version: 66.04
glider: 170
mission: 1
dive: 10
start: 7 16 109 2 44 50
data:
$ID,170
$MISSION,1
$DIVE,10
$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,-9502.2617
$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,31
$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
$GPS1,023614,4806.946,-12222.847,11,1.5,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-76.8
$GPS2,024355,4806.880,-12222.837,12,1.7,17,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.174
$KALMAN_X,-1043.5,-268.0,-49.8,1978.5,-112.9
$KALMAN_Y,-17.5,75.8,-0.1,-682.2,19.5
$MHEAD_RNG_PITCHd_Wd,119.5,1931,-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,-68.28,0.000,2,0.000,0.000,132,2120,3212
$GC,87,-0.78,-117.3,3.2,-4.1,13,121,10.25,2.35,-18.45,0.000,4,0.245,0.071,2694,688,3898
$GC,385,-0.78,-117.3,33.2,-11.4,76,391,0.00,2.30,0.00,0.000,6,0.000,0.074,2694,2090,3899
$GC,461,-0.78,-117.3,41.9,-12.1,92,467,0.00,2.22,0.00,0.000,4,0.000,0.057,2694,686,3899
$GC,500,-0.78,-117.3,46.4,-12.0,100,506,0.00,2.33,0.00,0.000,6,0.000,0.073,2694,2108,3899
$GC,645,-0.78,-117.3,63.8,-12.1,131,651,0.00,2.35,0.00,0.000,4,0.000,0.084,2694,3512,3899
$GC,721,-0.78,-117.3,72.8,-12.1,147,727,0.00,2.22,0.00,0.000,6,0.000,0.052,2694,2097,3900
$GC,867,-0.78,-117.3,88.1,-10.4,178,873,0.00,2.38,0.00,0.000,4,0.000,0.080,2694,3522,3900
$GC,919,-0.78,-117.3,94.0,-11.0,189,925,0.00,2.25,0.00,0.000,6,0.000,0.052,2694,2090,3899
$STATE,1025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1025,begin apogee
$GC,1029,-0.16,0.0,105.3,10.2,212,1120,0.62,0.00,84.95,0.684,6,0.153,0.000,2892,2088,3417
$STATE,1121,end apogee,CONTROL_FINISHED_OK
$STATE,1121,begin climb
$GC,1122,0.78,117.3,107.0,0.0,229,1214,0.88,0.00,86.70,0.677,6,0.085,0.000,3199,2087,2939
$GC,1353,0.78,117.3,74.0,17.9,276,1359,0.00,2.25,0.00,0.000,4,0.000,0.054,3210,686,2937
$GC,1378,0.78,117.3,69.4,18.3,281,1384,0.00,2.28,0.00,0.000,6,0.000,0.049,3210,2120,2937
$GC,1524,0.78,117.3,43.9,16.6,312,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2120,2937
$GC,1668,0.78,117.3,20.3,15.7,343,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2120,2936
$GC,1743,0.78,117.3,8.9,15.0,359,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,3210,2120,2936
$STATE,1788,end climb,SURFACE_DEPTH_REACHED
$STATE,1789,begin surface coast
$FINISH,4.2,1.020240
$STATE,1845,end surface coast,CONTROL_FINISHED_OK
$STATE,1845,begin surface
$SM_CCo,1847,461.73,0.618,0,0,460,725.60
$SM_GC,1.36,8.52,0.00,0.00,0.058,0.000,0.000,131,2122,455,-8.75,0.59,726.82
$IRIDIUM_FIX,4751.72,-12223.57,101098,020209
$TT8_MAMPS,0.026078
$HUMID,1967
$INTERNAL_PRESSURE,9.1074
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.6,1.514
$10V_AH,10.8,0.458
$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,20.275,22.925,171.650,461.725,0.000,49.090,104.022,166.011,0.750,0.000,0.000,17.789,567.461,661.433,708.948,578.484,379.213,33.328,1043.102,0.000,566.198,0.000,5.645,0.000
$DEVICE_MAMPS,245.440,84.370,684.164,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.140,192.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12730,381
$CAP_FILE_SIZE,40942,0
$CFSIZE,260165632,256139264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160709,032550,4806.638,-12222.750,13,1.5,13,18.3