version: 66.04
glider: 173
mission: 2
dive: 2
start: 9 17 109 21 56 52
data:
$ID,173
$MISSION,2
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4539.9746
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2829
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,19
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3216
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-71.154404
$PRESSURE_SLOPE,0.0001159958
$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,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.5
$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,0.0043109059
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,215302,4806.030,-12221.896,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.3
$GPS2,215601,4806.019,-12221.896,16,1.5,16,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.108,-0.237
$KALMAN_X,26.4,26.4,26.4,-21.8,41.6
$KALMAN_Y,-14.2,-14.2,-14.2,-243.3,-22.4
$MHEAD_RNG_PITCHd_Wd,137.2,2190,-17.5,-10.000
$D_GRID,108
$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,-0.62,-146.6,0.0,0.0,0,132,0.00,0.00,-115.05,0.000,2,0.000,0.000,131,1989,3446
$GC,134,-0.62,-146.6,3.1,-5.3,22,158,9.98,2.28,-8.00,0.000,4,0.260,0.071,2625,584,3815
$GC,385,-0.62,-146.6,23.9,-6.9,75,391,0.00,2.25,0.00,0.000,6,0.000,0.060,2620,2002,3817
$GC,461,-0.62,-146.6,29.3,-7.5,91,467,0.00,2.28,0.00,0.000,4,0.000,0.070,2619,3412,3817
$GC,506,-0.62,-146.6,33.0,-8.8,100,512,0.00,2.20,0.00,0.000,6,0.000,0.048,2619,1992,3818
$GC,582,-0.62,-146.6,39.9,-9.0,116,588,0.00,2.30,0.00,0.000,4,0.000,0.070,2619,3414,3817
$GC,603,-0.62,-146.6,41.8,-9.1,120,609,0.00,2.20,0.00,0.000,6,0.000,0.048,2619,1996,3817
$STATE,640,end dive,TARGET_DEPTH_EXCEEDED
$STATE,640,begin apogee
$GC,644,-0.12,0.0,45.5,9.4,128,755,0.50,0.00,103.68,0.596,6,0.150,0.000,2784,1995,3215
$STATE,756,end apogee,CONTROL_FINISHED_OK
$STATE,756,begin climb
$GC,757,0.62,146.6,46.9,0.0,149,870,0.68,2.38,104.45,0.570,4,0.093,0.058,3031,3422,2617
$GC,949,0.62,146.6,16.0,20.9,187,955,0.00,2.28,0.00,0.000,6,0.000,0.048,3041,1991,2616
$GC,1025,0.63,154.9,4.5,9.6,203,1037,0.00,2.38,7.28,0.487,4,0.000,0.058,3041,3425,2584
$STATE,1193,end climb,SURFACE_DEPTH_REACHED
$STATE,1193,begin surface coast
$FINISH,0.1,1.018337
$STATE,1337,end surface coast,CONTROL_FINISHED_OK
$STATE,1337,begin surface
$SM_CCo,1353,244.73,0.549,0,0,440,680.95
$SM_CCo,1600,0.00,0.000,0,0,439,681.20
$SM_CCo,1602,0.00,0.000,0,0,438,681.44
$SM_GC,0.90,0.00,0.00,0.00,0.000,0.000,0.000,139,1993,438,-8.41,-0.20,681.44
$IRIDIUM_FIX,4748.51,-12224.57,121298,212115
$TT8_MAMPS,0.026078
$HUMID,2039
$INTERNAL_PRESSURE,9.37932
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,25.0,0.352
$10V_AH,10.9,0.527
$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,18.650,22.825,215.400,244.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.177,384.141,314.585,539.121,414.427,22.541,30.181,809.394,0.000,408.277,0.000,0.539,0.000
$DEVICE_MAMPS,260.013,70.564,595.959,549.172,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,177.031,178.149,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9620,270
$CAP_FILE_SIZE,46356,0
$CFSIZE,260165632,258252800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,222436,4805.938,-12221.848,13,1.2,29,18.3