version: 66.04
glider: 171
mission: 1
dive: 25
start: 7 16 109 14 50 43
data:
$ID,171
$MISSION,1
$DIVE,25
$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,0
$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,420
$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,-895.78619
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,26
$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,10
$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
$GPS1,144436,4807.220,-12223.142,39,1.7,39,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.60
$_SM_ANGLEo,-79.4
$GPS2,144950,4807.184,-12223.097,14,1.7,14,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.147
$KALMAN_X,2523.5,217.6,12.4,-3081.1,440.5
$KALMAN_Y,-1121.9,-480.0,26.3,912.2,-501.0
$MHEAD_RNG_PITCHd_Wd,301.3,1880,-15.7,-7.042
$D_GRID,150
$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,-97.8,0.0,0.0,0,80,0.00,0.00,-63.47,0.000,2,0.000,0.000,149,2047,3380
$GC,82,-0.58,-97.8,3.5,-5.0,12,111,10.32,2.50,-12.98,0.000,4,0.243,0.104,2675,638,3899
$GC,375,-0.58,-97.8,29.2,-8.7,74,381,0.00,2.40,0.00,0.000,6,0.000,0.091,2665,2041,3899
$GC,450,-0.58,-97.8,35.9,-9.2,90,456,0.00,2.40,0.00,0.000,4,0.000,0.090,2666,634,3899
$GC,622,-0.58,-97.8,52.8,-10.0,127,628,0.00,2.40,0.00,0.000,6,0.000,0.090,2654,2050,3899
$GC,767,-0.58,-97.8,67.4,-10.2,158,773,0.00,2.45,0.00,0.000,4,0.000,0.100,2644,3464,3899
$GC,824,-0.58,-97.8,73.5,-10.9,170,831,0.12,2.40,0.00,0.000,6,0.150,0.086,2678,2050,3900
$GC,973,-0.58,-97.8,86.0,-8.2,201,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2049,3900
$GC,1117,-0.58,-97.8,98.0,-8.3,232,1123,0.00,2.47,0.00,0.000,4,0.000,0.104,2668,3465,3899
$GC,1142,-0.58,-97.8,100.2,-8.4,237,1148,0.00,2.38,0.00,0.000,6,0.000,0.083,2668,2043,3899
$STATE,1254,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1254,begin apogee
$GC,1257,-0.15,0.0,109.6,8.7,261,1333,0.43,0.00,72.28,0.719,6,0.120,0.000,2811,2043,3497
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1336,0.58,97.8,111.6,0.0,275,1417,0.70,2.47,72.68,0.690,4,0.093,0.078,3060,637,3098
$GC,1440,0.58,97.8,103.9,9.4,295,1447,0.00,2.42,0.00,0.000,6,0.000,0.071,3060,2061,3097
$GC,1586,0.58,97.8,87.5,11.3,326,1592,0.00,2.40,0.00,0.000,4,0.000,0.084,3059,3450,3097
$GC,1611,0.58,97.8,84.3,11.9,331,1617,0.00,2.35,0.00,0.000,6,0.000,0.069,3071,2046,3096
$GC,1756,0.58,97.8,67.7,11.4,362,1762,0.00,2.40,0.00,0.000,4,0.000,0.084,3071,3451,3096
$GC,1786,0.58,97.8,64.0,11.7,368,1792,0.00,2.33,0.00,0.000,6,0.000,0.071,3083,2047,3096
$GC,1931,0.58,97.8,47.0,11.5,399,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2047,3096
$GC,2075,0.58,97.8,31.0,11.1,430,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2047,3096
$GC,2150,0.58,97.8,23.5,9.9,446,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2047,3095
$GC,2224,0.58,97.8,15.8,10.1,462,2230,0.00,2.38,0.00,0.000,4,0.000,0.085,3083,3451,3095
$GC,2244,0.58,97.8,13.7,10.3,466,2251,0.15,2.33,0.00,0.000,6,0.168,0.073,3054,2046,3095
$GC,2321,0.58,97.9,7.7,7.0,482,2327,0.00,2.38,0.00,0.000,4,0.000,0.086,3054,3451,3094
$STATE,2551,end climb,NO_VERTICAL_VELOCITY
$STATE,2551,begin surface
$SM_CCo,2553,354.98,0.631,1,1,1196,564.19
$SM_CCo,2915,147.75,0.592,1,0,435,751.11
$SM_GC,0.50,8.07,0.00,0.00,0.044,0.000,0.000,141,2053,431,-8.45,0.08,752.09
$IRIDIUM_FIX,4748.51,-12221.84,101098,141447
$TT8_MAMPS,0.026845
$HUMID,1873
$INTERNAL_PRESSURE,9.16397
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,39.3
$24V_AH,24.5,2.610
$10V_AH,10.8,0.744
$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,19.800,43.375,144.950,502.725,0.000,30.137,26.135,185.516,0.500,0.000,0.000,14.609,814.085,841.486,761.514,793.567,294.003,33.333,1197.766,0.000,784.281,0.000,5.519,0.000
$DEVICE_MAMPS,243.139,104.312,719.446,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,357.793,272.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19008,532
$CAP_FILE_SIZE,53611,8
$CFSIZE,260165632,257638400
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,4,2,0
$GPS,160709,154436,4807.278,-12223.268,11,1.4,27,18.3