version: 66.04
glider: 171
mission: 1
dive: 26
start: 7 16 109 15 50 37
data:
$ID,171
$MISSION,1
$DIVE,26
$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,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,-913.18744
$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,12
$R_STBD_OVSHOOT,28
$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,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
$GPS1,154436,4807.278,-12223.268,11,1.4,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-77.1
$GPS2,154943,4807.262,-12223.229,11,1.4,16,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.151
$KALMAN_X,2776.2,287.6,55.1,-3609.9,312.3
$KALMAN_Y,-1483.7,-530.1,-43.5,1536.1,-388.9
$MHEAD_RNG_PITCHd_Wd,303.4,1666,-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,13,-0.58,-97.8,0.0,0.0,0,137,0.00,0.00,-120.68,0.000,2,0.000,0.000,142,2052,3457
$GC,139,-0.58,-97.8,3.6,-5.2,23,168,10.20,2.45,-11.23,0.000,4,0.239,0.100,2677,628,3897
$GC,380,-0.58,-97.8,24.2,-8.3,74,386,0.00,2.40,0.00,0.000,6,0.000,0.085,2666,2047,3898
$GC,456,-0.58,-97.8,31.1,-9.3,90,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2047,3899
$GC,530,-0.58,-97.8,38.0,-9.6,106,536,0.00,2.45,0.00,0.000,4,0.000,0.097,2655,3463,3899
$GC,552,-0.58,-97.8,40.0,-9.5,110,558,0.00,2.40,0.00,0.000,6,0.000,0.084,2655,2038,3899
$GC,697,-0.58,-97.8,55.2,-10.4,141,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2037,3899
$GC,841,-0.58,-97.8,70.0,-10.4,172,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2037,3899
$GC,985,-0.58,-97.8,84.5,-9.8,203,992,0.00,2.47,0.00,0.000,4,0.000,0.100,2644,3462,3898
$GC,1066,-0.58,-97.8,92.7,-10.3,220,1072,0.12,2.38,0.00,0.000,6,0.148,0.084,2678,2052,3899
$GC,1211,-0.58,-97.8,104.6,-7.5,251,1217,0.00,2.45,0.00,0.000,4,0.000,0.100,2668,3465,3898
$STATE,1221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1221,begin apogee
$GC,1227,-0.15,0.0,105.4,7.4,253,1304,0.43,0.00,71.97,0.706,6,0.119,0.000,2812,2040,3496
$STATE,1305,end apogee,CONTROL_FINISHED_OK
$STATE,1305,begin climb
$GC,1306,0.58,97.8,107.6,0.0,267,1387,0.70,2.47,72.60,0.680,4,0.090,0.077,3063,629,3098
$GC,1402,0.58,97.8,101.1,8.5,285,1408,0.00,2.45,0.00,0.000,6,0.000,0.072,3062,2058,3098
$GC,1547,0.58,97.8,84.9,11.0,316,1553,0.00,2.40,0.00,0.000,4,0.000,0.084,3063,3452,3097
$GC,1567,0.58,97.8,82.5,11.1,320,1573,0.00,2.35,0.00,0.000,6,0.000,0.071,3074,2049,3097
$GC,1713,0.58,97.8,66.3,10.7,351,1719,0.00,2.42,0.00,0.000,4,0.000,0.087,3074,3461,3096
$GC,1737,0.58,97.8,63.3,11.8,356,1744,0.00,2.38,0.00,0.000,6,0.000,0.071,3086,2046,3096
$GC,1883,0.58,97.8,46.6,11.2,387,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2045,3095
$GC,2027,0.58,97.8,31.0,10.4,418,2033,0.00,2.35,0.00,0.000,4,0.000,0.080,3097,633,3095
$GC,2047,0.58,97.8,28.8,10.5,422,2054,0.15,2.33,0.00,0.000,6,0.154,0.073,3056,2051,3095
$GC,2123,0.58,97.8,22.0,8.4,438,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2051,3095
$GC,2198,0.58,97.8,15.8,8.5,454,2204,0.00,2.38,0.00,0.000,4,0.000,0.085,3056,3463,3094
$GC,2237,0.58,97.8,12.4,8.8,462,2243,0.00,2.33,0.00,0.000,6,0.000,0.071,3066,2048,3095
$GC,2313,0.61,121.1,7.2,5.9,478,2335,0.00,0.00,18.10,0.652,6,0.000,0.000,3066,2047,3002
$STATE,2398,end climb,SURFACE_DEPTH_REACHED
$STATE,2398,begin surface coast
$FINISH,3.2,1.021608
$STATE,2561,end surface coast,CONTROL_FINISHED_OK
$STATE,2561,begin surface
$SM_CCo,2575,221.23,0.640,0,0,1783,420.20
$SM_GC,0.89,0.00,0.00,221.23,0.000,0.000,0.640,150,2047,1783,-8.49,-0.08,420.20
$IRIDIUM_FIX,4751.72,-12219.12,101098,141430
$TT8_MAMPS,0.027612
$HUMID,1853
$INTERNAL_PRESSURE,9.25186
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.5,2.695
$10V_AH,10.8,0.775
$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,19.775,43.275,162.675,221.225,0.000,24.963,26.421,180.268,0.000,0.000,0.000,16.772,793.324,723.205,527.658,792.234,284.577,33.325,981.151,0.000,784.188,0.000,0.534,0.000
$DEVICE_MAMPS,239.304,100.477,705.640,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,355.499,276.987,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19027,531
$CAP_FILE_SIZE,52512,0
$CFSIZE,260165632,257609728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,160709,163813,4807.449,-12223.442,11,1.6,28,18.3