version: 66.04
glider: 175
mission: 1
dive: 2
start: 9 17 109 21 0 10
data:
$ID,175
$MISSION,1
$DIVE,2
$D_SURF,3
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51338
$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,550
$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,-2411.0188
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3935
$C_PITCH,2793
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,171
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2078
$C_ROLL_CLIMB,2078
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3233
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-44.394344
$PRESSURE_SLOPE,0.0001165895
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.40000001
$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,0.0043275012
$SEABIRD_T_H,0.0006214368
$SEABIRD_T_I,2.2085376e-05
$SEABIRD_T_J,2.2233748e-06
$SEABIRD_C_G,-10.084761
$SEABIRD_C_H,1.1595923
$SEABIRD_C_I,-0.0010180317
$SEABIRD_C_J,0.00017345669
$GPS1,205240,4805.991,-12222.014,8,5.1,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-72.3
$GPS2,205934,4805.963,-12221.986,9,3.0,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.155,-0.209
$KALMAN_X,24.7,24.7,24.7,139.6,55.2
$KALMAN_Y,-53.1,-53.1,-53.1,-257.1,-118.5
$MHEAD_RNG_PITCHd_Wd,125.2,2162,-17.5,-10.000
$D_GRID,108
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.68,-146.6,0.0,0.0,0,118,0.00,0.00,-104.62,0.000,2,0.000,0.000,146,2085,3233
$GC,119,-0.68,-146.6,3.1,-6.5,20,148,10.18,2.15,-14.45,0.000,4,0.258,0.059,2565,688,3832
$GC,351,-0.68,-146.6,26.8,-6.1,72,357,0.00,2.12,0.00,0.000,6,0.000,0.043,2565,2080,3835
$GC,422,-0.68,-146.6,29.7,-5.2,88,427,0.00,2.15,0.00,0.000,4,0.000,0.051,2565,3483,3835
$GC,448,-0.68,-146.6,31.3,-5.7,94,454,0.00,2.05,0.00,0.000,6,0.000,0.029,2565,2081,3835
$GC,518,-0.68,-146.6,36.3,-6.5,110,524,0.00,2.10,0.00,0.000,4,0.000,0.042,2564,675,3836
$GC,545,-0.68,-146.6,38.4,-8.6,116,551,0.00,2.12,0.00,0.000,6,0.000,0.043,2565,2073,3836
$GC,615,-0.68,-146.6,43.0,-7.0,132,620,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2073,3836
$GC,749,-0.68,-146.6,53.9,-8.3,163,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2073,3836
$GC,884,-0.68,-146.6,65.2,-8.7,194,890,0.00,2.10,0.00,0.000,4,0.000,0.043,2564,679,3836
$GC,910,-0.68,-146.6,67.4,-8.3,200,916,0.00,2.15,0.00,0.000,6,0.000,0.045,2564,2086,3836
$GC,1047,-0.68,-146.6,80.1,-10.2,231,1052,0.00,2.10,0.00,0.000,4,0.000,0.044,2565,671,3836
$GC,1073,-0.68,-146.6,82.7,-9.9,237,1079,0.00,2.12,0.00,0.000,6,0.000,0.043,2565,2074,3836
$GC,1208,-0.68,-146.6,95.0,-9.8,268,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2074,3836
$GC,1342,-0.68,-146.6,108.0,-8.1,299,1348,0.00,2.10,0.00,0.000,4,0.000,0.044,2565,680,3836
$STATE,1350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1351,begin apogee
$GC,1355,-0.14,0.0,108.2,6.4,301,1462,0.57,0.00,104.03,0.604,6,0.160,0.000,2739,2090,3233
$STATE,1462,end apogee,CONTROL_FINISHED_OK
$STATE,1462,begin climb
$GC,1463,0.68,146.6,107.3,0.0,321,1575,0.82,0.00,106.00,0.562,6,0.110,0.000,3006,2089,2635
$GC,1704,0.68,146.6,73.0,20.1,372,1710,0.00,2.20,0.00,0.000,4,0.000,0.051,3006,696,2632
$GC,1722,0.68,146.6,69.8,15.8,376,1728,0.00,2.15,0.00,0.000,6,0.000,0.041,3006,2085,2631
$GC,1857,0.68,146.6,45.8,22.6,407,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2085,2631
$GC,1992,0.68,146.6,23.0,15.1,438,1998,0.00,2.17,0.00,0.000,4,0.000,0.052,3006,692,2631
$GC,2009,0.68,146.6,19.9,18.2,442,2015,0.00,2.12,0.00,0.000,6,0.000,0.040,3007,2084,2630
$GC,2079,0.68,146.6,10.1,10.6,458,2085,0.00,2.15,0.00,0.000,4,0.000,0.052,3006,701,2630
$GC,2089,0.68,146.6,8.8,10.9,460,2095,0.00,2.10,0.00,0.000,6,0.000,0.038,3007,2085,2630
$GC,2159,0.96,370.6,7.1,-0.3,476,2256,0.28,0.00,94.10,0.535,2,0.079,0.000,3107,2085,2102
$STATE,2256,end climb,SURFACE_DEPTH_REACHED
$STATE,2256,begin surface coast
$FINISH,0.6,0.998619
$STATE,2267,end surface coast,CONTROL_FINISHED_OK
$STATE,2267,begin surface
$SM_CCo,2280,128.15,0.499,0,0,989,550.21
$SM_GC,1.44,0.00,0.00,128.15,0.000,0.000,0.499,140,2088,989,-8.29,0.28,550.21
$IRIDIUM_FIX,4748.51,-12219.12,121298,212102
$TT8_MAMPS,0.050622
$HUMID,2163
$INTERNAL_PRESSURE,9.14138
$TCM_TEMP,20.00
$XPDR_PINGS,164
$ALTIM_BOTTOM_PING,90.1,37.6
$24V_AH,24.9,0.485
$10V_AH,10.8,0.251
$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,20.525,38.325,304.125,128.150,0.000,0.000,0.000,0.000,42.000,0.000,0.000,32.659,0.000,984.790,531.240,919.857,34.373,30.170,963.293,0.000,727.276,0.000,8.598,0.000
$DEVICE_MAMPS,258.479,59.059,603.629,498.550,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.832,254.806,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15852,497
$CAP_FILE_SIZE,75651,0
$CFSIZE,260165632,257646592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,214104,4805.778,-12221.890,7,2.2,26,18.3