version: 66.04
glider: 171
mission: 1
dive: 22
start: 7 16 109 11 59 44
data:
$ID,171
$MISSION,1
$DIVE,22
$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,-836.64783
$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
$GPS1,115349,4807.055,-12222.958,7,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-79.5
$GPS2,115850,4807.026,-12222.919,11,1.6,11,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.152
$KALMAN_X,1436.8,174.6,99.9,-1820.6,141.8
$KALMAN_Y,55.8,-368.4,-65.1,-577.4,-165.0
$MHEAD_RNG_PITCHd_Wd,303.6,2244,-15.7,-7.042
$D_GRID,105
$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,-0.58,-97.8,0.0,0.0,0,101,0.00,0.00,-84.43,0.000,2,0.000,0.000,144,2198,3658
$GC,103,-0.58,-97.8,3.3,-5.6,16,125,10.30,0.00,-6.25,0.000,6,0.242,0.000,2672,2196,3896
$GC,195,-0.58,-97.8,11.3,-8.3,35,200,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2196,3897
$GC,270,-0.58,-97.8,17.3,-7.7,51,276,0.00,2.40,0.00,0.000,4,0.000,0.088,2672,788,3897
$GC,299,-0.58,-97.8,19.6,-7.8,57,305,0.00,2.42,0.00,0.000,6,0.000,0.090,2663,2196,3897
$GC,375,-0.58,-97.8,26.1,-8.9,73,381,0.00,2.50,0.00,0.000,4,0.000,0.103,2651,3620,3897
$GC,399,-0.58,-97.8,28.6,-9.6,78,406,0.00,2.42,0.00,0.000,6,0.000,0.086,2651,2201,3897
$GC,475,-0.58,-97.8,36.2,-10.3,94,481,0.00,2.42,0.00,0.000,4,0.000,0.092,2651,783,3898
$GC,519,-0.58,-97.8,40.9,-10.7,103,525,0.15,2.45,0.00,0.000,6,0.160,0.095,2680,2198,3898
$GC,665,-0.58,-97.8,54.1,-8.8,134,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2198,3898
$GC,809,-0.58,-97.8,66.5,-8.4,165,815,0.00,2.47,0.00,0.000,4,0.000,0.104,2670,3623,3898
$GC,829,-0.58,-97.8,68.2,-8.5,169,835,0.00,2.42,0.00,0.000,6,0.000,0.088,2670,2199,3898
$GC,976,-0.58,-97.8,81.5,-9.3,200,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2198,3898
$GC,1120,-0.58,-97.8,94.5,-8.7,231,1126,0.00,2.40,0.00,0.000,4,0.000,0.094,2670,783,3898
$GC,1181,-0.58,-97.8,100.1,-8.8,244,1187,0.00,2.42,0.00,0.000,6,0.000,0.092,2659,2208,3898
$STATE,1242,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1242,begin apogee
$GC,1245,-0.15,0.0,105.4,8.7,257,1322,0.47,0.00,71.32,0.716,6,0.125,0.000,2817,2208,3496
$STATE,1322,end apogee,CONTROL_FINISHED_OK
$STATE,1323,begin climb
$GC,1324,0.58,97.8,107.4,0.0,271,1405,0.68,2.50,73.15,0.686,4,0.090,0.077,3060,785,3096
$GC,1410,0.58,97.8,101.9,7.6,287,1417,0.00,2.47,0.00,0.000,6,0.000,0.075,3060,2201,3096
$GC,1556,0.58,97.8,85.3,11.5,318,1562,0.00,2.42,0.00,0.000,4,0.000,0.080,3071,784,3095
$GC,1585,0.58,97.8,82.0,11.3,324,1591,0.00,2.42,0.00,0.000,6,0.000,0.077,3071,2209,3095
$GC,1731,0.58,97.8,65.1,11.8,355,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2209,3095
$GC,1874,0.58,97.8,48.7,11.4,386,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,2209,3094
$GC,2019,0.58,97.8,33.7,10.7,417,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2210,3094
$GC,2093,0.58,97.8,26.1,10.1,433,2099,0.00,2.40,0.00,0.000,4,0.000,0.082,3082,778,3093
$GC,2113,0.58,97.8,24.1,9.8,437,2119,0.00,2.38,0.00,0.000,6,0.000,0.078,3082,2202,3093
$GC,2189,0.58,97.8,16.9,9.5,453,2194,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2201,3093
$GC,2264,0.58,97.8,9.7,9.0,469,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2201,3093
$GC,2339,0.62,126.7,4.4,5.6,485,2351,0.00,0.00,10.50,0.626,2,0.000,0.000,3082,2201,3043
$STATE,2352,end climb,SURFACE_DEPTH_REACHED
$STATE,2352,begin surface coast
$FINISH,3.5,1.021506
$STATE,2440,end surface coast,CONTROL_FINISHED_OK
$STATE,2440,begin surface
$SM_CCo,2454,277.42,0.639,0,0,1539,480.05
$SM_GC,0.58,0.00,0.00,277.42,0.000,0.000,0.639,145,2202,1539,-8.51,0.08,480.05
$IRIDIUM_FIX,4751.72,-12223.57,101098,111149
$TT8_MAMPS,0.027612
$HUMID,1853
$INTERNAL_PRESSURE,9.22257
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,42.3
$24V_AH,24.5,2.258
$10V_AH,10.8,0.644
$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,19.875,38.950,154.975,277.425,0.000,27.604,25.254,177.769,0.500,0.000,0.000,11.917,771.012,688.616,554.025,752.877,283.588,33.336,989.075,0.000,747.743,0.000,5.527,0.000
$DEVICE_MAMPS,242.372,103.545,715.611,638.911,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.658,256.181,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15903,506
$CAP_FILE_SIZE,52644,0
$CFSIZE,260165632,257744896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,124601,4807.165,-12223.033,8,1.9,13,18.3