version: 66.04
glider: 172
mission: 1
dive: 21
start: 7 16 109 12 46 21
data:
$ID,172
$MISSION,1
$DIVE,21
$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,-2769.0784
$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,25
$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
$GPS1,123707,4807.396,-12223.310,10,1.8,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-81.5
$GPS2,124543,4807.321,-12223.223,10,1.7,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.146
$KALMAN_X,1738.6,152.3,-67.0,-2121.5,199.0
$KALMAN_Y,-461.4,-433.6,49.9,721.2,-201.9
$MHEAD_RNG_PITCHd_Wd,300.8,1582,-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,-97.8,0.0,0.0,0,74,0.00,0.00,-59.65,0.000,2,0.000,0.000,148,2145,3184
$GC,75,-0.53,-97.8,3.6,-3.6,10,106,10.52,2.33,-16.88,0.000,4,0.233,0.076,2894,729,3914
$GC,353,-0.53,-97.8,37.0,-12.5,72,359,0.00,2.28,0.00,0.000,6,0.000,0.064,2893,2139,3915
$GC,423,-0.53,-97.8,46.0,-13.1,88,430,0.00,2.25,0.00,0.000,4,0.000,0.062,2893,732,3915
$GC,507,-0.53,-97.8,56.5,-12.3,107,513,0.00,2.28,0.00,0.000,6,0.000,0.064,2893,2145,3916
$GC,643,-0.53,-97.8,73.3,-12.3,138,649,0.00,2.28,0.00,0.000,4,0.000,0.070,2893,3556,3916
$GC,674,-0.53,-97.8,77.2,-12.4,145,680,0.00,2.22,0.00,0.000,6,0.000,0.053,2893,2143,3916
$GC,810,-0.53,-97.8,93.6,-12.0,176,816,0.00,2.22,0.00,0.000,4,0.000,0.064,2893,738,3916
$GC,854,-0.53,-97.8,99.0,-12.1,186,860,0.00,2.25,0.00,0.000,6,0.000,0.064,2893,2148,3916
$STATE,906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,906,begin apogee
$GC,909,-0.13,0.0,105.0,11.2,198,985,0.40,0.00,73.47,0.604,6,0.134,0.000,3023,2259,3513
$STATE,986,end apogee,CONTROL_FINISHED_OK
$STATE,986,begin climb
$GC,987,0.53,97.8,108.0,0.0,211,1068,0.60,0.00,74.85,0.586,6,0.086,0.000,3241,2260,3114
$GC,1198,0.53,97.8,97.1,7.4,255,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2260,3113
$GC,1328,0.53,97.8,87.9,7.1,285,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,2260,3112
$GC,1458,0.55,110.0,79.1,6.4,315,1470,0.00,0.00,10.35,0.537,6,0.000,0.000,3241,2260,3065
$GC,1600,0.55,112.1,69.4,6.9,347,1605,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,2260,3064
$GC,1734,0.55,114.5,59.6,6.9,378,1747,0.00,2.25,4.93,0.449,4,0.000,0.066,3241,3649,3047
$GC,1763,0.57,131.6,57.8,6.2,384,1781,0.00,2.20,14.18,0.553,6,0.000,0.051,3252,2251,2977
$GC,1910,0.57,131.6,46.3,8.5,417,1917,0.00,2.25,0.00,0.000,4,0.000,0.062,3263,841,2977
$GC,1977,0.57,131.6,40.8,8.2,432,1983,0.00,2.25,0.00,0.000,6,0.000,0.061,3263,2242,2976
$GC,2112,0.57,131.6,29.5,8.4,463,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2242,2976
$GC,2182,0.57,131.6,24.1,7.5,479,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2242,2976
$GC,2251,0.57,131.6,19.0,7.4,495,2257,0.00,2.22,0.00,0.000,4,0.000,0.061,3273,840,2976
$GC,2304,0.58,132.7,15.3,7.0,507,2310,0.00,2.25,0.00,0.000,6,0.000,0.061,3273,2250,2975
$GC,2374,0.60,152.1,10.9,6.1,523,2398,0.00,2.30,16.38,0.548,4,0.000,0.067,3273,3665,2892
$GC,2644,0.77,293.9,5.3,0.1,584,2715,0.08,2.22,65.78,0.558,2,0.064,0.052,3334,2248,2532
$STATE,2715,end climb,SURFACE_DEPTH_REACHED
$STATE,2715,begin surface coast
$FINISH,3.5,1.018728
$STATE,2774,end surface coast,CONTROL_FINISHED_OK
$STATE,2774,begin surface
$SM_CCo,2786,133.77,0.534,1,0,1557,480.05
$SM_GC,1.70,0.00,0.00,133.77,0.000,0.000,0.534,137,2133,1557,-9.17,-0.34,480.05
$RAFOS_CLK,120
$RAFOS,1,1247750344,13.333333,13.317778,56,51,45,0,0,0,370,2056,2215,0,0,0
$RAFOS,0,1247749743,13.166667,13.150833,51,50,48,0,0,0,2325,2475,2186,0,0,0
$RAFOS,2,1247747343,12.500000,12.484167,51,47,41,0,0,0,1742,1720,1375,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12219.12,101098,121202
$TT8_MAMPS,0.052156
$HUMID,1924
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,42.6
$24V_AH,24.3,2.022
$10V_AH,10.7,0.720
$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,20.350,36.350,259.925,133.775,0.000,46.543,51.257,280.750,0.500,0.000,0.000,16.819,0.000,1406.232,489.059,1107.394,432.372,33.323,967.437,0.000,889.883,1440.000,5.516,0.000
$DEVICE_MAMPS,233.168,79.001,603.629,533.832,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.274,315.062,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22157,610
$CAP_FILE_SIZE,61909,0
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1483.8
$GPS,160709,133606,4807.390,-12223.371,34,1.5,38,18.3