version: 66.04
glider: 170
mission: 1
dive: 9
start: 7 16 109 2 0 30
data:
$ID,170
$MISSION,1
$DIVE,9
$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,-9483.8457
$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
$GPS1,015428,4807.175,-12222.891,15,4.9,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-77.4
$GPS2,015936,4807.128,-12222.887,14,1.5,30,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.191
$KALMAN_X,-836.0,-256.1,-55.5,1703.2,-93.9
$KALMAN_Y,12.5,85.6,8.9,-273.5,29.2
$MHEAD_RNG_PITCHd_Wd,125.9,2359,-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,-117.3,0.0,0.0,0,85,0.00,0.00,-68.47,0.000,2,0.000,0.000,132,2112,3241
$GC,87,-0.78,-117.3,3.6,-5.4,13,121,10.25,2.28,-17.62,0.000,4,0.246,0.072,2692,697,3896
$GC,385,-0.78,-117.3,33.5,-12.0,76,391,0.00,2.28,0.00,0.000,6,0.000,0.072,2692,2089,3895
$GC,461,-0.78,-117.3,42.1,-11.5,92,466,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2089,3896
$GC,605,-0.78,-117.3,59.1,-11.9,123,611,0.00,2.40,0.00,0.000,4,0.000,0.085,2692,3517,3896
$GC,676,-0.78,-117.3,67.9,-11.9,138,682,0.00,2.22,0.00,0.000,6,0.000,0.052,2692,2094,3896
$GC,822,-0.78,-117.3,84.3,-11.6,169,828,0.00,2.38,0.00,0.000,4,0.000,0.081,2692,3515,3896
$GC,847,-0.78,-117.3,87.4,-11.3,174,853,0.00,2.22,0.00,0.000,6,0.000,0.052,2692,2100,3896
$GC,994,-0.78,-117.3,103.7,-10.9,205,999,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2100,3896
$STATE,1008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1008,begin apogee
$GC,1012,-0.16,0.0,105.5,10.5,208,1103,0.62,0.00,84.35,0.682,6,0.155,0.000,2889,2100,3418
$STATE,1104,end apogee,CONTROL_FINISHED_OK
$STATE,1104,begin climb
$GC,1105,0.78,117.3,107.5,0.0,225,1196,0.88,0.00,86.43,0.675,6,0.090,0.000,3194,2100,2939
$GC,1336,0.78,117.3,74.6,18.3,272,1342,0.00,2.28,0.00,0.000,4,0.000,0.055,3205,686,2938
$GC,1416,0.78,117.3,60.6,16.9,289,1422,0.00,2.28,0.00,0.000,6,0.000,0.050,3204,2121,2937
$GC,1562,0.78,117.3,35.5,17.5,320,1567,0.00,0.00,0.00,0.000,6,0.000,0.000,3204,2122,2937
$GC,1637,0.78,117.3,23.3,15.8,336,1643,0.00,2.22,0.00,0.000,4,0.000,0.059,3205,3509,2936
$GC,1653,0.78,117.3,20.6,16.0,339,1659,0.00,2.20,0.00,0.000,6,0.000,0.046,3215,2104,2936
$GC,1729,0.78,117.3,8.7,15.5,355,1735,0.00,2.22,0.00,0.000,4,0.000,0.055,3226,685,2936
$STATE,1766,end climb,SURFACE_DEPTH_REACHED
$STATE,1766,begin surface coast
$FINISH,3.6,1.019816
$STATE,1804,end surface coast,CONTROL_FINISHED_OK
$STATE,1804,begin surface
$SM_CCo,1823,271.95,0.624,1,0,1461,480.05
$SM_GC,1.42,0.00,0.00,271.95,0.000,0.000,0.624,132,2120,1461,-8.81,0.57,480.05
$IRIDIUM_FIX,4751.72,-12226.29,101098,010127
$TT8_MAMPS,0.026845
$HUMID,1911
$INTERNAL_PRESSURE,9.14647
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.6,1.385
$10V_AH,10.8,0.430
$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,20.650,27.250,170.775,271.950,0.000,22.445,24.697,165.475,0.750,0.000,0.000,30.934,555.883,491.371,529.574,577.751,272.624,33.328,860.797,0.000,552.926,0.000,5.645,0.000
$DEVICE_MAMPS,246.207,85.137,681.863,623.571,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.166,185.756,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12752,371
$CAP_FILE_SIZE,39809,0
$CFSIZE,260165632,256167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,160709,023614,4806.946,-12222.847,11,1.5,11,18.3