version: 66.04
glider: 172
mission: 1
dive: 15
start: 7 16 109 7 38 35
data:
$ID,172
$MISSION,1
$DIVE,15
$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,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,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,-2637.5364
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3070
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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,5
$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,4
$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
$GPS1,073152,4806.721,-12222.658,13,7.2,32,18.3
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-79.5
$GPS2,073756,4806.695,-12222.660,11,1.2,11,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.111,0.157
$KALMAN_X,525.4,-7.9,101.3,-217.6,166.9
$KALMAN_Y,790.1,230.2,-192.9,-2114.1,-229.3
$MHEAD_RNG_PITCHd_Wd,306.5,2930,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.53,-97.8,0.0,0.0,0,84,0.00,0.00,-71.28,0.000,2,0.000,0.000,145,2138,3459
$GC,85,-0.53,-97.8,3.0,-2.8,12,110,10.60,0.00,-12.02,0.000,6,0.236,0.000,2889,2137,3914
$GC,174,-0.53,-97.8,13.5,-12.8,31,181,0.00,2.25,0.00,0.000,4,0.000,0.064,2890,749,3914
$GC,197,-0.53,-97.8,16.6,-13.2,36,203,0.00,2.28,0.00,0.000,6,0.000,0.067,2889,2143,3914
$GC,267,-0.53,-97.8,26.4,-14.1,52,268,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2143,3915
$GC,332,-0.53,-97.8,35.7,-14.3,67,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2143,3915
$GC,397,-0.53,-97.8,44.9,-14.2,82,404,0.00,2.30,0.00,0.000,4,0.000,0.071,2880,3555,3915
$GC,420,-0.53,-97.8,48.2,-14.4,87,427,0.00,2.22,0.00,0.000,6,0.000,0.054,2880,2153,3915
$GC,556,-0.53,-97.8,67.7,-14.4,118,562,0.00,2.28,0.00,0.000,4,0.000,0.065,2880,729,3916
$GC,618,-0.53,-97.8,76.4,-13.5,132,624,0.00,2.28,0.00,0.000,6,0.000,0.066,2880,2141,3916
$GC,754,-0.53,-97.8,95.1,-14.1,163,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2142,3916
$STATE,831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,831,begin apogee
$GC,833,-0.13,0.0,105.5,12.9,181,911,0.43,0.00,73.25,0.602,6,0.141,0.000,3017,2267,3514
$STATE,911,end apogee,CONTROL_FINISHED_OK
$STATE,911,begin climb
$GC,912,0.53,97.8,108.7,0.0,194,995,0.60,2.38,74.82,0.588,4,0.091,0.061,3244,836,3114
$GC,1024,0.58,138.8,104.9,5.0,215,1062,0.00,2.35,32.42,0.574,6,0.000,0.061,3244,2249,2948
$GC,1191,0.58,138.8,90.1,10.1,251,1197,0.00,2.33,0.00,0.000,4,0.000,0.067,3244,3657,2947
$GC,1209,0.58,138.8,88.2,10.3,255,1216,0.00,2.28,0.00,0.000,6,0.000,0.053,3255,2248,2947
$GC,1345,0.58,138.8,74.6,9.7,286,1352,0.00,2.25,0.00,0.000,4,0.000,0.061,3265,842,2947
$GC,1359,0.58,138.8,73.2,9.6,289,1366,0.00,2.28,0.00,0.000,6,0.000,0.062,3265,2248,2946
$GC,1495,0.58,138.8,59.7,9.7,320,1501,0.00,2.25,0.00,0.000,4,0.000,0.061,3276,843,2946
$GC,1530,0.58,138.8,56.2,9.8,328,1537,0.00,2.25,0.00,0.000,6,0.000,0.062,3276,2243,2946
$GC,1666,0.58,138.8,42.5,10.2,359,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2243,2946
$GC,1801,0.58,138.8,29.7,9.5,390,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2243,2945
$GC,1866,0.58,138.8,24.0,8.8,405,1871,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2243,2945
$GC,1935,0.58,138.8,18.1,8.5,421,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2243,2944
$GC,2005,0.58,138.8,12.6,7.5,437,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2243,2944
$GC,2074,0.58,138.8,7.5,7.5,453,2080,0.00,2.22,0.00,0.000,4,0.000,0.061,3287,837,2944
$GC,2087,0.58,139.7,6.6,7.0,456,2094,0.00,2.25,0.00,0.000,6,0.000,0.062,3287,2249,2944
$STATE,2135,end climb,SURFACE_DEPTH_REACHED
$STATE,2135,begin surface coast
$FINISH,3.1,1.020245
$STATE,2222,end surface coast,CONTROL_FINISHED_OK
$STATE,2222,begin surface
$SM_CCo,2235,174.35,0.543,1,0,1556,480.05
$SM_GC,1.21,0.00,0.00,174.35,0.000,0.000,0.543,143,2132,1556,-9.15,-0.37,480.05
$RAFOS_CLK,97
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12217.40,101098,060651
$TT8_MAMPS,0.051389
$HUMID,1925
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.3,1.566
$10V_AH,10.7,0.536
$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,20.150,36.750,180.500,174.350,0.000,24.693,24.973,247.510,0.750,0.000,0.000,13.541,0.000,1046.664,486.652,903.493,337.182,33.322,882.722,0.000,712.864,480.000,5.594,0.000
$DEVICE_MAMPS,236.236,77.467,602.095,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,326.391,248.519,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15889,487
$CAP_FILE_SIZE,53599,0
$CFSIZE,260165632,258424832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1482.8
$GPS,160709,081920,4806.838,-12222.796,9,1.8,9,18.3