version: 66.04
glider: 172
mission: 1
dive: 8
start: 7 16 109 2 38 41
data:
$ID,172
$MISSION,1
$DIVE,8
$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,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-2483.8833
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3066
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3514
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-56.536236
$PRESSURE_SLOPE,0.0001168426
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043614767
$SEABIRD_T_H,0.00062996609
$SEABIRD_T_I,2.5014444e-05
$SEABIRD_T_J,2.7838146e-06
$SEABIRD_C_G,-10.228213
$SEABIRD_C_H,1.1292607
$SEABIRD_C_I,-0.001076734
$SEABIRD_C_J,0.00017059842
$GPS1,023050,4806.547,-12222.257,42,1.6,42,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-78.8
$GPS2,023802,4806.515,-12222.259,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.248
$KALMAN_X,-121.1,-95.1,-15.8,1129.0,-35.9
$KALMAN_Y,1072.8,448.8,109.5,-3251.1,138.6
$MHEAD_RNG_PITCHd_Wd,144.2,1006,-17.5,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.68,-146.6,0.0,0.0,0,78,0.00,0.00,-65.60,0.000,2,0.000,0.000,144,2142,3346
$GC,80,-0.68,-146.6,3.1,-4.9,11,112,10.27,2.33,-17.10,0.000,4,0.234,0.081,2839,726,3963
$GC,345,-0.68,-146.6,45.2,-18.3,70,352,0.00,2.30,0.00,0.000,6,0.000,0.067,2834,2146,3964
$GC,481,-0.68,-146.6,71.5,-19.1,101,481,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2145,3964
$GC,611,-0.68,-146.6,96.1,-18.7,131,617,0.00,2.25,0.00,0.000,4,0.000,0.067,2834,739,3964
$GC,642,-0.68,-146.6,102.1,-19.3,138,649,0.00,2.28,0.00,0.000,6,0.000,0.068,2832,2150,3964
$STATE,677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,677,begin apogee
$GC,679,-0.14,0.0,108.4,17.9,146,768,0.55,0.00,82.25,0.598,6,0.147,0.000,3010,2150,3513
$STATE,769,end apogee,CONTROL_FINISHED_OK
$STATE,769,begin climb
$GC,770,0.68,146.6,113.0,0.0,161,889,0.75,2.40,110.57,0.585,4,0.091,0.067,3278,3558,2915
$GC,910,0.68,146.6,103.3,12.6,186,916,0.00,2.33,0.00,0.000,6,0.000,0.054,3287,2144,2914
$GC,1046,0.68,146.6,85.9,13.0,217,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2144,2914
$GC,1180,0.68,146.6,69.1,12.3,248,1187,0.00,2.30,0.00,0.000,4,0.000,0.068,3287,3555,2913
$GC,1207,0.68,146.6,65.4,13.1,254,1214,0.00,2.25,0.00,0.000,6,0.000,0.054,3297,2141,2914
$GC,1344,0.68,146.6,48.7,12.4,285,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2141,2913
$GC,1478,0.68,146.6,33.6,11.2,316,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2141,2913
$GC,1543,0.68,146.6,26.7,10.3,331,1549,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2141,2913
$GC,1613,0.69,152.1,19.5,9.7,347,1620,0.00,0.00,5.22,0.450,6,0.000,0.000,3297,2141,2893
$GC,1684,0.69,154.6,12.5,9.9,363,1691,0.00,0.00,3.67,0.370,6,0.000,0.000,3297,2141,2883
$GC,1755,0.75,202.8,6.3,7.8,379,1797,0.00,0.00,36.35,0.553,6,0.000,0.000,3297,2141,2686
$STATE,1799,end climb,SURFACE_DEPTH_REACHED
$STATE,1799,begin surface coast
$FINISH,2.8,1.019159
$STATE,1882,end surface coast,CONTROL_FINISHED_OK
$STATE,1882,begin surface
$SM_CCo,1895,144.80,0.513,6,0,1557,480.05
$SM_GC,1.62,0.00,0.00,144.80,0.000,0.000,0.513,142,2139,1557,-9.14,-0.17,480.05
$RAFOS_CLK,0
$RAFOS,1,1247710741,2.333333,2.316944,50,48,45,0,0,0,1331,878,1913,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,101098,020245
$TT8_MAMPS,0.051389
$HUMID,1938
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,3.8
$24V_AH,24.4,1.034
$10V_AH,10.7,0.355
$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,20.150,18.425,238.075,144.800,0.000,55.471,105.601,147.347,0.500,0.000,0.000,15.397,0.000,910.186,490.337,752.261,343.467,33.310,830.762,0.000,596.241,480.000,5.408,0.000
$DEVICE_MAMPS,233.935,80.535,598.260,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,270.677,208.569,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12708,406
$CAP_FILE_SIZE,41928,0
$CFSIZE,260165632,258641920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1483.6
$GPS,160709,031357,4806.377,-12222.146,9,4.8,28,18.3