version: 66.04
glider: 172
mission: 1
dive: 24
start: 7 16 109 15 32 51
data:
$ID,172
$MISSION,1
$DIVE,24
$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,-2816.5437
$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,23
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$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
$GPS1,152706,4807.499,-12223.526,10,1.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-80.4
$GPS2,153213,4807.474,-12223.480,9,1.7,14,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.160
$KALMAN_X,2365.8,215.5,-11.9,-3182.1,195.6
$KALMAN_Y,-1401.3,-587.7,97.6,2047.2,-287.9
$MHEAD_RNG_PITCHd_Wd,307.8,1167,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.53,-97.8,0.0,0.0,0,112,0.00,0.00,-98.32,0.000,2,0.000,0.000,143,2047,3121
$GC,113,-0.53,-97.8,3.1,-2.9,17,150,10.43,2.30,-21.83,0.000,4,0.231,0.077,2890,637,3914
$GC,166,-0.53,-97.8,7.3,-6.7,27,173,0.00,2.28,0.00,0.000,6,0.000,0.064,2890,2039,3915
$GC,237,-0.53,-97.8,15.2,-11.4,43,243,0.00,2.30,0.00,0.000,4,0.000,0.067,2881,3455,3915
$GC,285,-0.53,-97.8,20.9,-11.6,54,292,0.00,2.25,0.00,0.000,6,0.000,0.054,2881,2041,3916
$GC,356,-0.53,-97.8,29.8,-12.7,70,362,0.00,2.25,0.00,0.000,4,0.000,0.064,2881,634,3916
$GC,378,-0.53,-97.8,32.7,-13.1,75,385,0.00,2.28,0.00,0.000,6,0.000,0.062,2879,2050,3916
$GC,449,-0.53,-97.8,42.2,-13.3,91,454,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2050,3916
$GC,583,-0.53,-97.8,60.1,-13.2,122,590,0.00,2.28,0.00,0.000,4,0.000,0.067,2878,3458,3917
$GC,602,-0.53,-97.8,62.7,-13.7,126,608,0.00,2.22,0.00,0.000,6,0.000,0.053,2878,2046,3916
$GC,737,-0.53,-97.8,80.4,-12.6,157,744,0.00,2.28,0.00,0.000,4,0.000,0.067,2876,3456,3916
$GC,756,-0.53,-97.8,82.9,-13.0,161,762,0.00,2.22,0.00,0.000,6,0.000,0.054,2876,2040,3916
$GC,891,-0.53,-97.8,100.4,-12.7,192,898,0.00,2.22,0.00,0.000,4,0.000,0.064,2875,634,3916
$GC,909,-0.53,-97.8,102.7,-12.3,196,916,0.00,2.25,0.00,0.000,6,0.000,0.062,2875,2049,3916
$STATE,931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,931,begin apogee
$GC,934,-0.13,0.0,105.6,12.9,201,1011,0.45,0.00,73.72,0.599,6,0.133,0.000,3023,2267,3513
$STATE,1011,end apogee,CONTROL_FINISHED_OK
$STATE,1011,begin climb
$GC,1012,0.53,97.8,108.5,0.0,214,1093,0.57,0.00,74.72,0.583,6,0.083,0.000,3236,2267,3114
$GC,1222,0.53,97.8,97.8,7.4,258,1228,0.00,2.33,0.00,0.000,4,0.000,0.060,3246,837,3113
$GC,1306,0.53,97.8,91.8,7.2,277,1312,0.00,2.28,0.00,0.000,6,0.000,0.059,3247,2244,3113
$GC,1442,0.54,101.1,81.8,6.9,308,1448,0.00,0.00,4.05,0.402,6,0.000,0.000,3247,2244,3100
$GC,1578,0.54,101.1,72.6,7.3,339,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,2244,3100
$GC,1712,0.55,114.2,63.4,6.4,370,1731,0.00,2.30,11.02,0.545,4,0.000,0.064,3246,3664,3048
$GC,1778,0.55,114.2,57.9,8.8,384,1784,0.00,2.22,0.00,0.000,6,0.000,0.051,3257,2256,3047
$GC,1913,0.55,114.2,47.3,7.8,415,1920,0.00,2.22,0.00,0.000,4,0.000,0.061,3268,844,3047
$GC,1931,0.55,114.2,45.9,7.8,419,1938,0.00,2.25,0.00,0.000,6,0.000,0.060,3268,2253,3046
$GC,2068,0.55,114.2,36.1,7.7,450,2074,0.00,2.22,0.00,0.000,4,0.000,0.064,3267,3665,3046
$GC,2090,0.55,114.2,34.1,8.3,455,2097,0.08,2.22,0.00,0.000,6,0.169,0.051,3253,2247,3046
$GC,2161,0.56,123.1,29.3,6.6,471,2174,0.00,0.00,7.95,0.513,6,0.000,0.000,3254,2246,3011
$GC,2238,0.57,125.7,24.0,6.9,488,2246,0.00,2.25,3.72,0.382,4,0.000,0.059,3264,837,3000
$GC,2262,0.58,134.1,22.4,6.6,493,2275,0.00,2.25,7.93,0.508,6,0.000,0.059,3264,2251,2966
$GC,2339,0.58,134.1,16.6,8.0,510,2345,0.00,2.25,0.00,0.000,4,0.000,0.060,3275,838,2966
$GC,2357,0.58,134.1,15.1,8.0,514,2363,0.00,2.25,0.00,0.000,6,0.000,0.060,3275,2247,2966
$GC,2427,0.58,134.1,9.8,7.4,530,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,2247,2965
$GC,2492,0.64,184.1,6.3,4.6,545,2534,0.00,2.35,37.85,0.558,4,0.000,0.064,3275,3673,2763
$STATE,2575,end climb,SURFACE_DEPTH_REACHED
$STATE,2575,begin surface coast
$FINISH,3.6,1.019483
$STATE,2701,end surface coast,CONTROL_FINISHED_OK
$STATE,2701,begin surface
$SM_CCo,2716,145.80,0.545,0,0,1678,450.13
$SM_GC,1.84,0.00,0.00,145.80,0.000,0.000,0.545,149,2045,1678,-9.13,0.03,450.13
$RAFOS_CLK,110
$RAFOS,0,1247760542,16.166666,16.150555,43,42,41,0,0,0,593,1949,908,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12228.02,101098,141423
$TT8_MAMPS,0.050622
$HUMID,1912
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.5,44.4
$24V_AH,24.3,2.278
$10V_AH,10.7,0.816
$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,20.000,59.425,220.975,145.800,0.000,22.364,33.064,175.057,0.500,0.000,0.000,16.499,0.000,1254.181,538.454,1085.820,285.443,33.315,1022.059,0.000,862.813,480.000,5.518,0.000
$DEVICE_MAMPS,230.867,76.700,599.027,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,395.349,303.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19011,591
$CAP_FILE_SIZE,62394,0
$CFSIZE,260165632,258121728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1483.5
$GPS,160709,162138,4807.676,-12223.659,43,1.8,43,18.3