version: 66.04
glider: 170
mission: 1
dive: 13
start: 7 16 109 5 0 26
data:
$ID,170
$MISSION,1
$DIVE,13
$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,-9548.5156
$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,29
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,300
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,1
$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
$GPS1,045434,4806.175,-12222.349,12,3.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-72.8
$GPS2,045931,4806.134,-12222.316,11,1.5,16,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.221,-0.065
$KALMAN_X,-1515.2,-288.0,-53.2,3114.9,-81.8
$KALMAN_Y,-381.6,19.7,-39.4,-1603.4,-111.3
$MHEAD_RNG_PITCHd_Wd,88.1,464,-20.2,-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,-0.79,-112.3,0.0,0.0,0,132,0.00,0.00,-114.97,0.000,2,0.000,0.000,128,2112,3489
$GC,134,-0.80,-117.3,3.5,-5.4,22,163,10.18,2.33,-9.95,0.000,4,0.244,0.074,2689,696,3897
$GC,427,-0.80,-117.3,34.4,-11.7,84,433,0.00,2.30,0.00,0.000,6,0.000,0.073,2689,2092,3898
$GC,502,-0.80,-117.3,43.1,-11.6,100,508,0.00,2.22,0.00,0.000,4,0.000,0.057,2689,689,3899
$GC,629,-0.80,-117.3,58.6,-12.2,127,635,0.00,2.33,0.00,0.000,6,0.000,0.073,2689,2104,3899
$GC,774,-0.80,-117.3,76.0,-12.2,158,780,0.00,2.38,0.00,0.000,4,0.000,0.084,2689,3522,3899
$GC,813,-0.80,-117.3,80.4,-11.9,166,819,0.00,2.25,0.00,0.000,6,0.000,0.054,2689,2099,3898
$GC,957,-0.80,-117.3,97.2,-11.9,197,963,0.00,2.38,0.00,0.000,4,0.000,0.081,2689,3519,3898
$GC,991,-0.80,-117.3,101.4,-12.3,204,997,0.00,2.25,0.00,0.000,6,0.000,0.053,2689,2095,3898
$STATE,1042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1042,begin apogee
$GC,1046,-0.16,0.0,107.2,11.2,215,1136,0.65,0.00,84.78,0.680,6,0.155,0.000,2894,2092,3418
$STATE,1137,end apogee,CONTROL_FINISHED_OK
$STATE,1137,begin climb
$GC,1139,0.80,117.3,108.8,0.0,232,1235,0.88,2.35,86.40,0.674,4,0.087,0.054,3211,699,2939
$GC,1282,0.80,117.3,90.9,18.1,260,1288,0.00,2.30,0.00,0.000,6,0.000,0.047,3211,2120,2938
$GC,1427,0.80,117.3,63.5,18.4,291,1433,0.00,2.30,0.00,0.000,4,0.000,0.054,3222,692,2937
$GC,1452,0.80,117.3,58.9,18.9,296,1458,0.00,2.25,0.00,0.000,6,0.000,0.047,3222,2108,2937
$GC,1597,0.80,117.3,33.1,17.2,327,1603,0.00,2.28,0.00,0.000,4,0.000,0.054,3229,682,2937
$GC,1642,0.80,117.3,25.8,16.7,336,1648,0.00,2.25,0.00,0.000,6,0.000,0.048,3229,2113,2937
$GC,1718,0.80,117.3,13.2,15.3,352,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,2113,2937
$STATE,1782,end climb,SURFACE_DEPTH_REACHED
$STATE,1782,begin surface coast
$FINISH,2.6,1.019790
$STATE,1815,end surface coast,CONTROL_FINISHED_OK
$STATE,1816,begin surface
$SM_CCo,1831,267.45,0.623,0,0,1460,480.05
$SM_GC,1.13,0.00,0.00,267.45,0.000,0.000,0.623,131,2117,1460,-8.81,0.45,480.05
$IRIDIUM_FIX,4748.51,-12214.67,101098,040438
$TT8_MAMPS,0.026845
$HUMID,1879
$INTERNAL_PRESSURE,9.1367
$TCM_TEMP,19.30
$XPDR_PINGS,0
$24V_AH,24.6,1.824
$10V_AH,10.8,0.534
$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,20.550,32.150,171.175,267.450,0.000,24.042,24.697,165.810,1.500,0.000,0.000,16.415,548.393,474.596,550.447,567.071,275.638,33.328,891.872,0.000,556.576,0.000,10.290,0.000
$DEVICE_MAMPS,243.906,84.370,680.329,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,247.431,189.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12706,373
$CAP_FILE_SIZE,40442,0
$CFSIZE,260165632,256053248
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160709,053628,4806.029,-12222.067,10,2.2,29,18.3