version: 66.04
glider: 172
mission: 1
dive: 11
start: 7 16 109 4 47 58
data:
$ID,172
$MISSION,1
$DIVE,11
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-2555.4351
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3066
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3717
$ROLL_DEG,40
$C_ROLL_DIVE,2145
$C_ROLL_CLIMB,2145
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3514
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-56.536236
$PRESSURE_SLOPE,0.0001168426
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,16
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043614767
$SEABIRD_T_H,0.00062996609
$SEABIRD_T_I,2.5014444e-05
$SEABIRD_T_J,2.7838146e-06
$SEABIRD_C_G,-10.228213
$SEABIRD_C_H,1.1292607
$SEABIRD_C_I,-0.001076734
$SEABIRD_C_J,0.00017059842
$GPS1,044213,4806.246,-12222.215,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,2
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-79.0
$GPS2,044719,4806.206,-12222.181,13,1.8,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.154,0.209
$KALMAN_X,1.5,-92.7,5.3,1076.2,47.1
$KALMAN_Y,1228.3,467.2,33.9,-3915.3,-29.1
$MHEAD_RNG_PITCHd_Wd,305.3,4012,-17.5,-10.000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.68,-146.6,0.0,0.0,0,78,0.00,0.00,-65.20,0.000,2,0.000,0.000,139,2142,3326
$GC,79,-0.68,-146.6,3.5,-5.1,11,109,10.48,0.00,-15.02,0.000,6,0.239,0.000,2841,2142,3962
$GC,173,-0.68,-146.6,18.3,-18.0,31,180,0.00,2.28,0.00,0.000,4,0.000,0.065,2841,736,3963
$GC,200,-0.68,-146.6,23.3,-18.6,37,207,0.00,2.30,0.00,0.000,6,0.000,0.067,2837,2145,3962
$GC,271,-0.68,-146.6,35.9,-17.9,53,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2146,3963
$GC,336,-0.68,-146.6,48.1,-18.7,68,336,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2146,3963
$GC,466,-0.68,-146.6,72.6,-18.4,98,472,0.00,2.25,0.00,0.000,4,0.000,0.065,2837,742,3964
$GC,484,-0.68,-146.6,76.2,-19.2,102,491,0.00,2.28,0.00,0.000,6,0.000,0.066,2832,2150,3964
$GC,620,-0.68,-146.6,101.2,-17.9,133,626,0.00,2.25,0.00,0.000,4,0.000,0.064,2832,739,3963
$GC,634,-0.68,-146.6,104.0,-18.7,136,640,0.00,2.25,0.00,0.000,6,0.000,0.065,2830,2142,3964
$STATE,651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,651,begin apogee
$GC,654,-0.14,0.0,107.1,18.5,140,742,0.57,0.00,81.82,0.598,6,0.149,0.000,3015,2143,3515
$STATE,742,end apogee,CONTROL_FINISHED_OK
$STATE,742,begin climb
$GC,743,0.68,146.6,111.5,0.0,155,862,0.75,2.33,111.30,0.582,4,0.091,0.061,3293,736,2915
$GC,870,0.69,154.8,104.4,9.6,177,883,0.00,2.33,7.75,0.486,6,0.000,0.061,3293,2147,2883
$GC,1013,0.69,154.8,85.2,14.2,209,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2147,2882
$GC,1147,0.69,154.8,67.9,12.3,240,1154,0.00,2.30,0.00,0.000,4,0.000,0.066,3293,3562,2882
$GC,1196,0.69,154.8,61.2,13.4,251,1203,0.00,2.25,0.00,0.000,6,0.000,0.054,3304,2146,2882
$GC,1332,0.69,154.8,43.4,12.4,282,1338,0.00,2.28,0.00,0.000,4,0.000,0.066,3304,3552,2881
$GC,1354,0.69,154.8,40.3,14.0,287,1360,0.00,2.22,0.00,0.000,6,0.000,0.053,3314,2143,2881
$GC,1490,0.69,154.8,23.1,11.5,318,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2143,2881
$GC,1559,0.69,154.8,15.2,11.3,334,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2143,2880
$GC,1624,0.69,154.8,8.4,10.1,349,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2143,2880
$STATE,1683,end climb,SURFACE_DEPTH_REACHED
$STATE,1683,begin surface coast
$FINISH,3.7,1.019514
$STATE,1758,end surface coast,CONTROL_FINISHED_OK
$STATE,1758,begin surface
$SM_CCo,1770,169.43,0.513,7,0,1556,480.05
$SM_GC,1.43,0.00,0.00,169.43,0.000,0.000,0.513,142,2142,1556,-9.14,-0.08,480.05
$RAFOS_CLK,76
$RAFOS,0,1247720944,5.166667,5.151111,46,46,45,0,0,0,783,1846,2459,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12203.06,101098,040417
$TT8_MAMPS,0.050622
$HUMID,1913
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,3.8
$24V_AH,24.4,1.275
$10V_AH,10.7,0.431
$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,20.450,27.300,200.875,169.425,0.000,30.769,28.224,180.953,0.500,0.000,0.000,15.287,0.000,782.400,503.385,708.323,277.853,33.327,827.412,0.000,558.897,480.000,5.408,0.000
$DEVICE_MAMPS,238.537,66.729,598.260,513.123,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,253.150,192.253,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12710,380
$CAP_FILE_SIZE,42723,0
$CFSIZE,260165632,258555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$SOUNDSPEED,1483.5
$GPS,160709,052136,4806.356,-12222.334,11,1.1,28,18.3