version: 66.04
glider: 172
mission: 1
dive: 19
start: 7 16 109 10 50 53
data:
$ID,172
$MISSION,1
$DIVE,19
$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,-2716.5581
$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,34
$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
$GPS1,104514,4807.153,-12223.138,10,1.6,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-78.2
$GPS2,105015,4807.137,-12223.130,12,2.3,31,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.160
$KALMAN_X,1114.8,134.7,29.2,-1459.1,153.5
$KALMAN_Y,75.1,-233.6,-93.5,-214.9,-230.6
$MHEAD_RNG_PITCHd_Wd,307.9,1926,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.53,-97.8,0.0,0.0,0,78,0.00,0.00,-64.90,0.000,2,0.000,0.000,146,2130,3293
$GC,80,-0.53,-97.8,3.0,-3.0,11,111,10.60,2.38,-15.70,0.000,4,0.235,0.084,2886,3556,3915
$GC,127,-0.53,-97.8,8.7,-10.1,20,134,0.00,2.25,0.00,0.000,6,0.000,0.054,2886,2153,3916
$GC,198,-0.53,-97.8,17.5,-12.4,36,203,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2152,3915
$GC,267,-0.53,-97.8,26.4,-13.1,52,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,2152,3916
$GC,336,-0.53,-97.8,35.3,-13.0,68,343,0.00,2.28,0.00,0.000,4,0.000,0.064,2886,736,3916
$GC,376,-0.53,-97.8,40.7,-13.6,77,383,0.00,2.28,0.00,0.000,6,0.000,0.065,2885,2142,3916
$GC,512,-0.53,-97.8,58.2,-12.8,108,519,0.00,2.30,0.00,0.000,4,0.000,0.071,2883,3557,3917
$GC,535,-0.53,-97.8,61.2,-13.0,113,541,0.00,2.22,0.00,0.000,6,0.000,0.054,2883,2149,3917
$GC,670,-0.53,-97.8,77.8,-12.7,144,677,0.00,2.25,0.00,0.000,4,0.000,0.064,2883,735,3917
$GC,710,-0.53,-97.8,82.9,-12.9,153,717,0.00,2.25,0.00,0.000,6,0.000,0.064,2883,2139,3917
$GC,846,-0.53,-97.8,99.6,-12.0,184,852,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2138,3917
$STATE,893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,893,begin apogee
$GC,896,-0.13,0.0,105.4,12.0,195,973,0.43,0.00,73.62,0.604,6,0.135,0.000,3022,2265,3514
$STATE,973,end apogee,CONTROL_FINISHED_OK
$STATE,973,begin climb
$GC,974,0.53,97.8,108.3,0.0,208,1057,0.60,2.33,75.00,0.588,4,0.084,0.064,3241,3660,3114
$GC,1116,0.53,97.8,102.2,7.2,236,1123,0.00,2.30,0.00,0.000,6,0.000,0.051,3252,2247,3113
$GC,1252,0.53,97.8,92.0,7.3,267,1258,0.00,2.28,0.00,0.000,4,0.000,0.061,3262,836,3113
$GC,1326,0.53,98.1,86.6,7.0,284,1333,0.00,2.28,0.00,0.000,6,0.000,0.061,3262,2240,3113
$GC,1462,0.54,105.2,77.3,6.7,315,1474,0.00,0.00,7.07,0.505,6,0.000,0.000,3262,2240,3084
$GC,1603,0.54,105.2,66.8,7.5,347,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2240,3084
$GC,1738,0.55,110.8,57.0,6.8,378,1750,0.00,2.30,5.72,0.478,4,0.000,0.067,3262,3657,3062
$GC,1779,0.55,110.8,53.9,7.5,387,1786,0.00,2.22,0.00,0.000,6,0.000,0.052,3273,2249,3061
$GC,1915,0.55,110.8,43.7,7.3,418,1920,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2249,3061
$GC,2050,0.55,114.3,34.2,6.9,449,2056,0.00,0.00,4.28,0.424,6,0.000,0.000,3273,2249,3047
$GC,2120,0.56,119.1,29.4,6.8,465,2133,0.00,2.25,5.10,0.457,4,0.000,0.061,3284,834,3028
$GC,2166,0.56,119.1,26.1,7.3,475,2173,0.10,2.28,0.00,0.000,6,0.166,0.061,3252,2255,3027
$GC,2237,0.58,135.7,21.7,6.2,491,2255,0.00,0.00,14.18,0.551,6,0.000,0.000,3252,2255,2959
$GC,2319,0.58,137.5,16.3,7.0,509,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,2255,2959
$GC,2388,0.60,151.6,11.8,6.4,525,2407,0.00,2.25,12.90,0.540,4,0.000,0.067,3252,3662,2896
$GC,2453,0.60,151.6,7.0,7.9,539,2460,0.00,2.25,0.00,0.000,6,0.000,0.053,3262,2248,2895
$GC,2523,0.69,229.3,4.5,3.3,555,2554,0.00,0.00,28.85,0.555,2,0.000,0.000,3262,2248,2740
$STATE,2554,end climb,SURFACE_DEPTH_REACHED
$STATE,2554,begin surface coast
$FINISH,3.5,1.019534
$STATE,2743,end surface coast,CONTROL_FINISHED_OK
$STATE,2743,begin surface
$SM_CCo,2756,154.88,0.545,0,0,1557,480.05
$SM_GC,1.15,0.00,0.00,154.88,0.000,0.000,0.545,139,2130,1557,-9.16,-0.42,480.05
$RAFOS_CLK,0
$RAFOS,1,1247743143,11.333333,11.317500,49,47,45,0,0,0,2311,401,2401,0,0,0
$RAFOS,0,1247742543,11.166667,11.150833,45,45,44,0,0,0,138,2429,598,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4748.51,-12226.29,101098,101017
$TT8_MAMPS,0.050622
$HUMID,1931
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.6,18.0
$24V_AH,24.3,1.861
$10V_AH,10.7,0.653
$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,20.100,41.250,226.725,154.875,0.000,29.189,25.954,155.456,1.250,0.000,0.000,34.174,0.000,1312.800,507.721,1128.473,261.801,33.323,987.291,0.000,881.215,1440.000,11.366,0.000
$DEVICE_MAMPS,235.469,83.603,603.629,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.259,312.702,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22084,604
$CAP_FILE_SIZE,60221,0
$CFSIZE,260165632,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1483.6
$GPS,160709,114016,4807.285,-12223.238,7,2.9,26,18.3