIDIUM_FIX,4748.51,-12223.57,101098,030320
$TT8_MAMPS,0.027612
$HUMID,1870
$INTERNAL_PRESSURE,9.2421
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.5,1.405
$10V_AH,10.8,0.378
$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,20.125,33.225,169.175,271.100,0.000,23.507,24.420,157.470,0.000,0.000,0.000,17.230,640.381,558.058,585.717,649.060,249.902,33.347,980.936,0.000,641.343,0.000,0.536,0.000
$DEVICE_MAMPS,243.906,97.409,696.436,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,287.088,218.800,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15893,432
$CAP_FILE_SIZE,47243,0
$CFSIZE,260165632,258031616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,160709,050356,4806.100,-12222.106,12,1.5,12,18.3