version: 66.04
glider: 172
mission: 1
dive: 17
start: 7 16 109 9 18 58
data:
$ID,172
$MISSION,1
$DIVE,17
$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,-2665.72
$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,31
$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
$GPS1,091037,4806.924,-12222.922,38,1.3,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-80.0
$GPS2,091819,4806.883,-12222.926,13,1.4,13,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,0.166
$KALMAN_X,776.5,74.2,103.6,-882.0,114.9
$KALMAN_Y,407.1,16.7,-180.7,-1179.3,-215.3
$MHEAD_RNG_PITCHd_Wd,311.0,2459,-15.7,-7.042
$D_GRID,103
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.53,-97.8,0.0,0.0,0,88,0.00,0.00,-75.03,0.000,2,0.000,0.000,143,2132,3552
$GC,89,-0.53,-97.8,3.4,-3.5,13,114,10.60,2.38,-8.48,0.000,4,0.236,0.084,2884,3555,3912
$GC,152,-0.53,-97.8,12.8,-12.7,26,158,0.00,2.25,0.00,0.000,6,0.000,0.054,2884,2153,3913
$GC,222,-0.53,-97.8,22.3,-13.6,42,228,0.00,2.28,0.00,0.000,4,0.000,0.065,2884,739,3913
$GC,262,-0.53,-97.8,27.9,-14.4,51,268,0.00,2.28,0.00,0.000,6,0.000,0.065,2879,2140,3914
$GC,332,-0.53,-97.8,38.1,-14.0,67,338,0.00,2.30,0.00,0.000,4,0.000,0.071,2878,3551,3914
$GC,350,-0.53,-97.8,40.8,-14.7,71,357,0.00,2.22,0.00,0.000,6,0.000,0.054,2878,2147,3914
$GC,486,-0.53,-97.8,61.4,-15.0,102,492,0.00,2.25,0.00,0.000,4,0.000,0.064,2878,736,3913
$GC,539,-0.53,-97.8,69.0,-14.3,114,545,0.00,2.28,0.00,0.000,6,0.000,0.066,2878,2148,3914
$GC,675,-0.53,-97.8,88.8,-14.3,145,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2148,3914
$STATE,777,end dive,TARGET_DEPTH_EXCEEDED
$STATE,778,begin apogee
$GC,780,-0.13,0.0,103.2,13.8,169,859,0.45,0.00,73.20,0.602,6,0.142,0.000,3022,2260,3514
$STATE,860,end apogee,CONTROL_FINISHED_OK
$STATE,860,begin climb
$GC,861,0.53,97.8,106.6,0.0,183,941,0.60,2.40,74.53,0.587,4,0.086,0.066,3241,3662,3115
$GC,983,0.53,97.8,101.6,7.2,207,989,0.00,2.30,0.00,0.000,6,0.000,0.051,3251,2253,3113
$GC,1119,0.53,98.4,91.7,7.0,238,1125,0.00,2.28,0.00,0.000,4,0.000,0.061,3262,825,3114
$GC,1136,0.53,98.4,90.4,7.1,242,1143,0.00,2.30,0.00,0.000,6,0.000,0.061,3262,2239,3114
$GC,1273,0.54,101.6,80.4,6.9,273,1285,0.00,2.33,4.55,0.432,4,0.000,0.066,3262,3662,3098
$GC,1310,0.54,101.6,77.5,7.8,281,1317,0.00,2.25,0.00,0.000,6,0.000,0.051,3273,2248,3098
$GC,1446,0.54,102.0,67.7,7.0,312,1452,0.00,2.25,0.00,0.000,4,0.000,0.061,3284,835,3098
$GC,1469,0.54,105.6,66.1,6.9,317,1482,0.10,2.28,4.75,0.441,6,0.173,0.061,3252,2251,3082
$GC,1611,0.55,110.9,55.9,6.8,349,1624,0.00,2.25,5.43,0.466,4,0.000,0.060,3262,846,3062
$GC,1657,0.55,113.9,52.8,6.9,359,1665,0.00,2.25,4.28,0.419,6,0.000,0.061,3262,2249,3049
$GC,1794,0.55,115.7,42.7,7.0,390,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,2249,3048
$GC,1924,0.56,122.0,33.8,6.7,420,1937,0.00,2.22,7.50,0.512,4,0.000,0.061,3273,835,3015
$GC,1954,0.58,132.9,31.8,6.5,426,1967,0.00,2.28,9.70,0.527,6,0.000,0.062,3273,2254,2972
$GC,2031,0.58,132.9,25.7,8.3,443,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2254,2971
$GC,2096,0.58,132.9,20.3,8.2,458,2103,0.00,2.28,0.00,0.000,4,0.000,0.067,3274,3664,2971
$GC,2119,0.58,132.9,18.4,8.7,463,2125,0.00,2.22,0.00,0.000,6,0.000,0.052,3284,2255,2970
$GC,2189,0.58,132.9,12.6,7.9,479,2196,0.00,2.25,0.00,0.000,4,0.000,0.061,3295,837,2971
$GC,2234,0.58,132.9,9.0,8.1,489,2240,0.10,2.25,0.00,0.000,6,0.169,0.061,3262,2247,2970
$GC,2304,0.68,215.2,5.8,3.0,505,2371,0.00,2.28,61.35,0.561,4,0.000,0.062,3273,837,2635
$STATE,2374,end climb,SURFACE_DEPTH_REACHED
$STATE,2374,begin surface coast
$FINISH,2.3,1.019480
$STATE,2413,end surface coast,CONTROL_FINISHED_OK
$STATE,2413,begin surface
$SM_CCo,2428,135.82,0.538,0,0,1556,480.05
$SM_GC,1.49,0.00,0.00,135.82,0.000,0.000,0.538,143,2153,1556,-9.15,0.25,480.05
$RAFOS_CLK,106
$RAFOS,2,1247736543,9.500000,9.484167,52,44,44,0,0,0,939,803,2352,0,0,0
$RAFOS,1,1247735955,9.333333,9.320833,47,46,45,0,0,0,1873,203,1114,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12221.84,101098,090934
$TT8_MAMPS,0.050622
$HUMID,1919
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.80
$XPDR_PINGS,0
$24V_AH,24.3,1.714
$10V_AH,10.7,0.595
$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,20.300,59.175,245.275,135.825,0.000,51.612,104.386,176.366,1.000,0.000,0.000,15.247,0.000,1157.501,507.115,979.239,378.536,33.327,945.613,0.000,769.109,960.000,8.408,0.000
$DEVICE_MAMPS,236.236,84.370,602.095,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.424,263.118,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18956,526
$CAP_FILE_SIZE,59643,0
$CFSIZE,260165632,258355200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1482.8
$GPS,160709,100214,4807.011,-12223.024,9,1.4,9,18.3