version: 66.04
glider: 171
mission: 1
dive: 18
start: 7 16 109 8 23 29
data:
$ID,171
$MISSION,1
$DIVE,18
$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,120
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-770.24585
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2868
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2199
$C_ROLL_CLIMB,2199
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3497
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-75.123062
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043688784
$SEABIRD_T_H,0.00062944769
$SEABIRD_T_I,2.4717139e-05
$SEABIRD_T_J,2.7241397e-06
$SEABIRD_C_G,-10.19732
$SEABIRD_C_H,1.1460223
$SEABIRD_C_I,-0.00094820879
$SEABIRD_C_J,0.00016859215
$GPS1,081736,4806.626,-12222.487,35,1.0,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.38
$_SM_ANGLEo,-78.2
$GPS2,082236,4806.600,-12222.483,15,1.0,31,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.126,0.146
$KALMAN_X,727.0,50.7,58.9,-406.0,190.1
$KALMAN_Y,721.0,14.6,-108.5,-2373.8,-176.8
$MHEAD_RNG_PITCHd_Wd,300.9,3200,-15.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.58,-97.8,0.0,0.0,0,116,0.00,0.00,-97.50,0.000,6,0.000,0.000,144,2205,3896
$GC,118,-0.58,-97.8,3.0,-4.5,19,130,10.40,0.00,0.00,0.000,6,0.247,0.000,2677,2204,3898
$GC,200,-0.58,-97.8,12.8,-8.3,36,206,0.00,2.50,0.00,0.000,4,0.000,0.105,2667,3614,3898
$GC,234,-0.58,-97.8,15.3,-7.6,43,240,0.00,2.40,0.00,0.000,6,0.000,0.083,2667,2201,3898
$GC,309,-0.58,-97.8,21.6,-8.3,59,315,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2201,3898
$GC,384,-0.58,-97.8,28.3,-9.1,75,390,0.00,2.40,0.00,0.000,4,0.000,0.089,2667,786,3898
$GC,409,-0.58,-97.8,30.5,-9.0,80,415,0.00,2.42,0.00,0.000,6,0.000,0.092,2656,2196,3898
$GC,485,-0.58,-97.8,38.2,-9.9,96,490,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2195,3898
$GC,559,-0.58,-97.8,45.7,-10.3,112,565,0.00,2.47,0.00,0.000,4,0.000,0.100,2645,3623,3898
$GC,588,-0.58,-97.8,48.9,-10.4,118,595,0.12,2.42,0.00,0.000,6,0.150,0.084,2679,2191,3898
$GC,734,-0.58,-97.8,62.2,-9.0,149,740,0.00,2.38,0.00,0.000,4,0.000,0.090,2679,786,3898
$GC,777,-0.58,-97.8,66.0,-9.1,158,784,0.00,2.40,0.00,0.000,6,0.000,0.090,2670,2201,3898
$GC,922,-0.58,-97.8,79.4,-9.1,189,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2201,3898
$GC,1067,-0.58,-97.8,92.5,-8.8,220,1073,0.00,2.40,0.00,0.000,4,0.000,0.091,2670,786,3898
$GC,1134,-0.58,-97.8,98.6,-9.0,234,1140,0.00,2.40,0.00,0.000,6,0.000,0.091,2659,2199,3898
$STATE,1227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1227,begin apogee
$GC,1230,-0.15,0.0,107.2,9.0,254,1306,0.47,0.00,71.18,0.713,6,0.126,0.000,2816,2199,3496
$STATE,1307,end apogee,CONTROL_FINISHED_OK
$STATE,1307,begin climb
$GC,1308,0.58,97.8,109.0,0.0,268,1390,0.68,2.50,73.22,0.687,4,0.091,0.077,3059,781,3097
$GC,1427,0.58,97.8,99.7,10.2,291,1434,0.00,2.47,0.00,0.000,6,0.000,0.075,3059,2211,3096
$GC,1573,0.58,97.8,83.4,11.0,322,1579,0.00,2.45,0.00,0.000,4,0.000,0.080,3070,777,3096
$GC,1588,0.58,97.8,81.6,10.9,325,1594,0.00,2.42,0.00,0.000,6,0.000,0.075,3070,2210,3096
$GC,1734,0.58,97.8,65.4,10.9,356,1740,0.00,2.40,0.00,0.000,4,0.000,0.078,3082,784,3095
$GC,1768,0.58,97.8,61.5,11.3,363,1774,0.00,2.38,0.00,0.000,6,0.000,0.076,3082,2197,3095
$GC,1913,0.58,97.8,45.1,11.3,394,1919,0.00,2.38,0.00,0.000,4,0.000,0.080,3093,780,3095
$GC,1938,0.58,97.8,42.1,11.7,399,1944,0.15,2.38,0.00,0.000,6,0.161,0.077,3053,2201,3095
$GC,2083,0.58,97.8,28.4,8.9,430,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2201,3094
$GC,2157,0.58,97.8,21.7,9.0,446,2163,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2201,3094
$GC,2232,0.58,97.8,15.4,8.4,462,2238,0.00,2.38,0.00,0.000,4,0.000,0.081,3064,780,3093
$GC,2275,0.58,97.8,11.9,8.0,471,2281,0.00,2.35,0.00,0.000,6,0.000,0.077,3064,2197,3093
$GC,2351,0.58,97.8,6.2,7.4,487,2357,0.00,2.40,0.00,0.000,4,0.000,0.088,3064,3619,3093
$STATE,2384,end climb,SURFACE_DEPTH_REACHED
$STATE,2384,begin surface coast
$FINISH,3.4,1.022710
$STATE,2394,end surface coast,CONTROL_FINISHED_OK
$STATE,2394,begin surface
$SM_CCo,2411,289.75,0.635,2,0,1540,480.05
$SM_GC,0.39,0.00,0.00,289.75,0.000,0.000,0.635,149,2196,1540,-8.50,-0.08,480.05
$IRIDIUM_FIX,4751.72,-12223.57,101098,070724
$TT8_MAMPS,0.027612
$HUMID,1879
$INTERNAL_PRESSURE,9.2128
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,42.6
$24V_AH,24.5,1.871
$10V_AH,10.8,0.520
$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,20.125,53.100,144.400,289.750,0.000,24.529,23.707,162.988,0.500,0.000,0.000,31.252,759.334,665.924,580.612,759.640,262.040,33.323,1013.876,0.000,733.663,0.000,5.526,0.000
$DEVICE_MAMPS,246.974,105.079,713.310,635.076,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.900,250.333,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15855,496
$CAP_FILE_SIZE,54002,0
$CFSIZE,260165632,257871872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$GPS,160709,090926,4806.716,-12222.622,14,1.3,14,18.3