version: 66.04
glider: 170
mission: 1
dive: 18
start: 7 16 109 9 25 58
data:
$ID,170
$MISSION,1
$DIVE,18
$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,-9634.9932
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,091638,4806.518,-12222.705,11,1.3,11,18.3
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-79.3
$GPS2,092502,4806.511,-12222.704,16,1.2,16,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.078,0.193
$KALMAN_X,-1790.7,-101.7,52.0,2620.1,34.4
$KALMAN_Y,-1616.5,-153.0,-103.4,565.6,-234.2
$MHEAD_RNG_PITCHd_Wd,319.8,3189,-14.0,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.56,-117.3,0.0,0.0,0,94,0.00,0.00,-78.20,0.000,2,0.000,0.000,133,2107,3444
$GC,97,-0.56,-117.3,3.2,-2.9,15,126,10.43,2.35,-11.75,0.000,4,0.245,0.091,2735,3510,3893
$GC,251,-0.56,-117.3,17.4,-8.3,47,257,0.00,2.25,0.00,0.000,6,0.000,0.048,2735,2088,3894
$GC,326,-0.56,-117.3,23.6,-8.0,63,332,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2088,3894
$GC,401,-0.56,-117.3,29.9,-8.6,79,407,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2088,3895
$GC,477,-0.56,-117.3,36.3,-8.7,95,483,0.00,2.38,0.00,0.000,4,0.000,0.078,2735,3507,3895
$GC,529,-0.56,-117.3,41.1,-9.4,106,535,0.00,2.22,0.00,0.000,6,0.000,0.049,2735,2092,3895
$GC,675,-0.56,-117.3,53.6,-8.4,137,681,0.00,2.38,0.00,0.000,4,0.000,0.079,2735,3514,3895
$GC,700,-0.56,-117.3,55.9,-8.6,142,706,0.00,2.22,0.00,0.000,6,0.000,0.048,2735,2092,3895
$GC,845,-0.56,-117.3,68.2,-8.6,173,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2092,3895
$GC,989,-0.56,-117.3,80.5,-8.7,204,995,0.00,2.35,0.00,0.000,4,0.000,0.080,2735,3500,3895
$GC,1028,-0.56,-117.3,83.8,-8.6,212,1034,0.00,2.20,0.00,0.000,6,0.000,0.049,2735,2090,3895
$GC,1178,-0.56,-117.3,96.4,-8.2,243,1184,0.00,2.35,0.00,0.000,4,0.000,0.080,2735,3500,3894
$GC,1226,-0.56,-117.3,100.5,-8.5,253,1232,0.00,2.20,0.00,0.000,6,0.000,0.050,2735,2093,3894
$STATE,1254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1258,-0.24,0.0,103.0,8.6,259,1346,0.32,0.00,84.07,0.694,6,0.145,0.000,2839,2092,3418
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1348,0.56,117.3,105.9,0.0,275,1445,0.77,2.45,86.82,0.676,4,0.112,0.060,3096,3504,2938
$GC,1460,0.56,117.3,97.7,10.0,296,1466,0.00,2.30,0.00,0.000,6,0.000,0.043,3106,2101,2938
$GC,1606,0.56,117.3,80.0,11.8,327,1612,0.00,2.25,0.00,0.000,4,0.000,0.052,3116,688,2937
$GC,1645,0.56,117.3,75.1,12.3,335,1651,0.00,2.25,0.00,0.000,6,0.000,0.045,3117,2104,2937
$GC,1790,0.56,117.3,57.1,12.6,366,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2104,2936
$GC,1935,0.56,117.3,39.5,11.7,397,1941,0.00,2.25,0.00,0.000,4,0.000,0.053,3126,683,2936
$GC,1969,0.56,117.3,35.6,11.6,404,1975,0.00,2.22,0.00,0.000,6,0.000,0.047,3126,2101,2936
$GC,2045,0.56,117.3,27.0,11.6,420,2051,0.00,2.28,0.00,0.000,4,0.000,0.059,3126,3519,2936
$GC,2088,0.56,117.3,21.5,12.9,429,2095,0.15,2.22,0.00,0.000,6,0.168,0.043,3096,2095,2936
$GC,2165,0.56,117.3,13.8,9.2,445,2171,0.00,2.20,0.00,0.000,4,0.000,0.053,3107,683,2936
$GC,2227,0.56,117.3,8.6,8.3,458,2233,0.00,2.22,0.00,0.000,6,0.000,0.048,3107,2108,2935
$GC,2303,0.61,162.7,4.1,5.2,474,2315,0.00,0.00,10.50,0.602,2,0.000,0.000,3107,2108,2883
$STATE,2316,end climb,SURFACE_DEPTH_REACHED
$STATE,2316,begin surface coast
$FINISH,3.3,1.020592
$STATE,2437,end surface coast,CONTROL_FINISHED_OK
$STATE,2437,begin surface
$SM_CCo,2452,260.90,0.631,0,0,1461,480.05
$SM_GC,1.40,0.00,0.00,260.90,0.000,0.000,0.631,134,2109,1461,-8.71,0.25,480.05
$IRIDIUM_FIX,4748.51,-12224.57,101098,090937
$TT8_MAMPS,0.026078
$HUMID,1905
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.6,2.313
$10V_AH,10.8,0.694
$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,19.975,45.550,181.400,260.900,0.000,47.908,104.850,202.257,1.750,0.000,0.000,16.809,764.420,727.861,552.622,760.271,430.692,33.336,987.762,0.000,742.128,0.000,14.407,0.000
$DEVICE_MAMPS,245.440,91.273,694.135,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.786,257.111,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15898,502
$CAP_FILE_SIZE,54584,0
$CFSIZE,260165632,255877120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,101155,4806.644,-12222.860,10,1.7,10,18.3