version: 66.04
glider: 170
mission: 1
dive: 12
start: 7 16 109 4 13 27
data:
$ID,170
$MISSION,1
$DIVE,12
$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,-9531.4717
$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,31
$R_STBD_OVSHOOT,28
$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
$GPS1,040737,4806.407,-12222.590,34,1.0,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-76.7
$GPS2,041232,4806.364,-12222.567,13,1.0,13,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.208,-0.108
$KALMAN_X,-1386.8,-290.1,-53.5,2679.7,-103.9
$KALMAN_Y,-243.5,46.3,-16.3,-1365.6,-94.8
$MHEAD_RNG_PITCHd_Wd,99.2,973,-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,-68.07,0.000,2,0.000,0.000,138,2089,3210
$GC,87,-0.78,-117.3,3.2,-4.0,13,121,10.23,2.30,-18.45,0.000,4,0.245,0.073,2697,692,3899
$GC,385,-0.78,-117.3,33.2,-11.3,76,391,0.00,2.30,0.00,0.000,6,0.000,0.075,2697,2089,3899
$GC,461,-0.78,-117.3,41.7,-11.3,92,467,0.00,2.22,0.00,0.000,4,0.000,0.057,2697,686,3899
$GC,638,-0.78,-117.3,62.7,-11.8,130,644,0.00,2.33,0.00,0.000,6,0.000,0.074,2696,2105,3899
$GC,784,-0.78,-117.3,79.0,-11.7,161,790,0.00,2.38,0.00,0.000,4,0.000,0.086,2697,3521,3899
$GC,827,-0.78,-117.3,83.8,-11.5,170,833,0.00,2.25,0.00,0.000,6,0.000,0.054,2697,2096,3899
$GC,972,-0.78,-117.3,99.8,-10.7,201,979,0.00,2.38,0.00,0.000,4,0.000,0.081,2697,3517,3900
$STATE,1020,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1020,begin apogee
$GC,1027,-0.16,0.0,105.4,11.3,211,1117,0.60,0.00,84.97,0.684,6,0.153,0.000,2888,2088,3418
$STATE,1118,end apogee,CONTROL_FINISHED_OK
$STATE,1118,begin climb
$GC,1120,0.78,117.3,107.5,0.0,228,1216,0.90,2.35,86.47,0.670,4,0.091,0.054,3209,696,2939
$GC,1263,0.78,117.3,89.7,18.2,256,1269,0.00,2.30,0.00,0.000,6,0.000,0.048,3208,2122,2938
$GC,1409,0.78,117.3,64.4,18.3,287,1415,0.00,2.30,0.00,0.000,4,0.000,0.054,3220,694,2938
$GC,1494,0.78,117.3,48.5,17.6,305,1501,0.00,2.22,0.00,0.000,6,0.000,0.048,3220,2108,2938
$GC,1641,0.78,117.3,23.4,16.6,336,1647,0.00,2.28,0.00,0.000,4,0.000,0.055,3231,683,2937
$GC,1689,0.78,117.3,15.3,16.0,346,1695,0.00,2.22,0.00,0.000,6,0.000,0.049,3231,2107,2937
$GC,1765,0.78,117.3,4.5,12.8,362,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,2107,2937
$STATE,1774,end climb,SURFACE_DEPTH_REACHED
$STATE,1774,begin surface coast
$FINISH,4.6,1.020021
$STATE,1826,end surface coast,CONTROL_FINISHED_OK
$STATE,1826,begin surface
$SM_CCo,1829,462.52,0.617,1,0,459,725.60
$SM_GC,1.33,8.62,0.00,0.00,0.059,0.000,0.000,128,2112,455,-8.76,0.34,726.82
$IRIDIUM_FIX,4748.51,-12220.12,101098,030352
$TT8_MAMPS,0.026078
$HUMID,2010
$INTERNAL_PRESSURE,9.12694
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,24.6,1.732
$10V_AH,10.8,0.509
$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,20.350,32.100,171.450,462.525,0.000,25.554,30.453,160.793,0.750,0.000,0.000,13.349,562.302,589.786,720.861,566.213,278.343,33.329,1055.362,0.000,559.250,0.000,5.649,0.000
$DEVICE_MAMPS,244.673,85.904,684.164,617.435,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.851,188.245,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12730,375
$CAP_FILE_SIZE,40880,0
$CFSIZE,260165632,256081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,160709,045434,4806.175,-12222.349,12,3.7,31,18.3