version: 66.04
glider: 170
mission: 1
dive: 19
start: 7 16 109 10 18 10
data:
$ID,170
$MISSION,1
$DIVE,19
$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,-9649.2305
$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,33
$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
$GPS1,101155,4806.644,-12222.860,10,1.7,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-80.1
$GPS2,101714,4806.631,-12222.836,13,1.7,13,18.3
$SPEED_LIMITS,0.122,0.209
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,0.195
$KALMAN_X,-1810.2,-39.7,70.6,2394.6,30.8
$KALMAN_Y,-1919.6,-191.5,-97.5,1124.4,-249.3
$MHEAD_RNG_PITCHd_Wd,321.2,2915,-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,-117.3,0.0,0.0,0,100,0.00,0.00,-83.60,0.000,2,0.000,0.000,135,2109,3596
$GC,102,-0.56,-117.3,3.3,-3.1,16,126,10.40,2.28,-7.57,0.000,4,0.245,0.067,2733,690,3896
$GC,182,-0.56,-117.3,11.9,-9.4,32,189,0.00,2.33,0.00,0.000,6,0.000,0.067,2733,2097,3897
$GC,258,-0.56,-117.3,18.0,-8.0,48,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2098,3897
$GC,334,-0.56,-117.3,24.4,-8.7,64,339,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2097,3898
$GC,409,-0.56,-117.3,31.2,-9.2,80,415,0.00,2.38,0.00,0.000,4,0.000,0.078,2733,3518,3898
$GC,451,-0.56,-117.3,35.6,-10.2,89,458,0.00,2.25,0.00,0.000,6,0.000,0.049,2733,2095,3898
$GC,528,-0.56,-117.3,43.0,-10.0,105,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2090,3898
$GC,672,-0.56,-117.3,56.8,-9.5,136,678,0.00,2.38,0.00,0.000,4,0.000,0.077,2733,3516,3898
$GC,711,-0.56,-117.3,60.6,-9.5,144,717,0.00,2.25,0.00,0.000,6,0.000,0.048,2733,2085,3898
$GC,856,-0.56,-117.3,73.7,-9.3,175,862,0.00,2.38,0.00,0.000,4,0.000,0.077,2733,3516,3898
$GC,881,-0.56,-117.3,76.1,-9.2,180,887,0.00,2.22,0.00,0.000,6,0.000,0.048,2733,2089,3898
$GC,1026,-0.56,-117.3,88.6,-8.3,211,1032,0.00,2.38,0.00,0.000,4,0.000,0.078,2733,3518,3898
$GC,1079,-0.56,-117.3,92.9,-8.3,222,1085,0.00,2.22,0.00,0.000,6,0.000,0.047,2733,2088,3898
$STATE,1202,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1202,begin apogee
$GC,1206,-0.24,0.0,103.3,8.4,248,1297,0.32,0.00,85.12,0.691,6,0.147,0.000,2836,2087,3417
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1298,begin climb
$GC,1300,0.56,117.3,106.3,0.0,265,1392,0.77,0.00,86.72,0.680,6,0.117,0.000,3091,2087,2938
$GC,1530,0.56,117.3,84.9,11.2,312,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2088,2937
$GC,1675,0.56,117.3,69.1,10.8,343,1681,0.00,2.22,0.00,0.000,4,0.000,0.053,3092,686,2936
$GC,1714,0.56,117.3,64.9,10.7,351,1720,0.00,2.28,0.00,0.000,6,0.000,0.048,3091,2120,2936
$GC,1860,0.56,117.3,49.2,10.4,382,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2121,2936
$GC,2005,0.56,117.3,34.3,9.9,413,2010,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2120,2936
$GC,2080,0.56,117.3,27.1,9.3,429,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2120,2935
$GC,2155,0.56,117.3,20.1,8.9,445,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2120,2935
$GC,2230,0.56,117.3,13.4,8.8,461,2236,0.00,2.25,0.00,0.000,4,0.000,0.053,3095,691,2935
$GC,2283,0.56,117.3,9.0,8.0,472,2289,0.00,2.22,0.00,0.000,6,0.000,0.048,3095,2115,2935
$STATE,2357,end climb,SURFACE_DEPTH_REACHED
$STATE,2357,begin surface coast
$FINISH,2.9,1.020061
$STATE,2436,end surface coast,CONTROL_FINISHED_OK
$STATE,2436,begin surface
$SM_CCo,2451,270.50,0.635,0,0,1460,480.05
$SM_GC,1.59,0.00,0.00,270.50,0.000,0.000,0.635,137,2118,1460,-8.70,0.51,480.05
$IRIDIUM_FIX,4748.51,-12221.84,101098,090922
$TT8_MAMPS,0.026078
$HUMID,1890
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.5,2.408
$10V_AH,10.8,0.724
$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,19.700,32.025,171.850,270.500,0.000,25.083,32.171,177.772,1.750,0.000,0.000,13.610,762.329,678.188,549.746,759.603,309.579,33.334,981.969,0.000,746.259,0.000,14.439,0.000
$DEVICE_MAMPS,244.673,78.234,691.067,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.359,258.148,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15835,505
$CAP_FILE_SIZE,51191,0
$CFSIZE,260165632,255852544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,110434,4806.757,-12223.008,9,3.5,28,18.3