version: 66.04
glider: 170
mission: 1
dive: 5
start: 7 15 109 23 1 45
data:
$ID,170
$MISSION,1
$DIVE,5
$D_SURF,4
$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,70
$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,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51437
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,480
$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,-9392.04
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,139
$PITCH_MAX,3933
$C_PITCH,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3698
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3418
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-62.362949
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.60000002
$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,0.0043652086
$SEABIRD_T_H,0.00063100836
$SEABIRD_T_I,2.5667814e-05
$SEABIRD_T_J,2.9083003e-06
$SEABIRD_C_G,-9.8859177
$SEABIRD_C_H,1.1208299
$SEABIRD_C_I,-0.0010195741
$SEABIRD_C_J,0.00016822568
$GPS1,225602,4807.895,-12223.075,14,1.4,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.8
$GPS2,230050,4807.886,-12223.088,12,1.3,12,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.209
$KALMAN_X,-246.8,-139.7,-89.3,782.1,-18.7
$KALMAN_Y,-220.2,16.6,31.6,1413.0,-92.7
$MHEAD_RNG_PITCHd_Wd,134.8,3743,-19.7,-10.000
$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,12,begin dive
$GC,14,-0.78,-117.3,0.0,0.0,0,126,0.00,0.00,-109.65,0.000,2,0.000,0.000,134,2115,3284
$GC,129,-0.78,-117.3,3.3,-4.3,21,163,10.23,2.30,-15.82,0.000,4,0.247,0.073,2697,675,3898
$GC,426,-0.78,-117.3,31.8,-10.8,84,432,0.00,2.33,0.00,0.000,6,0.000,0.075,2696,2093,3901
$GC,502,-0.78,-117.3,39.8,-10.4,100,508,0.00,2.22,0.00,0.000,4,0.000,0.058,2696,688,3900
$GC,597,-0.78,-117.3,50.4,-11.2,120,603,0.00,2.33,0.00,0.000,6,0.000,0.076,2696,2110,3900
$GC,742,-0.78,-117.3,66.5,-11.1,151,748,0.00,2.38,0.00,0.000,4,0.000,0.089,2696,3519,3901
$GC,841,-0.78,-117.3,77.7,-10.4,172,847,0.00,2.25,0.00,0.000,6,0.000,0.054,2696,2091,3901
$GC,986,-0.78,-117.3,92.7,-10.3,203,992,0.00,2.38,0.00,0.000,4,0.000,0.083,2697,3514,3900
$GC,1058,-0.78,-117.3,100.4,-10.9,218,1064,0.00,2.22,0.00,0.000,6,0.000,0.053,2697,2096,3900
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1109,-0.16,0.0,105.4,9.9,228,1200,0.62,0.00,84.68,0.684,6,0.156,0.000,2894,2095,3417
$STATE,1200,end apogee,CONTROL_FINISHED_OK
$STATE,1201,begin climb
$GC,1202,0.78,117.3,107.0,0.0,245,1299,0.85,2.35,86.12,0.673,4,0.087,0.057,3203,703,2938
$GC,1317,0.78,117.3,94.5,16.9,267,1323,0.00,2.30,0.00,0.000,6,0.000,0.051,3202,2119,2938
$GC,1463,0.78,117.3,67.3,18.0,298,1469,0.00,2.28,0.00,0.000,4,0.000,0.061,3203,3515,2938
$GC,1475,0.78,117.3,65.0,17.7,300,1481,0.00,2.22,0.00,0.000,6,0.000,0.045,3214,2104,2937
$GC,1621,0.78,117.3,38.7,17.8,331,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2099,2937
$GC,1696,0.78,117.3,25.4,17.2,347,1702,0.00,2.22,0.00,0.000,4,0.000,0.057,3224,693,2936
$GC,1720,0.78,117.3,21.3,16.6,352,1726,0.00,2.20,0.00,0.000,6,0.000,0.051,3224,2101,2936
$GC,1796,0.78,117.3,9.1,15.7,368,1802,0.00,2.22,0.00,0.000,4,0.000,0.054,3235,690,2936
$STATE,1833,end climb,SURFACE_DEPTH_REACHED
$STATE,1834,begin surface coast
$FINISH,3.3,1.018404
$STATE,1866,end surface coast,CONTROL_FINISHED_OK
$STATE,1866,begin surface
$SM_CCo,1884,266.15,0.628,0,0,1460,480.05
$SM_GC,1.41,0.00,0.00,266.15,0.000,0.000,0.628,134,2107,1460,-8.80,0.20,480.05
$IRIDIUM_FIX,4748.51,-12224.57,091098,222238
$TT8_MAMPS,0.026078
$HUMID,1923
$INTERNAL_PRESSURE,9.15623
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.7,0.996
$10V_AH,10.8,0.326
$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,20.425,36.450,170.800,266.150,0.000,24.601,22.616,162.751,0.750,0.000,0.000,12.932,562.442,494.431,554.254,577.555,270.222,33.328,903.783,0.000,570.641,0.000,5.644,0.000
$DEVICE_MAMPS,246.974,88.972,684.164,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.606,190.756,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12759,383
$CAP_FILE_SIZE,41551,0
$CFSIZE,260165632,256278528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,150709,233820,4807.722,-12223.048,11,1.2,11,18.3