version: 66.04
glider: 172
mission: 1
dive: 16
start: 7 16 109 8 24 47
data:
$ID,172
$MISSION,1
$DIVE,16
$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,-2649.844
$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,33
$R_STBD_OVSHOOT,15
$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
$GPS1,081920,4806.838,-12222.796,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-80.6
$GPS2,082408,4806.812,-12222.787,9,1.7,9,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.157
$KALMAN_X,644.1,35.8,112.7,-548.7,154.7
$KALMAN_Y,682.4,113.0,-218.5,-1645.6,-205.6
$MHEAD_RNG_PITCHd_Wd,306.2,2663,-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,-76.50,0.000,2,0.000,0.000,144,2132,3591
$GC,91,-0.53,-97.8,3.1,-2.8,13,115,10.62,0.00,-7.97,0.000,6,0.236,0.000,2893,2131,3913
$GC,179,-0.53,-97.8,15.5,-12.8,32,180,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,3913
$GC,244,-0.53,-97.8,24.4,-14.1,47,249,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,3913
$GC,313,-0.53,-97.8,34.1,-13.8,63,314,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,3914
$GC,378,-0.53,-97.8,42.9,-13.6,78,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2131,3914
$GC,508,-0.53,-97.8,60.6,-13.9,108,515,0.00,2.22,0.00,0.000,4,0.000,0.064,2894,745,3914
$GC,557,-0.53,-97.8,67.1,-13.4,119,563,0.00,2.28,0.00,0.000,6,0.000,0.066,2893,2151,3914
$GC,693,-0.53,-97.8,84.8,-13.2,150,698,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2152,3915
$GC,827,-0.53,-97.8,101.4,-11.9,181,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2152,3915
$STATE,856,end dive,TARGET_DEPTH_EXCEEDED
$STATE,856,begin apogee
$GC,859,-0.13,0.0,105.2,12.0,188,936,0.40,0.00,73.30,0.606,6,0.138,0.000,3022,2263,3514
$STATE,937,end apogee,CONTROL_FINISHED_OK
$STATE,937,begin climb
$GC,938,0.53,97.8,107.9,0.0,201,1020,0.60,2.33,74.57,0.590,4,0.087,0.066,3239,3654,3114
$GC,1063,0.53,97.8,102.4,7.5,225,1069,0.00,2.25,0.00,0.000,6,0.000,0.052,3250,2265,3114
$GC,1199,0.53,97.8,92.2,7.7,256,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2265,3113
$GC,1333,0.54,105.2,83.0,6.7,287,1345,0.00,0.00,7.18,0.505,6,0.000,0.000,3250,2265,3084
$GC,1475,0.56,116.0,73.3,6.5,319,1487,0.00,0.00,9.40,0.528,6,0.000,0.000,3250,2264,3041
$GC,1617,0.56,116.0,63.0,7.5,351,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,3250,2265,3041
$GC,1751,0.56,116.0,53.3,7.4,382,1758,0.00,2.28,0.00,0.000,4,0.000,0.062,3261,836,3040
$GC,1813,0.56,120.4,49.0,6.8,396,1826,0.00,2.25,5.10,0.459,6,0.000,0.062,3261,2238,3021
$GC,1955,0.56,120.4,38.3,7.2,428,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2238,3021
$GC,2025,0.57,125.0,33.5,6.8,444,2032,0.00,0.00,5.00,0.456,6,0.000,0.000,3261,2238,3004
$GC,2096,0.57,125.1,28.4,7.0,460,2102,0.00,2.30,0.00,0.000,4,0.000,0.068,3261,3665,3003
$GC,2123,0.57,125.1,26.3,7.6,466,2129,0.00,2.22,0.00,0.000,6,0.000,0.053,3272,2253,3003
$GC,2193,0.57,125.1,21.1,7.1,482,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,3272,2252,3003
$GC,2263,0.57,128.5,16.3,6.9,498,2270,0.00,0.00,4.20,0.416,6,0.000,0.000,3272,2252,2989
$GC,2334,0.59,141.5,11.6,6.4,514,2353,0.00,2.25,11.20,0.535,4,0.000,0.062,3282,843,2936
$GC,2364,0.60,155.0,9.6,6.4,520,2383,0.00,2.25,11.55,0.528,6,0.000,0.062,3283,2246,2880
$STATE,2442,end climb,SURFACE_DEPTH_REACHED
$STATE,2442,begin surface coast
$FINISH,2.7,1.019638
$STATE,2512,end surface coast,CONTROL_FINISHED_OK
$STATE,2512,begin surface
$SM_CCo,2525,163.07,0.544,0,0,1557,480.05
$SM_GC,1.14,0.00,0.00,163.07,0.000,0.000,0.544,142,2130,1557,-9.15,-0.40,480.05
$RAFOS_CLK,107
$RAFOS,2,1247732944,8.500000,8.484445,51,51,50,0,0,0,746,1305,1287,0,0,0
$RAFOS,0,1247731742,8.166667,8.150556,48,46,46,0,0,0,440,576,1568,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,101098,070745
$TT8_MAMPS,0.050622
$HUMID,1913
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.3,1.636
$10V_AH,10.7,0.564
$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,20.125,22.925,201.500,163.075,0.000,30.328,23.156,170.137,0.750,0.000,0.000,11.681,0.000,1212.742,480.299,1008.267,272.888,33.319,918.717,0.000,807.855,480.000,5.594,0.000
$DEVICE_MAMPS,236.236,81.302,605.930,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,371.452,280.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19027,553
$CAP_FILE_SIZE,55314,0
$CFSIZE,260165632,258387968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1482.5
$GPS,160709,091037,4806.924,-12222.922,38,1.3,38,18.3