version: 66.04
glider: 173
mission: 2
dive: 24
start: 9 18 109 12 32 13
data:
$ID,173
$MISSION,2
$DIVE,24
$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,-5144.7681
$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,19
$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
$GPS1,122528,4807.212,-12223.117,14,3.0,33,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.7
$GPS2,123119,4807.235,-12223.133,14,1.6,31,18.3
$SPEED_LIMITS,0.099,0.178
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.109,0.142
$KALMAN_X,-255.9,87.2,-75.0,-1225.6,126.9
$KALMAN_Y,-2493.0,-136.2,63.9,4529.9,-159.3
$MHEAD_RNG_PITCHd_Wd,304.1,1777,-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,15,-0.48,-97.8,0.0,0.0,0,75,0.00,0.00,-58.05,0.000,2,0.000,0.000,141,2051,3079
$GC,77,-0.48,-97.8,3.2,-3.8,11,112,10.48,2.35,-18.17,0.000,4,0.268,0.081,2663,3466,3816
$GC,376,-0.48,-97.8,23.3,-7.0,74,382,0.00,2.25,0.00,0.000,6,0.000,0.046,2663,2037,3818
$GC,452,-0.48,-97.8,29.0,-7.4,90,458,0.00,2.35,0.00,0.000,4,0.000,0.067,2662,3473,3818
$GC,608,-0.48,-97.8,40.7,-7.1,123,614,0.00,2.25,0.00,0.000,6,0.000,0.047,2662,2037,3819
$GC,753,-0.48,-97.8,50.6,-6.7,154,759,0.00,2.33,0.00,0.000,4,0.000,0.067,2661,3466,3819
$GC,829,-0.48,-97.8,56.0,-7.2,170,835,0.00,2.22,0.00,0.000,6,0.000,0.047,2661,2043,3820
$GC,974,-0.48,-97.8,66.6,-7.2,201,980,0.00,2.33,0.00,0.000,4,0.000,0.067,2661,3473,3820
$GC,1026,-0.48,-97.8,70.3,-7.2,212,1033,0.00,2.22,0.00,0.000,6,0.000,0.048,2661,2048,3820
$GC,1173,-0.48,-97.8,80.2,-6.7,243,1179,0.00,2.30,0.00,0.000,4,0.000,0.067,2661,3469,3820
$GC,1258,-0.48,-97.8,85.9,-6.5,261,1264,0.00,2.22,0.00,0.000,6,0.000,0.048,2661,2043,3819
$GC,1405,-0.48,-97.8,95.3,-6.3,292,1411,0.00,2.30,0.00,0.000,4,0.000,0.067,2661,3462,3819
$GC,1482,-0.48,-97.8,100.3,-6.4,308,1489,0.00,2.20,0.00,0.000,6,0.000,0.047,2661,2047,3819
$STATE,1558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1558,begin apogee
$GC,1562,-0.21,0.0,105.2,6.3,324,1639,0.30,0.00,71.00,0.655,6,0.140,0.000,2763,2261,3415
$STATE,1639,end apogee,CONTROL_FINISHED_OK
$STATE,1639,begin climb
$GC,1641,0.48,97.8,106.9,0.0,338,1717,0.62,0.00,71.25,0.630,6,0.100,0.000,2987,2261,3017
$GC,1856,0.48,97.8,83.0,13.8,382,1862,0.00,2.30,0.00,0.000,4,0.000,0.061,2987,3657,3015
$GC,1922,0.48,97.8,72.9,15.5,396,1929,0.00,2.25,0.00,0.000,6,0.000,0.048,2997,2253,3016
$GC,2068,0.48,97.8,52.7,13.6,427,2074,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2252,3015
$GC,2213,0.48,97.8,33.7,13.1,458,2219,0.00,2.30,0.00,0.000,4,0.000,0.062,2998,3668,3016
$GC,2265,0.48,97.8,25.9,14.7,469,2272,0.10,2.25,0.00,0.000,6,0.205,0.049,2985,2250,3015
$GC,2342,0.48,97.8,16.9,11.1,485,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2250,3015
$GC,2416,0.48,97.8,9.2,10.3,501,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2250,3015
$GC,2491,0.62,205.1,6.4,1.4,517,2575,0.12,2.38,76.53,0.607,4,0.092,0.061,3037,3665,2577
$GC,2594,0.70,275.6,4.1,2.9,536,2639,0.00,2.33,39.67,0.587,6,0.000,0.048,3048,2236,2291
$STATE,2656,end climb,SURFACE_DEPTH_REACHED
$STATE,2657,begin surface coast
$FINISH,0.2,1.008154
$STATE,2731,end surface coast,CONTROL_FINISHED_OK
$STATE,2731,begin surface
$SM_CCo,2745,86.57,0.588,0,0,1580,450.13
$SM_GC,1.09,0.00,0.00,86.57,0.000,0.000,0.588,141,2035,1580,-8.40,-0.45,450.13
$IRIDIUM_FIX,4748.51,-12226.29,131298,111156
$TT8_MAMPS,0.026078
$HUMID,2135
$INTERNAL_PRESSURE,9.29143
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,24.7,1.979
$10V_AH,10.8,1.057
$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,19.475,41.775,258.450,86.575,0.000,24.321,37.476,191.561,2.000,0.000,0.000,31.371,843.336,762.317,414.130,860.390,319.996,33.313,890.620,0.000,830.384,0.000,10.283,0.000
$DEVICE_MAMPS,268.450,80.535,655.018,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.321,302.670,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19038,564
$CAP_FILE_SIZE,54556,0
$CFSIZE,260165632,257646592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,132028,4807.401,-12223.356,10,5.3,29,18.3