version: 66.04
glider: 170
mission: 1
dive: 6
start: 7 15 109 23 44 33
data:
$ID,170
$MISSION,1
$DIVE,6
$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,-9407.3652
$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,26
$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
$GPS1,233820,4807.722,-12223.048,11,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-79.6
$GPS2,234338,4807.721,-12223.051,14,1.5,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.120,-0.202
$KALMAN_X,-372.5,-178.6,-81.3,986.0,-59.1
$KALMAN_Y,-169.4,61.7,35.4,1000.1,-47.9
$MHEAD_RNG_PITCHd_Wd,131.1,3442,-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,-117.3,0.0,0.0,0,84,0.00,0.00,-68.10,0.000,2,0.000,0.000,134,2107,3211
$GC,87,-0.78,-117.3,3.3,-4.4,13,121,10.30,2.28,-17.75,0.000,4,0.249,0.070,2694,685,3897
$GC,385,-0.78,-117.3,33.7,-11.5,76,391,0.00,2.33,0.00,0.000,6,0.000,0.076,2693,2099,3898
$GC,461,-0.78,-117.3,41.9,-10.6,92,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2099,3898
$GC,605,-0.78,-117.3,58.6,-11.8,123,611,0.00,2.38,0.00,0.000,4,0.000,0.087,2693,3512,3898
$GC,654,-0.78,-117.3,64.3,-12.0,133,660,0.00,2.22,0.00,0.000,6,0.000,0.054,2693,2096,3898
$GC,800,-0.78,-117.3,80.7,-11.3,164,805,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2092,3898
$GC,945,-0.78,-117.3,96.5,-10.7,195,951,0.00,2.38,0.00,0.000,4,0.000,0.084,2693,3512,3898
$STATE,1023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1023,begin apogee
$GC,1030,-0.16,0.0,105.4,10.7,212,1120,0.62,0.00,84.53,0.685,6,0.160,0.000,2889,2088,3418
$STATE,1121,end apogee,CONTROL_FINISHED_OK
$STATE,1121,begin climb
$GC,1123,0.78,117.3,107.1,0.0,229,1214,0.88,0.00,86.10,0.676,6,0.094,0.000,3193,2088,2939
$GC,1353,0.78,117.3,73.8,17.4,276,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2088,2938
$GC,1497,0.78,117.3,49.5,16.6,307,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2088,2938
$GC,1641,0.78,117.3,26.2,15.3,338,1647,0.00,2.20,0.00,0.000,4,0.000,0.056,3202,693,2937
$GC,1662,0.78,117.3,22.9,15.4,342,1668,0.00,2.22,0.00,0.000,6,0.000,0.051,3201,2115,2938
$GC,1738,0.78,117.3,11.5,14.1,358,1744,0.00,2.28,0.00,0.000,4,0.000,0.057,3213,684,2937
$STATE,1789,end climb,SURFACE_DEPTH_REACHED
$STATE,1789,begin surface coast
$FINISH,2.7,1.018857
$STATE,1813,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1831,268.20,0.628,0,0,1460,480.05
$SM_GC,1.52,0.00,0.00,268.20,0.000,0.000,0.628,134,2113,1460,-8.80,0.34,480.05
$IRIDIUM_FIX,4751.72,-12220.85,091098,232358
$TT8_MAMPS,0.026078
$HUMID,1921
$INTERNAL_PRESSURE,9.1367
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.6,1.090
$10V_AH,10.8,0.351
$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,20.475,22.825,170.625,268.200,0.000,22.341,27.574,187.019,0.750,0.000,0.000,14.695,558.030,503.936,515.159,565.025,295.461,33.330,843.304,0.000,557.195,0.000,5.642,0.000
$DEVICE_MAMPS,248.508,87.438,684.931,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.801,187.335,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12697,374
$CAP_FILE_SIZE,38622,0
$CFSIZE,260165632,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,160709,002019,4807.542,-12223.000,8,1.5,13,18.3