version: 66.04
glider: 170
mission: 1
dive: 8
start: 7 16 109 1 18 15
data:
$ID,170
$MISSION,1
$DIVE,8
$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,-9452.2822
$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,32
$R_STBD_OVSHOOT,29
$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
$GPS1,010950,4807.359,-12222.925,10,1.1,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-73.6
$GPS2,011720,4807.335,-12222.914,12,1.9,12,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.203
$KALMAN_X,-650.2,-231.8,-60.5,1463.7,-81.3
$KALMAN_Y,-27.8,77.4,4.4,161.2,57.3
$MHEAD_RNG_PITCHd_Wd,131.4,2719,-19.7,-10.000
$D_GRID,107
$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,-117.3,0.0,0.0,0,90,0.00,0.00,-73.53,0.000,2,0.000,0.000,130,2117,3333
$GC,92,-0.78,-117.3,3.1,-4.0,14,126,10.27,2.30,-14.52,0.000,4,0.247,0.070,2690,698,3897
$GC,390,-0.78,-117.3,34.7,-11.5,77,396,0.00,2.28,0.00,0.000,6,0.000,0.071,2691,2093,3898
$GC,466,-0.78,-117.3,43.2,-11.7,93,472,0.00,2.22,0.00,0.000,4,0.000,0.055,2691,685,3898
$GC,505,-0.78,-117.3,47.7,-11.9,101,511,0.00,2.30,0.00,0.000,6,0.000,0.071,2691,2100,3898
$GC,650,-0.78,-117.3,65.2,-11.9,132,656,0.00,2.35,0.00,0.000,4,0.000,0.083,2691,3513,3899
$GC,703,-0.78,-117.3,71.5,-12.2,143,709,0.00,2.22,0.00,0.000,6,0.000,0.052,2691,2091,3899
$GC,849,-0.78,-117.3,88.5,-11.6,174,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2088,3898
$GC,993,-0.78,-117.3,104.6,-10.9,205,999,0.00,2.38,0.00,0.000,4,0.000,0.081,2691,3514,3898
$STATE,1017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1017,begin apogee
$GC,1023,-0.16,0.0,107.3,10.5,210,1114,0.62,0.00,84.50,0.683,6,0.156,0.000,2888,2099,3418
$STATE,1115,end apogee,CONTROL_FINISHED_OK
$STATE,1115,begin climb
$GC,1116,0.78,117.3,109.1,0.0,227,1213,0.88,2.38,86.25,0.675,4,0.090,0.055,3201,698,2938
$GC,1269,0.78,117.3,89.3,17.1,257,1276,0.00,2.28,0.00,0.000,6,0.000,0.048,3201,2113,2938
$GC,1415,0.78,117.3,63.3,18.6,288,1421,0.00,2.30,0.00,0.000,4,0.000,0.056,3212,686,2937
$GC,1440,0.78,117.3,58.6,17.7,293,1446,0.00,2.25,0.00,0.000,6,0.000,0.050,3212,2111,2937
$GC,1586,0.78,117.3,32.7,17.9,324,1591,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2111,2936
$GC,1661,0.78,117.3,20.2,16.8,340,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,2111,2936
$GC,1736,0.78,117.3,8.5,15.2,356,1742,0.00,2.25,0.00,0.000,4,0.000,0.055,3223,693,2936
$STATE,1773,end climb,SURFACE_DEPTH_REACHED
$STATE,1773,begin surface coast
$FINISH,3.1,1.019410
$STATE,1811,end surface coast,CONTROL_FINISHED_OK
$STATE,1811,begin surface
$SM_CCo,1829,270.35,0.621,1,0,1460,480.05
$SM_GC,1.39,0.00,0.00,270.35,0.000,0.000,0.621,132,2112,1460,-8.81,0.34,480.05
$IRIDIUM_FIX,4748.51,-12226.29,101098,010145
$TT8_MAMPS,0.026845
$HUMID,1915
$INTERNAL_PRESSURE,9.14647
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.6,1.292
$10V_AH,10.8,0.405
$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,20.600,32.000,170.750,270.350,0.000,46.006,103.420,162.472,0.750,0.000,0.000,12.813,554.223,550.261,536.970,560.602,372.583,33.327,869.605,0.000,554.080,0.000,5.646,0.000
$DEVICE_MAMPS,246.974,82.836,683.397,621.270,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,248.258,184.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12718,372
$CAP_FILE_SIZE,40778,0
$CFSIZE,260165632,256196608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,160709,015428,4807.175,-12222.891,15,4.9,34,18.3