version: 66.04
glider: 172
mission: 1
dive: 22
start: 7 16 109 13 41 52
data:
$ID,172
$MISSION,1
$DIVE,22
$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,450
$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,-2787.0432
$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,2045
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,21
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,133606,4807.390,-12223.371,34,1.5,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-81.1
$GPS2,134114,4807.348,-12223.320,15,1.9,15,18.3
$SPEED_LIMITS,0.122,0.193
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.149
$KALMAN_X,1994.9,167.3,-83.6,-2494.9,233.5
$KALMAN_Y,-860.4,-489.5,129.3,1146.5,-260.0
$MHEAD_RNG_PITCHd_Wd,302.6,1472,-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,-97.8,0.0,0.0,0,73,0.00,0.00,-59.17,0.000,2,0.000,0.000,137,2134,3182
$GC,74,-0.53,-97.8,3.8,-3.9,10,105,10.70,2.45,-16.42,0.000,4,0.237,0.075,2894,637,3915
$GC,300,-0.53,-97.8,33.5,-13.1,60,306,0.00,2.25,0.00,0.000,6,0.000,0.064,2894,2049,3916
$GC,370,-0.53,-97.8,42.6,-13.0,76,377,0.00,2.28,0.00,0.000,4,0.000,0.069,2893,3449,3917
$GC,389,-0.53,-97.8,45.1,-13.1,80,395,0.00,2.22,0.00,0.000,6,0.000,0.054,2893,2050,3917
$GC,524,-0.53,-97.8,62.8,-13.1,111,531,0.00,2.25,0.00,0.000,4,0.000,0.064,2893,637,3917
$GC,547,-0.53,-97.8,65.9,-13.4,116,553,0.00,2.25,0.00,0.000,6,0.000,0.063,2893,2040,3917
$GC,683,-0.53,-97.8,81.5,-11.5,147,689,0.00,2.28,0.00,0.000,4,0.000,0.070,2893,3451,3917
$GC,732,-0.53,-97.8,87.0,-11.5,158,738,0.00,2.22,0.00,0.000,6,0.000,0.054,2893,2038,3917
$GC,867,-0.53,-97.8,102.1,-11.1,189,874,0.00,2.22,0.00,0.000,4,0.000,0.064,2893,632,3917
$GC,885,-0.53,-97.8,104.2,-11.0,193,892,0.00,2.25,0.00,0.000,6,0.000,0.064,2893,2045,3917
$STATE,894,end dive,TARGET_DEPTH_EXCEEDED
$STATE,894,begin apogee
$GC,897,-0.13,0.0,105.2,11.1,195,974,0.40,0.00,73.82,0.603,6,0.132,0.000,3024,2260,3514
$STATE,974,end apogee,CONTROL_FINISHED_OK
$STATE,974,begin climb
$GC,975,0.53,97.8,108.0,0.0,208,1057,0.57,2.35,74.72,0.588,4,0.084,0.059,3247,832,3114
$GC,1077,0.61,158.7,104.9,4.1,227,1131,0.00,2.35,47.05,0.580,6,0.000,0.059,3248,2246,2866
$GC,1260,0.61,158.7,87.4,11.1,266,1267,0.00,2.33,0.00,0.000,4,0.000,0.065,3248,3658,2865
$GC,1283,0.61,158.7,84.6,11.4,271,1289,0.00,2.28,0.00,0.000,6,0.000,0.052,3258,2248,2865
$GC,1419,0.61,158.7,69.5,10.8,302,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2247,2864
$GC,1553,0.61,158.7,55.0,10.3,333,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,3258,2247,2864
$GC,1688,0.61,158.7,41.4,10.2,364,1694,0.00,2.22,0.00,0.000,4,0.000,0.061,3269,846,2864
$GC,1714,0.61,158.7,38.7,10.1,370,1721,0.00,2.25,0.00,0.000,6,0.000,0.061,3269,2249,2863
$GC,1785,0.61,158.7,31.2,10.8,386,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2248,2863
$GC,1850,0.61,158.7,24.5,10.7,401,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2249,2863
$GC,1919,0.61,158.7,17.7,9.7,417,1925,0.00,2.25,0.00,0.000,4,0.000,0.061,3280,835,2863
$GC,1963,0.61,158.7,13.9,8.7,427,1969,0.00,2.25,0.00,0.000,6,0.000,0.061,3279,2249,2863
$GC,2033,0.61,158.7,8.2,7.7,443,2040,0.00,2.25,0.00,0.000,4,0.000,0.067,3279,3656,2862
$GC,2286,0.79,303.6,5.7,-0.0,501,2362,0.05,2.20,71.22,0.564,2,0.077,0.052,3333,2248,2470
$STATE,2363,end climb,SURFACE_DEPTH_REACHED
$STATE,2363,begin surface coast
$FINISH,2.7,1.017902
$STATE,2404,end surface coast,CONTROL_FINISHED_OK
$STATE,2404,begin surface
$SM_CCo,2417,106.18,0.539,0,0,1678,450.13
$SM_GC,1.91,0.00,0.00,106.18,0.000,0.000,0.539,148,2041,1678,-9.13,-0.11,450.13
$RAFOS_CLK,99
$RAFOS,0,1247753343,14.166667,14.150833,48,43,42,0,0,0,1913,965,1933,0,0,0
$RAFOS,2,1247750942,13.500000,13.483889,51,48,46,0,0,0,1289,1413,777,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4751.72,-12220.85,101098,121232
$TT8_MAMPS,0.051389
$HUMID,1932
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,10.0
$24V_AH,24.3,2.096
$10V_AH,10.7,0.749
$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,20.375,46.025,266.825,106.175,0.000,24.450,24.247,182.594,1.000,0.000,0.000,17.337,0.000,1103.325,473.766,967.364,281.085,33.320,904.945,0.000,766.178,960.000,10.108,0.000
$DEVICE_MAMPS,237.003,75.166,602.862,539.201,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,81.920,12.000,0.000,8.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.774,274.433,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19028,524
$CAP_FILE_SIZE,53755,0
$CFSIZE,260165632,258195456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1484.4
$GPS,160709,142555,4807.456,-12223.504,98,1.7,98,18.3