version: 66.04
glider: 170
mission: 1
dive: 15
start: 7 16 109 6 38 34
data:
$ID,170
$MISSION,1
$DIVE,15
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51437
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9583.6045
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2920
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3418
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-62.362949
$PRESSURE_SLOPE,0.000115925
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043652086
$SEABIRD_T_H,0.00063100836
$SEABIRD_T_I,2.5667814e-05
$SEABIRD_T_J,2.9083003e-06
$SEABIRD_C_G,-9.8859177
$SEABIRD_C_H,1.1208299
$SEABIRD_C_I,-0.0010195741
$SEABIRD_C_J,0.00016822568
$GPS1,063206,4806.160,-12222.194,10,1.2,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-76.8
$GPS2,063738,4806.131,-12222.159,16,1.2,16,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,0.193
$KALMAN_X,-1614.0,-260.1,-48.7,3373.7,-7.0
$KALMAN_Y,-743.8,-41.4,-73.3,-1151.9,-206.4
$MHEAD_RNG_PITCHd_Wd,319.2,4143,-14.0,-7.042
$D_GRID,107
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.56,-117.3,0.0,0.0,0,96,0.00,0.00,-78.40,0.000,2,0.000,0.000,135,2089,3448
$GC,98,-0.56,-117.3,3.1,-2.7,15,127,10.30,2.30,-13.23,0.000,4,0.242,0.073,2737,693,3897
$GC,183,-0.56,-117.3,9.7,-9.5,32,190,0.00,2.33,0.00,0.000,6,0.000,0.071,2737,2097,3898
$GC,260,-0.56,-117.3,16.1,-7.9,48,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2097,3898
$GC,335,-0.56,-117.3,22.2,-8.1,64,341,0.00,2.38,0.00,0.000,4,0.000,0.080,2737,3515,3898
$GC,383,-0.56,-117.3,26.5,-9.1,74,389,0.00,2.25,0.00,0.000,6,0.000,0.049,2737,2090,3898
$GC,458,-0.56,-117.3,33.0,-8.6,90,464,0.00,2.38,0.00,0.000,4,0.000,0.077,2737,3514,3898
$GC,483,-0.56,-117.3,35.2,-8.7,95,489,0.00,2.22,0.00,0.000,6,0.000,0.048,2737,2100,3899
$GC,559,-0.56,-117.3,42.3,-9.3,111,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2099,3898
$GC,704,-0.56,-117.3,55.7,-8.9,142,710,0.00,2.38,0.00,0.000,4,0.000,0.078,2737,3525,3898
$GC,761,-0.56,-117.3,60.8,-9.1,154,767,0.00,2.25,0.00,0.000,6,0.000,0.049,2737,2089,3898
$GC,906,-0.56,-117.3,73.2,-8.3,185,912,0.00,2.38,0.00,0.000,4,0.000,0.080,2737,3515,3898
$GC,941,-0.56,-117.3,76.2,-8.7,192,947,0.00,2.22,0.00,0.000,6,0.000,0.049,2737,2090,3898
$GC,1086,-0.56,-117.3,88.2,-8.2,223,1092,0.00,2.38,0.00,0.000,4,0.000,0.079,2737,3519,3898
$GC,1113,-0.56,-117.3,90.4,-8.2,228,1119,0.00,2.22,0.00,0.000,6,0.000,0.049,2737,2095,3898
$GC,1257,-0.56,-117.3,102.1,-7.9,259,1263,0.00,2.38,0.00,0.000,4,0.000,0.079,2737,3522,3898
$GC,1292,-0.56,-117.3,105.0,-8.0,266,1301,0.00,2.22,0.00,0.000,6,0.000,0.050,2737,2098,3898
$STATE,1319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1319,begin apogee
$GC,1323,-0.24,0.0,107.2,7.9,271,1414,0.30,0.00,84.65,0.695,6,0.144,0.000,2835,2098,3419
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1417,0.56,117.3,110.3,0.0,288,1508,0.77,0.00,86.82,0.683,6,0.119,0.000,3089,2098,2938
$GC,1647,0.56,117.3,89.2,11.3,335,1653,0.00,2.28,0.00,0.000,4,0.000,0.054,3091,686,2937
$GC,1686,0.56,117.3,85.0,10.9,343,1692,0.00,2.30,0.00,0.000,6,0.000,0.048,3091,2123,2937
$GC,1832,0.56,117.3,69.8,10.6,374,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2123,2937
$GC,1977,0.56,117.3,54.4,10.6,405,1983,0.00,2.28,0.00,0.000,4,0.000,0.055,3091,697,2936
$GC,2011,0.56,117.3,50.9,10.4,412,2017,0.00,2.22,0.00,0.000,6,0.000,0.048,3091,2111,2936
$GC,2157,0.56,117.3,36.6,9.7,443,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2112,2935
$GC,2232,0.56,117.3,29.4,9.6,459,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2112,2935
$GC,2307,0.56,117.3,22.5,9.1,475,2313,0.00,2.25,0.00,0.000,4,0.000,0.061,3091,3516,2935
$GC,2346,0.56,117.3,18.5,10.1,483,2352,0.00,2.22,0.00,0.000,6,0.000,0.044,3096,2093,2935
$GC,2422,0.56,117.3,11.6,8.6,499,2428,0.00,2.20,0.00,0.000,4,0.000,0.055,3107,685,2935
$GC,2489,0.56,117.3,6.2,7.6,513,2495,0.00,2.22,0.00,0.000,6,0.000,0.049,3107,2108,2935
$STATE,2521,end climb,SURFACE_DEPTH_REACHED
$STATE,2522,begin surface coast
$FINISH,2.0,1.019439
$STATE,2591,end surface coast,CONTROL_FINISHED_OK
$STATE,2591,begin surface
$SM_CCo,2606,268.65,0.632,0,0,1461,480.05
$SM_GC,1.49,0.00,0.00,268.65,0.000,0.000,0.632,133,2108,1461,-8.71,0.23,480.05
$IRIDIUM_FIX,4748.51,-12217.40,101098,050508
$TT8_MAMPS,0.026078
$HUMID,1906
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.6,2.018
$10V_AH,10.8,0.599
$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,19.600,50.250,171.475,268.650,0.000,30.282,29.549,184.995,1.500,0.000,0.000,17.064,815.302,713.984,567.396,805.476,323.559,33.358,1029.053,0.000,788.936,0.000,10.303,0.000
$DEVICE_MAMPS,242.372,79.768,694.902,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.496,267.242,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19040,535
$CAP_FILE_SIZE,56624,0
$CFSIZE,260165632,255975424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,072714,4806.298,-12222.362,12,1.4,12,18.3