version: 66.04
glider: 173
mission: 2
dive: 4
start: 9 17 109 23 21 2
data:
$ID,173
$MISSION,2
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,150
$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,4808
$TGT_DEFAULT_LON,-12223
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4665.6802
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2829
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,34
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3416
$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,-71.154404
$PRESSURE_SLOPE,0.0001159958
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.5
$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,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043109059
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,231632,4805.804,-12221.780,13,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.4
$GPS2,232008,4805.799,-12221.775,10,1.8,10,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.218
$KALMAN_X,9.7,16.8,17.4,167.8,3.4
$KALMAN_Y,-9.2,-15.1,-14.6,-656.8,-4.3
$MHEAD_RNG_PITCHd_Wd,128.8,1763,-17.5,-10.000
$D_GRID,110
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.69,-146.6,0.0,0.0,0,84,0.00,0.00,-68.07,0.000,2,0.000,0.000,135,2051,3402
$GC,86,-0.69,-146.6,3.3,-6.7,13,115,10.00,2.28,-12.23,0.000,4,0.266,0.078,2593,3456,3962
$GC,120,-0.69,-146.6,9.2,-15.8,19,126,0.00,2.20,0.00,0.000,6,0.000,0.047,2593,2046,3963
$GC,196,-0.69,-146.6,16.8,-10.5,35,202,0.00,2.28,0.00,0.000,4,0.000,0.067,2593,3451,3963
$GC,211,-0.69,-146.6,18.4,-10.1,38,217,0.00,2.20,0.00,0.000,6,0.000,0.047,2593,2037,3963
$GC,287,-0.69,-146.6,26.4,-10.5,54,292,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2036,3964
$GC,362,-0.69,-146.6,33.9,-10.1,70,368,0.00,2.30,0.00,0.000,4,0.000,0.067,2593,3458,3964
$GC,391,-0.69,-146.6,37.2,-11.0,76,397,0.00,2.20,0.00,0.000,6,0.000,0.046,2593,2040,3964
$GC,467,-0.69,-146.6,45.7,-11.5,92,473,0.00,2.28,0.00,0.000,4,0.000,0.067,2593,3450,3964
$GC,519,-0.69,-146.6,52.0,-12.2,103,525,0.00,2.17,0.00,0.000,6,0.000,0.046,2593,2044,3965
$GC,664,-0.69,-146.6,69.3,-11.8,134,670,0.00,2.28,0.00,0.000,4,0.000,0.067,2593,3454,3965
$GC,708,-0.69,-146.6,74.7,-12.7,143,714,0.00,2.17,0.00,0.000,6,0.000,0.046,2593,2050,3965
$GC,852,-0.69,-146.6,92.4,-12.4,174,858,0.00,2.28,0.00,0.000,4,0.000,0.068,2592,3462,3965
$GC,895,-0.69,-146.6,97.9,-12.4,183,901,0.00,2.20,0.00,0.000,6,0.000,0.046,2593,2038,3965
$STATE,998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,998,begin apogee
$GC,1003,-0.24,0.0,110.3,11.7,205,1104,0.47,0.00,95.55,0.652,6,0.151,0.000,2750,2204,3416
$STATE,1105,end apogee,CONTROL_FINISHED_OK
$STATE,1105,begin climb
$GC,1106,0.69,146.6,113.6,0.0,224,1220,0.85,2.40,105.47,0.635,4,0.098,0.054,3064,790,2817
$GC,1252,0.69,146.6,93.4,19.5,252,1258,0.00,2.30,0.00,0.000,6,0.000,0.053,3064,2199,2816
$GC,1397,0.69,146.6,62.6,21.2,283,1403,0.00,2.30,0.00,0.000,4,0.000,0.060,3064,3623,2814
$GC,1459,0.69,146.6,47.7,24.6,296,1465,0.10,2.25,0.00,0.000,6,0.227,0.046,3053,2192,2815
$GC,1605,0.69,146.6,18.8,19.7,327,1611,0.00,2.30,0.00,0.000,4,0.000,0.060,3053,3619,2814
$GC,1741,1.04,427.8,4.7,-2.9,356,1855,0.28,2.22,107.00,0.573,2,0.079,0.044,3170,2181,2089
$STATE,1856,end climb,SURFACE_DEPTH_REACHED
$STATE,1856,begin surface coast
$FINISH,0.2,0.998585
$STATE,1897,end surface coast,CONTROL_FINISHED_OK
$STATE,1897,begin surface
$SM_CCo,1912,56.78,0.549,0,0,1581,450.13
$SM_GC,1.03,0.00,0.00,56.78,0.000,0.000,0.549,140,2048,1581,-8.41,-0.06,450.13
$IRIDIUM_FIX,4732.49,-12248.93,121298,232354
$TT8_MAMPS,0.026078
$HUMID,2203
$INTERNAL_PRESSURE,9.38909
$TCM_TEMP,19.80
$XPDR_PINGS,1
$24V_AH,24.8,0.521
$10V_AH,10.8,0.578
$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,19.775,41.050,308.025,56.775,0.000,0.000,0.000,0.000,2.000,0.000,0.000,10.942,548.169,457.218,414.701,583.847,31.996,32.332,784.755,0.000,574.256,0.000,11.838,0.000
$DEVICE_MAMPS,266.149,78.234,651.950,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.459,200.726,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12749,386
$CAP_FILE_SIZE,54886,0
$CFSIZE,260165632,258195456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,235452,4805.619,-12221.663,9,3.1,28,18.3