version: 66.04
glider: 173
mission: 2
dive: 22
start: 9 18 109 10 48 31
data:
$ID,173
$MISSION,2
$DIVE,22
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,70
$T_MISSION,100
$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,-7
$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,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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5094.354
$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,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,0
$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
$GPS1,103802,4806.777,-12222.781,11,1.6,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.0
$GPS2,104737,4806.804,-12222.787,14,1.5,31,18.3
$SPEED_LIMITS,0.099,0.178
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.061,0.132
$KALMAN_X,-571.4,117.2,34.6,-622.5,-37.7
$KALMAN_Y,-2220.2,-141.0,21.8,3505.0,-122.6
$MHEAD_RNG_PITCHd_Wd,316.9,449,-16.7,-5.714
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.57,-61.2,0.0,0.0,0,79,0.00,0.00,-62.05,0.000,2,0.000,0.000,141,2049,3205
$GC,82,-0.60,-89.0,3.5,-4.0,12,111,10.25,2.35,-12.98,0.000,4,0.266,0.081,2629,3468,3779
$GC,374,-0.60,-89.0,29.8,-8.5,74,381,0.00,2.25,0.00,0.000,6,0.000,0.049,2629,2043,3781
$GC,450,-0.60,-89.0,36.6,-9.0,90,456,0.00,2.33,0.00,0.000,4,0.000,0.070,2629,3460,3781
$GC,636,-0.60,-89.0,54.0,-8.8,130,642,0.00,2.22,0.00,0.000,6,0.000,0.048,2629,2043,3781
$GC,781,-0.60,-89.0,66.8,-9.0,161,787,0.00,2.33,0.00,0.000,4,0.000,0.070,2629,3465,3782
$GC,843,-0.60,-89.0,72.4,-9.1,174,850,0.00,2.22,0.00,0.000,6,0.000,0.048,2629,2046,3782
$GC,989,-0.60,-89.0,84.8,-8.5,205,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2046,3782
$GC,1137,-0.60,-89.0,96.9,-8.2,236,1143,0.00,2.30,0.00,0.000,4,0.000,0.069,2629,3460,3781
$STATE,1236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1236,begin apogee
$GC,1242,-0.21,0.0,105.0,8.1,257,1313,0.38,0.00,65.00,0.670,6,0.143,0.000,2755,2237,3415
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1314,begin climb
$GC,1315,0.60,89.0,107.3,0.0,270,1391,0.75,2.40,65.38,0.653,4,0.103,0.055,3033,829,3051
$GC,1406,0.60,89.0,98.8,11.4,287,1412,0.00,2.35,0.00,0.000,6,0.000,0.052,3033,2251,3051
$GC,1552,0.60,89.0,74.5,16.8,318,1558,0.00,2.33,0.00,0.000,4,0.000,0.060,3033,3672,3051
$GC,1613,0.60,89.0,63.5,18.1,331,1620,0.10,2.28,0.00,0.000,6,0.236,0.047,3023,2247,3050
$GC,1758,0.60,89.0,41.6,14.5,362,1764,0.00,2.33,0.00,0.000,4,0.000,0.061,3023,3677,3050
$GC,1807,0.60,89.0,34.1,15.7,372,1813,0.00,2.28,0.00,0.000,6,0.000,0.048,3033,2245,3050
$GC,1882,0.60,89.0,23.3,13.9,388,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2243,3050
$GC,1956,0.60,89.0,13.8,12.8,404,1962,0.00,2.30,0.00,0.000,4,0.000,0.061,3033,3667,3050
$GC,1986,0.60,89.0,9.8,12.7,410,1992,0.10,2.25,0.00,0.000,6,0.235,0.049,3022,2245,3050
$GC,2063,0.68,151.8,6.5,1.8,426,2114,0.08,2.40,44.92,0.596,4,0.122,0.061,3054,3663,2796
$GC,2235,0.78,236.0,3.8,0.4,461,2295,0.00,2.28,51.15,0.560,6,0.000,0.046,3065,2232,2452
$STATE,2336,end climb,SURFACE_DEPTH_REACHED
$STATE,2336,begin surface coast
$FINISH,0.2,1.008186
$STATE,2429,end surface coast,CONTROL_FINISHED_OK
$STATE,2429,begin surface
$SM_CCo,2444,103.72,0.544,0,0,1578,450.13
$SM_GC,1.35,0.00,0.00,103.72,0.000,0.000,0.544,139,2045,1578,-8.41,-0.14,450.13
$IRIDIUM_FIX,4751.72,-12303.86,131298,101003
$TT8_MAMPS,0.026845
$HUMID,2151
$INTERNAL_PRESSURE,9.32073
$TCM_TEMP,19.60
$XPDR_PINGS,2
$24V_AH,24.7,1.831
$10V_AH,10.8,0.993
$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,19.500,41.400,226.450,103.725,0.000,52.630,75.868,291.074,2.000,0.000,0.000,31.509,753.560,727.493,409.418,766.439,486.623,33.332,839.227,0.000,740.777,0.000,10.287,0.000
$DEVICE_MAMPS,266.149,80.535,670.358,543.803,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,336.008,276.996,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15874,501
$CAP_FILE_SIZE,54107,0
$CFSIZE,260165632,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,113204,4807.009,-12222.920,12,2.5,31,18.3