version: 66.04
glider: 172
mission: 1
dive: 23
start: 7 16 109 14 37 47
data:
$ID,172
$MISSION,1
$DIVE,23
$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,450
$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,-2799.4165
$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,2045
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,22
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,142555,4807.456,-12223.504,98,1.7,98,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-81.8
$GPS2,143708,4807.353,-12223.379,9,1.7,9,18.3
$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,2251.6,181.1,-66.0,-2855.4,244.1
$KALMAN_Y,-1304.5,-510.5,165.5,1585.3,-332.5
$MHEAD_RNG_PITCHd_Wd,306.4,1423,-15.7,-7.042
$D_GRID,103
$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,-97.8,0.0,0.0,0,66,0.00,0.00,-53.22,0.000,2,0.000,0.000,148,2042,3153
$GC,67,-0.53,-97.8,3.2,-3.7,9,103,10.52,2.22,-19.30,0.000,4,0.233,0.075,2893,639,3915
$GC,142,-0.53,-97.8,11.3,-11.9,24,148,0.00,2.28,0.00,0.000,6,0.000,0.064,2893,2038,3915
$GC,212,-0.53,-97.8,19.2,-11.6,40,213,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2039,3915
$GC,277,-0.53,-97.8,26.7,-11.7,55,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2039,3915
$GC,347,-0.53,-97.8,35.4,-12.2,71,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2039,3916
$GC,416,-0.53,-97.8,44.1,-12.4,87,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2039,3915
$GC,550,-0.53,-97.8,61.2,-12.3,118,557,0.00,2.30,0.00,0.000,4,0.000,0.069,2893,3459,3916
$GC,577,-0.53,-97.8,64.6,-12.9,124,584,0.00,2.22,0.00,0.000,6,0.000,0.054,2893,2048,3917
$GC,713,-0.53,-97.8,80.8,-12.0,155,719,0.00,2.28,0.00,0.000,4,0.000,0.068,2892,3455,3916
$GC,744,-0.53,-97.8,84.5,-11.7,162,751,0.00,2.22,0.00,0.000,6,0.000,0.053,2892,2039,3916
$GC,880,-0.53,-97.8,100.0,-11.2,193,886,0.00,2.22,0.00,0.000,4,0.000,0.063,2891,630,3916
$GC,903,-0.53,-97.8,102.5,-11.2,198,909,0.00,2.25,0.00,0.000,6,0.000,0.063,2892,2045,3916
$STATE,911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,911,begin apogee
$GC,914,-0.13,0.0,103.7,11.2,200,990,0.40,0.00,73.38,0.602,6,0.130,0.000,3023,2261,3514
$STATE,991,end apogee,CONTROL_FINISHED_OK
$STATE,991,begin climb
$GC,992,0.53,97.8,106.4,0.0,213,1073,0.57,2.35,74.65,0.584,4,0.084,0.058,3246,830,3114
$GC,1129,0.56,117.1,100.6,6.1,240,1148,0.00,2.33,15.93,0.554,6,0.000,0.059,3246,2243,3036
$GC,1277,0.56,117.1,87.7,9.1,273,1284,0.00,2.33,0.00,0.000,4,0.000,0.064,3246,3662,3034
$GC,1292,0.56,117.1,86.4,9.3,276,1298,0.00,2.28,0.00,0.000,6,0.000,0.051,3257,2243,3035
$GC,1428,0.56,117.1,74.7,7.7,307,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,2243,3035
$GC,1562,0.56,117.1,63.7,8.1,338,1568,0.00,2.30,0.00,0.000,4,0.000,0.064,3257,3661,3034
$GC,1607,0.56,117.1,59.8,9.0,348,1613,0.00,2.22,0.00,0.000,6,0.000,0.051,3268,2251,3034
$GC,1742,0.56,117.1,48.7,8.2,379,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2250,3034
$GC,1878,0.56,117.1,38.4,7.9,410,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2250,3033
$GC,1947,0.56,117.1,33.0,7.4,426,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2250,3032
$GC,2017,0.56,117.2,27.9,7.0,442,2022,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,2250,3032
$GC,2086,0.57,124.8,23.1,6.7,458,2099,0.00,2.17,6.68,0.493,4,0.000,0.060,3279,841,3005
$GC,2119,0.58,136.3,21.0,6.5,465,2137,0.00,2.22,10.43,0.525,6,0.000,0.061,3279,2240,2957
$GC,2201,0.58,136.3,14.5,7.7,483,2207,0.00,2.22,0.00,0.000,4,0.000,0.061,3289,841,2957
$GC,2223,0.58,136.3,12.7,7.8,488,2230,0.08,2.25,0.00,0.000,6,0.162,0.060,3263,2248,2957
$GC,2294,0.61,159.6,8.2,5.9,504,2318,0.00,2.25,18.33,0.548,4,0.000,0.064,3263,3663,2862
$STATE,2377,end climb,SURFACE_DEPTH_REACHED
$STATE,2377,begin surface coast
$FINISH,4.0,1.019868
$STATE,2455,end surface coast,CONTROL_FINISHED_OK
$STATE,2455,begin surface
$SM_CCo,2456,349.83,0.532,0,0,459,749.15
$SM_GC,1.20,8.23,0.00,0.00,0.040,0.000,0.000,143,2049,455,-9.07,0.08,750.37
$RAFOS_CLK,125
$RAFOS,0,1247756943,15.166667,15.150833,54,52,49,0,0,0,2454,2400,1272,0,0,0
$RAFOS,1,1247753942,14.333333,14.317223,52,49,44,0,0,0,504,324,2514,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4801.38,-12255.59,101098,141447
$TT8_MAMPS,0.050622
$HUMID,1888
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,10.1
$24V_AH,24.6,2.206
$10V_AH,10.7,0.785
$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,19.800,45.900,199.375,349.825,0.000,70.148,154.143,255.035,1.000,0.000,0.000,11.744,0.000,1368.010,678.374,996.107,538.349,33.318,1115.936,0.000,789.242,480.000,10.275,0.000
$DEVICE_MAMPS,233.168,75.166,602.095,532.298,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,361.926,275.497,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19023,540
$CAP_FILE_SIZE,62290,0
$CFSIZE,260165632,258154496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1483.3
$GPS,160709,152706,4807.499,-12223.526,10,1.2,26,18.3