version: 66.04
glider: 172
mission: 1
dive: 20
start: 7 16 109 11 46 42
data:
$ID,172
$MISSION,1
$DIVE,20
$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,-2751.6292
$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,34
$R_STBD_OVSHOOT,21
$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
$GPS1,114016,4807.285,-12223.238,7,2.9,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-79.1
$GPS2,114604,4807.248,-12223.211,12,2.9,31,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.115,0.154
$KALMAN_X,1365.9,146.4,-13.7,-1779.7,164.5
$KALMAN_Y,-148.5,-340.1,-36.3,263.1,-203.0
$MHEAD_RNG_PITCHd_Wd,304.9,1701,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.53,-97.8,0.0,0.0,0,79,0.00,0.00,-64.68,0.000,2,0.000,0.000,139,2130,3327
$GC,80,-0.53,-97.8,3.9,-4.0,11,110,10.60,2.35,-13.50,0.000,4,0.235,0.085,2892,3564,3915
$GC,313,-0.53,-97.8,32.3,-12.2,63,320,0.00,2.22,0.00,0.000,6,0.000,0.054,2893,2164,3915
$GC,384,-0.53,-97.8,41.2,-12.7,79,390,0.00,2.30,0.00,0.000,4,0.000,0.065,2892,729,3915
$GC,415,-0.53,-97.8,45.4,-13.1,86,422,0.00,2.28,0.00,0.000,6,0.000,0.064,2891,2142,3916
$GC,551,-0.53,-97.8,62.7,-12.9,117,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2142,3916
$GC,685,-0.53,-97.8,79.3,-12.1,148,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2142,3917
$GC,820,-0.53,-97.8,95.4,-11.9,179,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2142,3917
$STATE,905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,905,begin apogee
$GC,908,-0.13,0.0,105.4,11.4,199,985,0.38,0.00,73.40,0.605,6,0.131,0.000,3017,2267,3514
$STATE,985,end apogee,CONTROL_FINISHED_OK
$STATE,985,begin climb
$GC,986,0.53,97.8,108.4,0.0,212,1068,0.60,0.00,75.03,0.589,6,0.087,0.000,3235,2267,3114
$GC,1197,0.54,102.4,98.4,6.8,256,1210,0.00,2.30,5.05,0.446,4,0.000,0.066,3235,3655,3096
$GC,1244,0.54,102.4,94.6,8.2,266,1250,0.00,2.28,0.00,0.000,6,0.000,0.052,3245,2246,3096
$GC,1380,0.54,102.4,84.7,7.3,297,1386,0.00,2.22,0.00,0.000,4,0.000,0.062,3255,839,3096
$GC,1410,0.54,102.4,82.5,7.3,304,1417,0.00,2.28,0.00,0.000,6,0.000,0.061,3256,2245,3095
$GC,1546,0.54,102.4,72.8,7.4,335,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2245,3095
$GC,1681,0.54,102.4,63.1,7.2,366,1687,0.00,2.28,0.00,0.000,4,0.000,0.067,3255,3656,3094
$GC,1721,0.54,102.4,60.1,7.7,375,1727,0.00,2.22,0.00,0.000,6,0.000,0.052,3266,2246,3094
$GC,1857,0.57,124.5,51.6,6.0,406,1881,0.00,2.25,17.50,0.568,4,0.000,0.062,3277,843,3005
$GC,1910,0.57,124.5,47.7,7.4,417,1917,0.00,2.25,0.00,0.000,6,0.000,0.061,3277,2243,3005
$GC,2046,0.57,124.5,36.6,7.9,448,2052,0.00,2.28,0.00,0.000,4,0.000,0.067,3277,3655,3004
$GC,2064,0.57,124.5,34.9,8.4,452,2070,0.10,2.22,0.00,0.000,6,0.166,0.053,3255,2248,3004
$GC,2135,0.57,124.5,29.8,7.2,468,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2247,3004
$GC,2204,0.58,133.1,25.1,6.6,484,2216,0.00,0.00,7.75,0.512,6,0.000,0.000,3256,2247,2971
$GC,2280,0.58,135.8,20.1,6.9,501,2287,0.00,2.28,3.80,0.388,4,0.000,0.061,3266,832,2960
$GC,2312,0.58,135.8,17.7,7.2,508,2318,0.00,2.28,0.00,0.000,6,0.000,0.061,3266,2254,2960
$GC,2382,0.60,149.5,13.0,6.4,524,2400,0.00,2.28,11.75,0.538,4,0.000,0.067,3265,3673,2903
$GC,2460,0.60,149.5,7.1,8.1,541,2466,0.00,2.25,0.00,0.000,6,0.000,0.053,3277,2253,2902
$GC,2531,0.68,219.6,4.1,3.6,557,2590,0.00,2.28,52.17,0.558,4,0.000,0.063,3286,840,2617
$STATE,2600,end climb,SURFACE_DEPTH_REACHED
$STATE,2601,begin surface coast
$FINISH,3.7,1.019040
$STATE,2818,end surface coast,CONTROL_FINISHED_OK
$STATE,2818,begin surface
$SM_CCo,2832,142.62,0.543,0,0,1556,480.05
$SM_GC,1.56,0.00,0.00,142.62,0.000,0.000,0.543,148,2145,1556,-9.13,0.00,480.05
$RAFOS_CLK,117
$RAFOS,1,1247746743,12.333333,12.317500,54,43,43,0,0,0,314,265,335,0,0,0
$RAFOS,0,1247746142,12.166667,12.150556,53,45,45,0,0,0,743,578,1994,0,0,0
$RAFOS,2,1247743741,11.500000,11.483611,46,46,45,0,0,0,1376,2576,571,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,101098,101011
$TT8_MAMPS,0.051389
$HUMID,1946
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.3,1.938
$10V_AH,10.7,0.686
$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,20.100,45.350,246.450,142.625,0.000,24.183,33.780,199.881,1.500,0.000,0.000,34.442,0.000,1350.220,507.283,1151.323,309.982,33.322,999.769,0.000,904.289,1440.000,14.089,0.000
$DEVICE_MAMPS,234.702,85.137,605.163,543.036,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.798,322.204,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22186,620
$CAP_FILE_SIZE,60592,0
$CFSIZE,260165632,258252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1483.9
$GPS,160709,123707,4807.396,-12223.310,10,1.8,27,18.3