version: 66.04
glider: 172
mission: 1
dive: 10
start: 7 16 109 4 6 28
data:
$ID,172
$MISSION,1
$DIVE,10
$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,-2539.5183
$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,24
$R_STBD_OVSHOOT,20
$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
$GPS1,040130,4806.123,-12222.073,37,1.1,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-75.3
$GPS2,040549,4806.083,-12222.052,7,1.2,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,0.206
$KALMAN_X,-141.1,-99.4,-8.3,1402.0,-4.9
$KALMAN_Y,1361.6,482.1,72.5,-4335.3,66.8
$MHEAD_RNG_PITCHd_Wd,304.1,4290,-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,-146.6,0.0,0.0,0,120,0.00,0.00,-106.53,0.000,2,0.000,0.000,140,2143,3355
$GC,121,-0.68,-146.6,3.4,-5.3,18,152,10.23,2.35,-15.48,0.000,4,0.232,0.084,2830,3560,3960
$GC,190,-0.68,-146.6,11.8,-14.5,32,196,0.00,2.25,0.00,0.000,6,0.000,0.055,2830,2150,3962
$GC,260,-0.68,-146.6,23.4,-16.3,48,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2149,3962
$GC,326,-0.68,-146.6,35.0,-18.4,63,332,0.00,2.28,0.00,0.000,4,0.000,0.065,2830,735,3962
$GC,357,-0.68,-146.6,40.6,-18.9,70,363,0.00,2.28,0.00,0.000,6,0.000,0.066,2821,2141,3962
$GC,492,-0.68,-146.6,67.2,-20.2,101,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2141,3962
$GC,623,-0.68,-146.6,93.2,-19.2,131,629,0.00,2.25,0.00,0.000,4,0.000,0.064,2821,729,3963
$GC,658,-0.68,-146.6,100.1,-18.9,139,664,0.00,2.28,0.00,0.000,6,0.000,0.067,2821,2143,3963
$STATE,701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,701,begin apogee
$GC,704,-0.14,0.0,108.2,18.4,149,792,0.57,0.00,81.57,0.594,6,0.146,0.000,3008,2143,3513
$STATE,792,end apogee,CONTROL_FINISHED_OK
$STATE,792,begin climb
$GC,793,0.68,146.6,112.8,0.0,164,911,0.77,2.35,110.40,0.580,4,0.091,0.062,3295,722,2915
$GC,927,0.68,146.6,104.4,11.2,189,934,0.00,2.38,0.00,0.000,6,0.000,0.061,3295,2145,2915
$GC,1063,0.68,146.6,86.4,13.6,220,1069,0.00,2.30,0.00,0.000,4,0.000,0.066,3295,3555,2914
$GC,1076,0.68,146.6,84.5,13.7,223,1083,0.00,2.28,0.00,0.000,6,0.000,0.053,3306,2139,2914
$GC,1212,0.68,146.6,66.2,13.6,254,1218,0.00,2.30,0.00,0.000,4,0.000,0.066,3306,3554,2914
$GC,1238,0.68,146.6,62.6,14.1,260,1246,0.08,2.25,0.00,0.000,6,0.170,0.053,3292,2137,2913
$GC,1375,0.68,146.6,46.4,11.8,291,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2137,2913
$GC,1505,0.68,146.6,32.0,10.7,321,1511,0.00,2.30,0.00,0.000,4,0.000,0.067,3291,3559,2913
$GC,1553,0.68,146.6,26.1,12.5,332,1560,0.00,2.22,0.00,0.000,6,0.000,0.054,3302,2143,2913
$GC,1624,0.68,146.6,18.2,11.1,348,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2143,2913
$GC,1693,0.70,164.8,11.5,9.2,364,1711,0.00,0.00,14.43,0.533,6,0.000,0.000,3302,2143,2841
$GC,1774,0.79,238.6,4.6,6.6,382,1799,0.00,0.00,23.17,0.537,2,0.000,0.000,3302,2143,2718
$STATE,1799,end climb,SURFACE_DEPTH_REACHED
$STATE,1799,begin surface coast
$FINISH,3.6,1.019378
$STATE,1923,end surface coast,CONTROL_FINISHED_OK
$STATE,1923,begin surface
$SM_CCo,1936,146.25,0.509,6,0,1556,480.05
$SM_GC,1.38,0.00,0.00,146.25,0.000,0.000,0.509,138,2143,1556,-9.15,-0.08,480.05
$RAFOS_CLK,79
$RAFOS,2,1247718541,4.500000,4.483611,51,49,42,0,0,0,996,1659,1952,0,0,0
$RAFOS,1,1247717943,4.333333,4.317500,45,43,41,0,0,0,286,1265,2276,0,0,0
$RAFOS,0,1247717343,4.166667,4.150833,46,45,44,0,0,0,2590,1173,772,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12220.12,101098,030339
$TT8_MAMPS,0.051389
$HUMID,1933
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,3.8
$24V_AH,24.4,1.203
$10V_AH,10.7,0.407
$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,20.250,32.050,229.575,146.250,0.000,22.963,25.435,146.784,0.500,0.000,0.000,14.510,0.000,838.902,524.172,775.669,231.571,33.324,883.706,0.000,609.403,1440.000,5.407,0.000
$DEVICE_MAMPS,231.634,83.603,593.658,508.521,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,275.566,214.244,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12767,415
$CAP_FILE_SIZE,45236,0
$CFSIZE,260165632,258580480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$SOUNDSPEED,1484.2
$GPS,160709,044213,4806.246,-12222.215,11,1.4,11,18.3