version: 66.04
glider: 172
mission: 1
dive: 14
start: 7 16 109 6 45 37
data:
$ID,172
$MISSION,1
$DIVE,14
$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,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,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,-2623.3662
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3948
$C_PITCH,3070
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,38
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,20
$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,5
$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,4
$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
$GPS1,063532,4806.614,-12222.573,10,1.9,10,18.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-79.7
$GPS2,064458,4806.570,-12222.521,13,2.1,32,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.156
$KALMAN_X,437.0,-53.3,68.9,118.6,200.8
$KALMAN_Y,845.5,342.8,-124.7,-2580.4,-270.1
$MHEAD_RNG_PITCHd_Wd,305.9,3218,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.53,-97.8,0.0,0.0,0,90,0.00,0.00,-77.07,0.000,2,0.000,0.000,140,2150,3668
$GC,91,-0.53,-97.8,3.4,-3.6,13,110,10.57,0.00,-6.00,0.000,6,0.237,0.000,2888,2150,3914
$GC,174,-0.53,-97.8,15.2,-12.6,31,181,0.00,2.28,0.00,0.000,4,0.000,0.064,2889,741,3915
$GC,210,-0.53,-97.8,19.9,-13.1,39,217,0.00,2.28,0.00,0.000,6,0.000,0.066,2888,2142,3915
$GC,280,-0.53,-97.8,29.3,-13.6,55,281,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2141,3915
$GC,346,-0.53,-97.8,38.2,-13.5,70,346,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2142,3915
$GC,411,-0.53,-97.8,47.5,-14.2,85,417,0.00,2.28,0.00,0.000,4,0.000,0.070,2878,3546,3915
$GC,429,-0.53,-97.8,50.0,-13.8,89,436,0.00,2.20,0.00,0.000,6,0.000,0.054,2878,2153,3915
$GC,565,-0.53,-97.8,69.7,-14.6,120,571,0.00,2.25,0.00,0.000,4,0.000,0.065,2878,739,3915
$GC,618,-0.53,-97.8,77.4,-14.3,132,624,0.00,2.25,0.00,0.000,6,0.000,0.066,2878,2141,3915
$GC,753,-0.53,-97.8,96.1,-13.9,163,759,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2142,3915
$STATE,822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,822,begin apogee
$GC,825,-0.13,0.0,105.5,13.2,179,902,0.43,0.00,73.28,0.604,6,0.141,0.000,3016,2267,3514
$STATE,903,end apogee,CONTROL_FINISHED_OK
$STATE,903,begin climb
$GC,904,0.53,97.8,108.8,0.0,192,981,0.60,0.00,74.20,0.588,6,0.090,0.000,3234,2267,3115
$GC,1110,0.53,97.8,98.3,7.1,235,1117,0.00,2.28,0.00,0.000,4,0.000,0.066,3235,3652,3113
$GC,1146,0.53,97.8,95.6,7.6,243,1152,0.00,2.25,0.00,0.000,6,0.000,0.052,3245,2252,3114
$GC,1282,0.54,100.6,86.1,6.9,274,1288,0.00,0.00,3.83,0.389,6,0.000,0.000,3245,2252,3103
$GC,1418,0.54,107.1,76.9,6.7,305,1430,0.00,2.22,6.57,0.495,4,0.000,0.061,3256,839,3076
$GC,1446,0.55,114.9,75.0,6.7,311,1459,0.00,2.28,7.25,0.504,6,0.000,0.061,3256,2246,3044
$GC,1588,0.55,114.9,64.4,7.5,343,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2246,3044
$GC,1718,0.55,114.9,54.9,7.2,373,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,2246,3043
$GC,1853,0.55,114.9,45.4,7.2,404,1859,0.00,2.22,0.00,0.000,4,0.000,0.062,3266,843,3044
$GC,1888,0.55,114.9,42.9,7.2,412,1895,0.00,2.25,0.00,0.000,6,0.000,0.061,3266,2250,3044
$GC,2025,0.56,122.3,33.8,6.7,443,2037,0.00,2.25,6.85,0.501,4,0.000,0.067,3266,3668,3014
$GC,2079,0.56,122.3,29.6,7.9,455,2085,0.00,2.22,0.00,0.000,6,0.000,0.053,3278,2252,3014
$GC,2149,0.56,122.3,24.4,7.2,471,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2251,3013
$GC,2215,0.56,122.3,19.7,7.2,486,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2251,3013
$GC,2284,0.58,136.8,15.1,6.3,502,2302,0.00,0.00,12.23,0.545,6,0.000,0.000,3277,2250,2954
$GC,2365,0.58,136.8,9.7,7.1,520,2372,0.00,2.25,0.00,0.000,4,0.000,0.062,3288,833,2953
$GC,2384,0.59,141.6,8.3,6.8,524,2396,0.00,2.28,5.15,0.451,6,0.000,0.063,3288,2251,2935
$STATE,2455,end climb,SURFACE_DEPTH_REACHED
$STATE,2455,begin surface coast
$FINISH,2.9,1.020094
$STATE,2533,end surface coast,CONTROL_FINISHED_OK
$STATE,2534,begin surface
$SM_CCo,2546,172.77,0.545,0,0,1556,480.05
$SM_GC,1.34,0.00,0.00,172.77,0.000,0.000,0.545,145,2137,1556,-9.14,-0.23,480.05
$RAFOS_CLK,116
$RAFOS,1,1247728744,7.333333,7.317778,53,48,47,0,0,0,298,1218,2167,0,0,0
$RAFOS,0,1247728141,7.166667,7.150278,48,47,46,0,0,0,811,2267,2501,0,0,0
$RAFOS,2,1247725743,6.500000,6.484167,51,49,49,0,0,0,133,275,2395,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12228.02,101098,060621
$TT8_MAMPS,0.050622
$HUMID,1908
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.4,1.491
$10V_AH,10.7,0.508
$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,20.150,36.350,189.350,172.775,0.000,94.249,104.666,160.755,1.000,0.000,0.000,35.529,0.000,1344.276,485.012,1047.865,407.973,33.325,926.640,0.000,815.088,960.000,8.433,0.000
$DEVICE_MAMPS,237.003,77.467,603.629,544.570,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,375.024,282.951,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18996,558
$CAP_FILE_SIZE,58570,0
$CFSIZE,260165632,258449408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1482.5
$GPS,160709,073152,4806.721,-12222.658,13,7.2,32,18.3