version: 66.04
glider: 171
mission: 1
dive: 23
start: 7 16 109 12 55 24
data:
$ID,171
$MISSION,1
$DIVE,23
$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,-868.22559
$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,14
$R_STBD_OVSHOOT,18
$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
$GPS1,124601,4807.165,-12223.033,8,1.9,13,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-79.0
$GPS2,125431,4807.104,-12222.961,13,1.7,30,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.147
$KALMAN_X,1771.3,183.3,51.4,-2168.1,185.5
$KALMAN_Y,-239.1,-423.9,-16.2,-131.5,-202.1
$MHEAD_RNG_PITCHd_Wd,301.7,2098,-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,-97.8,0.0,0.0,0,90,0.00,0.00,-74.43,0.000,2,0.000,0.000,144,2203,3363
$GC,92,-0.58,-97.8,3.1,-4.2,14,122,10.25,2.58,-13.15,0.000,4,0.242,0.118,2662,3608,3896
$GC,386,-0.58,-97.8,28.4,-8.9,76,392,0.00,2.40,0.00,0.000,6,0.000,0.081,2662,2193,3897
$GC,461,-0.58,-97.8,35.3,-9.2,92,467,0.00,2.50,0.00,0.000,4,0.000,0.104,2651,3608,3897
$GC,578,-0.58,-97.8,47.7,-10.4,117,584,0.00,2.38,0.00,0.000,6,0.000,0.081,2651,2196,3897
$GC,723,-0.58,-97.8,62.7,-10.2,148,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2196,3897
$GC,867,-0.58,-97.8,77.1,-9.9,179,872,0.10,0.00,0.00,0.000,6,0.160,0.000,2677,2196,3898
$GC,1013,-0.58,-97.8,89.6,-8.1,210,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2196,3898
$GC,1157,-0.58,-97.8,101.1,-7.8,241,1163,0.00,2.38,0.00,0.000,4,0.000,0.089,2677,782,3898
$GC,1186,-0.58,-97.8,103.5,-8.1,247,1192,0.00,2.42,0.00,0.000,6,0.000,0.094,2668,2204,3898
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1209,-0.15,0.0,105.2,8.4,251,1285,0.43,0.00,71.53,0.715,6,0.123,0.000,2811,2204,3497
$STATE,1286,end apogee,CONTROL_FINISHED_OK
$STATE,1286,begin climb
$GC,1287,0.58,97.8,107.1,0.0,265,1368,0.70,2.50,72.85,0.686,4,0.092,0.080,3061,783,3098
$GC,1378,0.58,97.8,101.2,8.0,282,1384,0.00,2.47,0.00,0.000,6,0.000,0.075,3061,2203,3098
$GC,1523,0.58,97.8,84.2,11.8,313,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2203,3097
$GC,1667,0.58,97.8,68.2,10.9,344,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2203,3096
$GC,1811,0.58,97.8,52.5,10.6,375,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2203,3096
$GC,1955,0.58,97.8,38.0,9.9,406,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2203,3096
$GC,2030,0.58,97.8,30.5,10.1,422,2035,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,2203,3095
$GC,2105,0.58,97.8,23.5,9.3,438,2111,0.00,2.38,0.00,0.000,4,0.000,0.083,3072,787,3095
$GC,2143,0.58,97.8,20.0,8.9,446,2149,0.00,2.38,0.00,0.000,6,0.000,0.079,3072,2207,3095
$GC,2219,0.58,97.8,13.5,8.5,462,2225,0.00,2.38,0.00,0.000,4,0.000,0.083,3084,777,3095
$GC,2234,0.58,97.8,12.3,8.3,465,2240,0.00,2.38,0.00,0.000,6,0.000,0.078,3084,2206,3095
$GC,2310,0.59,104.2,6.7,6.7,481,2322,0.00,2.38,5.88,0.558,4,0.000,0.087,3084,3611,3070
$STATE,2575,end climb,NO_VERTICAL_VELOCITY
$STATE,2575,begin surface
$SM_CCo,2577,349.95,0.630,2,1,1218,558.79
$SM_CCo,2940,150.73,0.587,2,0,434,751.11
$SM_GC,0.36,8.18,0.00,0.00,0.047,0.000,0.000,144,2197,431,-8.44,-0.06,752.09
$IRIDIUM_FIX,4748.51,-12219.12,101098,121257
$TT8_MAMPS,0.027612
$HUMID,1887
$INTERNAL_PRESSURE,9.17374
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,40.5
$24V_AH,24.5,2.394
$10V_AH,10.8,0.679
$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,19.650,34.050,150.250,500.675,0.000,53.134,60.650,241.474,0.500,0.000,0.000,30.950,812.342,910.329,780.908,820.315,409.997,33.343,1222.622,0.000,792.470,0.000,5.522,0.000
$DEVICE_MAMPS,242.372,118.118,714.844,629.707,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.541,280.259,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19036,538
$CAP_FILE_SIZE,56303,8
$CFSIZE,260165632,257703936
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,4,0
$GPS,160709,135000,4807.170,-12222.995,33,1.5,37,18.3