version: 66.04
glider: 171
mission: 1
dive: 21
start: 7 16 109 11 6 12
data:
$ID,171
$MISSION,1
$DIVE,21
$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,71
$T_MISSION,85
$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,100
$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,-824.10309
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2868
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$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,16
$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,80
$ALTIM_PING_DELTA,5
$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
$GPS1,105404,4806.983,-12222.873,9,4.4,28,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-76.4
$GPS2,110519,4806.918,-12222.836,23,2.0,28,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,0.154
$KALMAN_X,1196.0,150.1,130.4,-1483.3,128.4
$KALMAN_Y,266.6,-284.0,-105.4,-1031.8,-160.2
$MHEAD_RNG_PITCHd_Wd,304.9,2466,-15.7,-7.042
$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,-0.58,-97.8,0.0,0.0,0,115,0.00,0.00,-95.25,0.000,6,0.000,0.000,144,2201,3896
$GC,117,-0.58,-97.8,3.4,-5.3,19,135,10.25,2.45,0.00,0.000,4,0.243,0.087,2671,788,3897
$GC,163,-0.58,-97.8,10.1,-13.8,28,169,0.00,2.42,0.00,0.000,6,0.000,0.090,2662,2196,3898
$GC,239,-0.58,-97.8,15.5,-6.8,44,245,0.00,2.42,0.00,0.000,4,0.000,0.088,2662,779,3898
$GC,273,-0.58,-97.8,18.0,-7.1,51,279,0.00,2.45,0.00,0.000,6,0.000,0.090,2651,2204,3898
$GC,348,-0.58,-97.8,24.2,-8.6,67,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3898
$GC,423,-0.58,-97.8,31.1,-9.5,83,428,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2204,3898
$GC,498,-0.58,-97.8,38.4,-9.6,99,504,0.10,0.00,0.00,0.000,6,0.161,0.000,2676,2204,3898
$GC,573,-0.58,-97.8,45.1,-8.7,115,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,3898
$GC,717,-0.58,-97.8,58.0,-8.7,146,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2205,3899
$GC,861,-0.58,-97.8,70.7,-8.7,177,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2204,3898
$GC,1006,-0.58,-97.8,83.1,-8.6,208,1012,0.00,2.40,0.00,0.000,4,0.000,0.091,2676,785,3899
$GC,1059,-0.58,-97.8,88.0,-9.1,219,1065,0.00,2.40,0.00,0.000,6,0.000,0.091,2668,2198,3899
$GC,1204,-0.58,-97.8,100.4,-8.7,250,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2198,3898
$STATE,1259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1259,begin apogee
$GC,1262,-0.15,0.0,105.1,8.4,262,1339,0.43,0.00,71.03,0.713,6,0.122,0.000,2810,2198,3497
$STATE,1339,end apogee,CONTROL_FINISHED_OK
$STATE,1339,begin climb
$GC,1341,0.58,97.8,107.1,0.0,276,1421,0.70,0.00,73.15,0.685,6,0.091,0.000,3049,2198,3097
$GC,1559,0.58,97.8,87.4,10.9,321,1565,0.00,2.42,0.00,0.000,4,0.000,0.081,3061,786,3095
$GC,1579,0.58,97.8,85.1,10.9,325,1586,0.00,2.42,0.00,0.000,6,0.000,0.077,3061,2209,3096
$GC,1725,0.58,97.8,68.9,11.2,356,1731,0.00,2.42,0.00,0.000,4,0.000,0.081,3073,777,3095
$GC,1754,0.58,97.8,65.5,11.4,362,1760,0.00,2.40,0.00,0.000,6,0.000,0.077,3073,2202,3095
$GC,1899,0.58,97.8,48.7,11.2,393,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2201,3094
$GC,2043,0.58,97.8,33.3,10.6,424,2049,0.00,2.38,0.00,0.000,4,0.000,0.081,3084,786,3094
$GC,2063,0.58,97.8,31.2,10.6,428,2069,0.00,2.38,0.00,0.000,6,0.000,0.077,3084,2209,3094
$GC,2139,0.58,97.8,23.1,10.7,444,2145,0.00,2.38,0.00,0.000,4,0.000,0.080,3095,786,3094
$GC,2159,0.58,97.8,20.9,10.7,448,2166,0.15,2.35,0.00,0.000,6,0.156,0.077,3054,2200,3093
$GC,2235,0.58,97.8,14.2,8.6,464,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2200,3093
$GC,2310,0.58,97.8,8.3,7.5,480,2316,0.00,2.40,0.00,0.000,4,0.000,0.091,3054,3612,3092
$GC,2330,0.58,97.8,6.9,7.3,484,2336,0.00,2.33,0.00,0.000,6,0.000,0.071,3063,2198,3092
$STATE,2390,end climb,SURFACE_DEPTH_REACHED
$STATE,2391,begin surface coast
$FINISH,3.4,1.021973
$STATE,2506,end surface coast,CONTROL_FINISHED_OK
$STATE,2506,begin surface
$SM_CCo,2520,287.70,0.636,1,0,1539,480.05
$SM_GC,0.46,0.00,0.00,287.70,0.000,0.000,0.636,144,2197,1539,-8.51,-0.06,480.05
$IRIDIUM_FIX,4748.51,-12219.12,101098,111133
$TT8_MAMPS,0.027612
$HUMID,1854
$INTERNAL_PRESSURE,9.22257
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,40.5
$24V_AH,24.5,2.164
$10V_AH,10.8,0.614
$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,19.825,38.425,144.175,287.700,0.000,73.245,78.986,305.447,0.500,0.000,0.000,28.330,790.273,831.710,569.331,795.407,518.560,33.332,1015.206,0.000,770.894,0.000,5.520,0.000
$DEVICE_MAMPS,243.139,91.273,712.543,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,350.214,263.734,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18994,522
$CAP_FILE_SIZE,60254,0
$CFSIZE,260165632,257765376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,4
$GPS,160709,115349,4807.055,-12222.958,7,1.5,12,18.3