version: 66.04
glider: 173
mission: 2
dive: 23
start: 9 18 109 11 38 10
data:
$ID,173
$MISSION,2
$DIVE,23
$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,-5112.7681
$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,24
$R_STBD_OVSHOOT,19
$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
$GPS1,113204,4807.009,-12222.920,12,2.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.5
$GPS2,113714,4807.025,-12222.926,17,1.0,17,18.3
$SPEED_LIMITS,0.099,0.178
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.147
$KALMAN_X,-406.9,88.4,-44.3,-850.9,70.3
$KALMAN_Y,-2292.0,-157.7,36.3,3988.9,-128.9
$MHEAD_RNG_PITCHd_Wd,307.1,2241,-12.4,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.48,-97.8,0.0,0.0,0,74,0.00,0.00,-57.50,0.000,2,0.000,0.000,139,2045,3058
$GC,76,-0.48,-97.8,3.1,-3.7,11,112,10.50,2.40,-18.67,0.000,4,0.271,0.078,2661,3464,3816
$GC,375,-0.48,-97.8,25.1,-7.3,74,381,0.00,2.22,0.00,0.000,6,0.000,0.047,2662,2052,3819
$GC,451,-0.48,-97.8,30.4,-6.8,90,457,0.00,2.30,0.00,0.000,4,0.000,0.067,2661,3461,3819
$GC,607,-0.48,-97.8,41.8,-7.3,123,613,0.00,2.22,0.00,0.000,6,0.000,0.047,2661,2042,3819
$GC,752,-0.48,-97.8,52.7,-7.7,154,758,0.00,2.30,0.00,0.000,4,0.000,0.065,2658,3460,3820
$GC,848,-0.48,-97.8,60.0,-7.6,174,854,0.00,2.22,0.00,0.000,6,0.000,0.046,2658,2035,3820
$GC,993,-0.48,-97.8,70.3,-6.9,205,999,0.00,2.33,0.00,0.000,4,0.000,0.066,2658,3471,3820
$GC,1050,-0.48,-97.8,74.5,-7.1,217,1056,0.00,2.22,0.00,0.000,6,0.000,0.046,2658,2041,3820
$GC,1195,-0.48,-97.8,84.4,-6.7,248,1202,0.00,2.30,0.00,0.000,4,0.000,0.066,2658,3462,3820
$GC,1303,-0.48,-97.8,91.9,-6.8,271,1309,0.00,2.20,0.00,0.000,6,0.000,0.047,2658,2048,3820
$GC,1450,-0.48,-97.8,101.8,-6.8,302,1455,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2048,3820
$STATE,1497,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1497,begin apogee
$GC,1501,-0.21,0.0,105.1,6.7,312,1577,0.30,0.00,71.32,0.667,6,0.142,0.000,2759,2261,3415
$STATE,1578,end apogee,CONTROL_FINISHED_OK
$STATE,1578,begin climb
$GC,1580,0.48,97.8,106.9,0.0,326,1661,0.62,2.42,71.65,0.655,4,0.101,0.058,2993,842,3016
$GC,1689,0.48,97.8,97.3,11.4,347,1696,0.00,2.33,0.00,0.000,6,0.000,0.054,2993,2248,3016
$GC,1835,0.48,97.8,77.0,14.5,378,1841,0.00,2.33,0.00,0.000,4,0.000,0.061,2993,3664,3015
$GC,1897,0.48,97.8,67.3,15.8,391,1904,0.08,2.28,0.00,0.000,6,0.214,0.049,2987,2245,3015
$GC,2043,0.48,97.8,48.0,12.7,422,2049,0.00,2.33,0.00,0.000,4,0.000,0.061,2987,3675,3015
$GC,2063,0.48,97.8,45.3,12.8,426,2069,0.00,2.28,0.00,0.000,6,0.000,0.048,2996,2244,3015
$GC,2208,0.48,97.8,26.7,12.2,457,2214,0.00,2.30,0.00,0.000,4,0.000,0.061,2997,3663,3015
$GC,2224,0.48,97.8,24.6,12.1,460,2230,0.10,2.25,0.00,0.000,6,0.206,0.048,2984,2243,3015
$GC,2300,0.48,97.8,15.9,11.0,476,2306,0.00,2.30,0.00,0.000,4,0.000,0.061,2984,3666,3015
$GC,2325,0.48,97.8,12.8,11.3,481,2331,0.00,2.25,0.00,0.000,6,0.000,0.048,2994,2242,3015
$GC,2401,0.48,97.8,5.6,8.7,497,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2240,3014
$GC,2476,0.69,265.4,5.9,-1.0,513,2592,0.17,2.40,107.90,0.604,4,0.085,0.061,3072,3669,2331
$STATE,2601,end climb,SURFACE_DEPTH_REACHED
$STATE,2601,begin surface coast
$FINISH,0.1,1.008097
$STATE,2662,end surface coast,CONTROL_FINISHED_OK
$STATE,2663,begin surface
$SM_CCo,2680,91.28,0.558,0,0,1580,450.13
$SM_GC,1.05,0.00,0.00,91.28,0.000,0.000,0.558,141,2050,1580,-8.40,0.00,450.13
$IRIDIUM_FIX,4748.51,-12221.84,131298,101012
$TT8_MAMPS,0.026845
$HUMID,2134
$INTERNAL_PRESSURE,9.29143
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,24.7,1.904
$10V_AH,10.8,1.025
$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,19.700,51.200,250.875,91.275,0.000,22.617,24.354,181.300,1.750,0.000,0.000,17.787,830.505,727.229,423.818,825.233,293.914,33.315,893.644,0.000,809.519,0.000,10.280,0.000
$DEVICE_MAMPS,270.751,78.234,666.523,558.376,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,368.499,293.544,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19000,549
$CAP_FILE_SIZE,54973,0
$CFSIZE,260165632,257679360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180909,122528,4807.212,-12223.117,14,3.0,33,18.3