version: 66.04
glider: 172
mission: 1
dive: 13
start: 7 16 109 6 3 23
data:
$ID,172
$MISSION,1
$DIVE,13
$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,-2587.2065
$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,19
$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
$GPS1,055831,4806.484,-12222.454,10,2.0,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-78.1
$GPS2,060244,4806.465,-12222.434,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.151,0.212
$KALMAN_X,286.0,-82.8,37.6,439.1,164.1
$KALMAN_Y,959.6,417.5,-55.0,-3032.4,-220.9
$MHEAD_RNG_PITCHd_Wd,306.3,3439,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-77.07,0.000,2,0.000,0.000,142,2147,3638
$GC,91,-0.68,-146.6,3.4,-5.1,13,116,10.52,2.28,-7.60,0.000,4,0.241,0.078,2839,735,3962
$GC,158,-0.68,-146.6,16.8,-19.8,27,165,0.00,2.30,0.00,0.000,6,0.000,0.067,2837,2143,3962
$GC,229,-0.68,-146.6,30.3,-20.0,43,235,0.00,2.30,0.00,0.000,4,0.000,0.071,2827,3548,3963
$GC,247,-0.68,-146.6,34.0,-20.0,47,253,0.00,2.22,0.00,0.000,6,0.000,0.055,2827,2149,3963
$GC,317,-0.68,-146.6,48.3,-20.5,63,318,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2148,3963
$GC,448,-0.68,-146.6,74.9,-20.2,93,454,0.00,2.25,0.00,0.000,4,0.000,0.064,2827,740,3963
$GC,488,-0.68,-146.6,82.9,-19.8,102,494,0.00,2.28,0.00,0.000,6,0.000,0.067,2823,2143,3964
$STATE,613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,613,begin apogee
$GC,616,-0.14,0.0,107.5,19.0,131,701,0.60,0.00,82.35,0.601,6,0.153,0.000,3012,2144,3514
$STATE,701,end apogee,CONTROL_FINISHED_OK
$STATE,701,begin climb
$GC,702,0.68,146.6,112.3,0.0,146,820,0.75,2.38,111.30,0.585,4,0.092,0.065,3279,3566,2915
$GC,828,0.68,146.6,105.0,10.4,169,835,0.00,2.33,0.00,0.000,6,0.000,0.053,3289,2141,2915
$GC,964,0.68,146.6,87.2,12.6,200,969,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2141,2914
$GC,1098,0.68,146.6,70.5,11.9,231,1105,0.00,2.33,0.00,0.000,4,0.000,0.065,3289,3565,2914
$GC,1121,0.68,146.6,67.5,13.2,236,1127,0.00,2.25,0.00,0.000,6,0.000,0.053,3300,2150,2914
$GC,1257,0.68,146.6,50.8,11.9,267,1262,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2149,2913
$GC,1391,0.68,146.6,35.0,11.3,298,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2149,2913
$GC,1456,0.68,146.6,27.8,10.7,313,1462,0.00,2.28,0.00,0.000,4,0.000,0.067,3299,3558,2912
$GC,1483,0.68,146.6,24.5,12.3,319,1490,0.00,2.22,0.00,0.000,6,0.000,0.053,3310,2143,2913
$GC,1553,0.69,151.2,17.1,9.8,335,1566,0.00,2.33,4.65,0.428,4,0.000,0.067,3310,3570,2897
$GC,1586,0.69,151.2,13.5,11.1,342,1593,0.08,2.25,0.00,0.000,6,0.174,0.054,3296,2143,2897
$GC,1657,0.72,181.5,6.8,8.6,358,1686,0.00,2.22,23.60,0.548,4,0.000,0.062,3306,736,2773
$STATE,1697,end climb,SURFACE_DEPTH_REACHED
$STATE,1697,begin surface coast
$FINISH,3.2,1.020309
$STATE,1706,end surface coast,CONTROL_FINISHED_OK
$STATE,1706,begin surface
$SM_CCo,1721,150.85,0.518,5,0,1556,480.05
$SM_GC,1.41,0.00,0.00,150.85,0.000,0.000,0.518,140,2149,1556,-9.15,0.11,480.05
$RAFOS_CLK,74
$RAFOS,1,1247725141,6.333333,6.316945,50,47,44,0,0,0,1776,288,1515,0,0,0
$RAFOS,0,1247724542,6.166667,6.150556,50,50,46,0,0,0,569,591,1596,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,101098,050527
$TT8_MAMPS,0.052156
$HUMID,1905
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,3.8
$24V_AH,24.3,1.416
$10V_AH,10.7,0.476
$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,20.700,36.475,221.900,150.850,0.000,23.009,22.805,142.178,0.500,0.000,0.000,15.486,0.000,730.375,494.547,697.913,226.348,33.343,818.175,0.000,541.709,1440.000,5.409,0.000
$DEVICE_MAMPS,240.838,78.234,600.561,518.492,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,244.240,183.210,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12727,368
$CAP_FILE_SIZE,42857,0
$CFSIZE,260165632,258498560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$SOUNDSPEED,1482.6
$GPS,160709,063532,4806.614,-12222.573,10,1.9,10,18.3