version: 66.04
glider: 170
mission: 1
dive: 23
start: 7 16 109 13 57 14
data:
$ID,170
$MISSION,1
$DIVE,23
$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,100
$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,470
$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,-9744.6836
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2916
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,29
$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,8
$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
$GPS1,135055,4807.007,-12223.236,40,1.2,40,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-80.3
$GPS2,135620,4806.958,-12223.189,11,1.2,11,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.066,0.181
$KALMAN_X,-1634.4,176.3,19.4,1616.6,74.6
$KALMAN_Y,-3532.7,-299.3,-25.1,3379.5,-301.3
$MHEAD_RNG_PITCHd_Wd,321.8,2174,-15.7,-7.042
$D_GRID,101
$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,-0.57,-97.8,0.0,0.0,0,81,0.00,0.00,-63.30,0.000,2,0.000,0.000,138,2085,3082
$GC,83,-0.57,-97.8,3.1,-2.6,12,118,10.38,2.40,-17.40,0.000,4,0.244,0.089,2730,3500,3818
$GC,381,-0.57,-97.8,27.0,-7.9,75,387,0.00,2.22,0.00,0.000,6,0.000,0.053,2730,2108,3819
$GC,456,-0.57,-97.8,33.3,-8.2,91,462,0.00,2.35,0.00,0.000,4,0.000,0.081,2730,3503,3820
$GC,514,-0.57,-97.8,38.5,-9.4,103,520,0.00,2.25,0.00,0.000,6,0.000,0.052,2730,2087,3820
$GC,590,-0.57,-97.8,45.6,-9.3,119,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2086,3820
$GC,734,-0.57,-97.8,57.0,-7.9,150,740,0.00,2.17,0.00,0.000,4,0.000,0.054,2730,690,3821
$GC,759,-0.57,-97.8,59.1,-8.4,155,766,0.00,2.28,0.00,0.000,6,0.000,0.068,2730,2089,3820
$GC,904,-0.57,-97.8,72.0,-8.8,186,910,0.00,2.38,0.00,0.000,4,0.000,0.083,2730,3513,3820
$GC,999,-0.57,-97.8,80.3,-8.8,206,1006,0.00,2.22,0.00,0.000,6,0.000,0.049,2730,2090,3820
$GC,1145,-0.57,-97.8,92.7,-8.4,237,1151,0.00,2.38,0.00,0.000,4,0.000,0.080,2730,3515,3820
$GC,1180,-0.57,-97.8,95.9,-8.5,244,1186,0.00,2.22,0.00,0.000,6,0.000,0.049,2730,2092,3820
$STATE,1246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1250,-0.23,0.0,101.3,7.9,258,1327,0.32,0.00,70.90,0.686,6,0.148,0.000,2834,2215,3417
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1329,0.57,97.8,103.9,0.0,272,1405,0.77,0.00,72.28,0.676,6,0.118,0.000,3090,2215,3019
$GC,1544,0.57,97.8,85.0,10.5,316,1550,0.00,2.30,0.00,0.000,4,0.000,0.050,3091,787,3018
$GC,1647,0.57,97.8,74.8,9.5,338,1653,0.00,2.28,0.00,0.000,6,0.000,0.048,3091,2210,3018
$GC,1793,0.57,97.8,60.7,9.5,369,1799,0.00,2.28,0.00,0.000,4,0.000,0.061,3091,3624,3017
$GC,1836,0.57,97.8,55.9,10.8,378,1842,0.00,2.22,0.00,0.000,6,0.000,0.041,3100,2202,3017
$GC,1982,0.57,97.8,41.8,9.3,409,1988,0.00,2.20,0.00,0.000,4,0.000,0.051,3110,789,3017
$GC,2063,0.57,97.8,34.2,9.3,426,2069,0.00,2.22,0.00,0.000,6,0.000,0.048,3110,2208,3017
$GC,2139,0.57,97.8,26.9,9.8,442,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,3110,2208,3016
$GC,2214,0.57,97.8,19.9,9.1,458,2220,0.00,2.22,0.00,0.000,4,0.000,0.051,3119,792,3016
$GC,2272,0.57,97.8,14.8,8.9,470,2278,0.00,2.20,0.00,0.000,6,0.000,0.047,3120,2203,3016
$GC,2348,0.57,97.8,8.7,7.3,486,2354,0.00,2.22,0.00,0.000,4,0.000,0.058,3120,3611,3016
$STATE,2569,end climb,NO_VERTICAL_VELOCITY
$STATE,2569,begin surface
$SM_CCo,2571,476.65,0.626,0,0,460,725.60
$SM_GC,1.43,8.25,0.00,0.00,0.054,0.000,0.000,130,2097,455,-8.65,-0.08,726.82
$IRIDIUM_FIX,4748.51,-12226.29,101098,131340
$TT8_MAMPS,0.026078
$HUMID,1916
$INTERNAL_PRESSURE,9.08787
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.7,2.833
$10V_AH,10.8,0.855
$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,19.725,45.800,143.175,476.650,0.000,24.208,25.408,191.931,1.250,0.000,0.000,12.106,820.598,834.178,726.882,796.242,319.107,33.340,1168.896,0.000,788.261,0.000,8.742,0.000
$DEVICE_MAMPS,243.906,88.972,686.465,625.872,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.999,276.432,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18980,534
$CAP_FILE_SIZE,54069,0
$CFSIZE,260165632,255717376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,145032,4807.063,-12223.279,9,1.9,9,18.3