version: 66.04
glider: 172
mission: 1
dive: 18
start: 7 16 109 10 8 16
data:
$ID,172
$MISSION,1
$DIVE,18
$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,-2681.7549
$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,23
$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
$GPS1,100214,4807.011,-12223.024,9,1.4,9,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-78.5
$GPS2,100737,4806.995,-12223.018,8,1.4,13,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.165
$KALMAN_X,959.9,103.0,62.5,-1167.6,133.2
$KALMAN_Y,200.6,-102.2,-130.1,-697.3,-238.6
$MHEAD_RNG_PITCHd_Wd,310.5,2222,-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,-97.8,0.0,0.0,0,89,0.00,0.00,-76.07,0.000,2,0.000,0.000,144,2154,3582
$GC,91,-0.53,-97.8,3.6,-3.6,13,114,10.68,2.28,-7.15,0.000,4,0.238,0.081,2883,3558,3914
$GC,170,-0.53,-97.8,18.2,-14.2,30,176,0.00,2.25,0.00,0.000,6,0.000,0.054,2883,2150,3914
$GC,240,-0.53,-97.8,28.1,-14.5,46,246,0.00,2.28,0.00,0.000,4,0.000,0.065,2883,736,3914
$GC,258,-0.53,-97.8,30.9,-14.6,50,264,0.00,2.28,0.00,0.000,6,0.000,0.065,2879,2138,3915
$GC,328,-0.53,-97.8,40.8,-13.6,66,335,0.00,2.33,0.00,0.000,4,0.000,0.071,2878,3560,3915
$GC,355,-0.53,-97.8,44.1,-11.9,72,361,0.00,2.25,0.00,0.000,6,0.000,0.054,2878,2144,3915
$GC,491,-0.53,-97.8,61.8,-12.9,103,496,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2143,3915
$GC,625,-0.53,-97.8,79.0,-12.7,134,632,0.00,2.25,0.00,0.000,4,0.000,0.064,2878,733,3915
$GC,704,-0.53,-97.8,89.4,-12.7,152,710,0.00,2.25,0.00,0.000,6,0.000,0.064,2878,2137,3915
$STATE,817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,817,begin apogee
$GC,820,-0.13,0.0,103.5,12.2,178,899,0.43,0.00,73.62,0.605,6,0.134,0.000,3019,2262,3514
$STATE,899,end apogee,CONTROL_FINISHED_OK
$STATE,899,begin climb
$GC,900,0.53,97.8,106.8,0.0,192,985,0.60,2.40,74.90,0.589,4,0.089,0.065,3235,3665,3114
$GC,988,0.63,176.4,104.4,3.2,208,1056,0.00,2.33,60.97,0.579,6,0.000,0.051,3246,2255,2793
$GC,1186,0.63,176.4,85.2,10.7,250,1192,0.00,2.30,0.00,0.000,4,0.000,0.062,3256,841,2792
$GC,1226,0.63,176.4,80.9,10.5,259,1232,0.00,2.30,0.00,0.000,6,0.000,0.061,3256,2244,2792
$GC,1362,0.63,176.4,66.2,10.9,290,1367,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,2244,2791
$GC,1496,0.63,176.4,51.1,10.8,321,1502,0.00,2.25,0.00,0.000,4,0.000,0.061,3266,840,2791
$GC,1510,0.63,176.4,49.6,10.6,324,1516,0.00,2.28,0.00,0.000,6,0.000,0.061,3266,2251,2790
$GC,1646,0.63,176.4,34.4,11.5,355,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2251,2790
$GC,1715,0.63,176.4,26.7,11.2,371,1721,0.00,2.25,0.00,0.000,4,0.000,0.062,3277,840,2791
$GC,1733,0.63,176.4,24.7,10.8,375,1740,0.00,2.25,0.00,0.000,6,0.000,0.061,3277,2246,2791
$GC,1804,0.63,176.4,17.0,10.9,391,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,3276,2245,2790
$GC,1868,0.63,176.4,10.0,10.6,406,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2246,2790
$GC,1934,0.63,176.4,4.4,7.1,421,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2246,2790
$STATE,1941,end climb,SURFACE_DEPTH_REACHED
$STATE,1941,begin surface coast
$FINISH,2.9,1.018620
$STATE,2011,end surface coast,CONTROL_FINISHED_OK
$STATE,2011,begin surface
$SM_CCo,2023,154.25,0.539,1,0,1556,480.05
$SM_GC,1.53,0.00,0.00,154.25,0.000,0.000,0.539,146,2129,1556,-9.14,-0.45,480.05
$RAFOS_CLK,0
$RAFOS,2,1247740144,10.500000,10.484445,47,46,46,0,0,0,688,355,386,0,0,0
$RAFOS,1,1247739543,10.333333,10.317500,52,51,44,0,0,0,675,1882,39,0,0,0
$RAFOS,0,1247738942,10.166667,10.150556,52,48,48,0,0,0,1606,319,1205,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12224.57,101098,090917
$TT8_MAMPS,0.050622
$HUMID,1918
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.4,1.788
$10V_AH,10.7,0.621
$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,20.050,36.825,209.500,154.250,0.000,25.127,33.514,194.985,1.250,0.000,0.000,15.407,0.000,903.469,480.104,824.797,295.693,33.330,851.365,0.000,643.817,1440.000,11.276,0.000
$DEVICE_MAMPS,237.770,81.302,605.163,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,292.811,218.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15871,439
$CAP_FILE_SIZE,48837,0
$CFSIZE,260165632,258334720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1482.9
$GPS,160709,104514,4807.153,-12223.138,10,1.6,10,18.3