version: 66.04
glider: 171
mission: 1
dive: 6
start: 7 15 109 23 3 31
data:
$ID,171
$MISSION,1
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,52000
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-570.19049
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3952
$C_PITCH,2883
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,181
$ROLL_MAX,3676
$ROLL_DEG,40
$C_ROLL_DIVE,2199
$C_ROLL_CLIMB,2199
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3497
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,-75.123062
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043688784
$SEABIRD_T_H,0.00062944769
$SEABIRD_T_I,2.4717139e-05
$SEABIRD_T_J,2.7241397e-06
$SEABIRD_C_G,-10.19732
$SEABIRD_C_H,1.1460223
$SEABIRD_C_I,-0.00094820879
$SEABIRD_C_J,0.00016859215
$GPS1,225801,4806.949,-12222.967,13,1.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.44
$_SM_ANGLEo,-72.1
$GPS2,230237,4806.954,-12222.975,10,1.1,15,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.103,-0.211
$KALMAN_X,223.3,58.0,5.6,-464.9,56.8
$KALMAN_Y,280.8,159.6,124.4,-1655.7,40.3
$MHEAD_RNG_PITCHd_Wd,135.7,2138,-19.7,-10.000
$D_GRID,103
$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,-0.69,-117.3,0.0,0.0,0,148,0.00,0.00,-130.80,0.000,2,0.000,0.000,149,2207,3624
$GC,150,-0.69,-117.3,3.0,-5.9,25,174,10.23,2.42,-8.68,0.000,4,0.247,0.086,2654,778,3961
$GC,437,-0.69,-117.3,30.3,-9.9,86,443,0.00,2.38,0.00,0.000,6,0.000,0.079,2643,2203,3963
$GC,513,-0.69,-117.3,38.1,-10.5,102,519,0.00,2.35,0.00,0.000,4,0.000,0.078,2643,785,3963
$GC,657,-0.69,-117.3,54.3,-11.0,133,663,0.00,2.35,0.00,0.000,6,0.000,0.080,2633,2200,3963
$GC,802,-0.69,-117.3,70.9,-11.6,164,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2201,3964
$GC,946,-0.69,-117.3,86.5,-10.6,195,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2201,3964
$GC,1090,-0.69,-117.3,102.1,-10.0,226,1096,0.00,2.38,0.00,0.000,4,0.000,0.091,2621,3610,3963
$STATE,1100,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1100,begin apogee
$GC,1105,-0.14,0.0,103.2,10.0,228,1191,0.65,0.00,82.15,0.690,6,0.134,0.000,2833,2194,3497
$STATE,1192,end apogee,CONTROL_FINISHED_OK
$STATE,1192,begin climb
$GC,1193,0.69,117.3,105.2,0.0,244,1290,0.77,2.50,86.97,0.664,4,0.083,0.073,3105,3613,3017
$GC,1309,0.69,117.3,93.3,15.8,266,1315,0.00,2.38,0.00,0.000,6,0.000,0.061,3116,2198,3017
$GC,1454,0.69,117.3,70.1,15.9,297,1460,0.00,2.35,0.00,0.000,4,0.000,0.070,3127,777,3016
$GC,1479,0.69,117.3,66.1,15.7,302,1485,0.00,2.38,0.00,0.000,6,0.000,0.071,3128,2201,3016
$GC,1624,0.69,117.3,43.4,15.6,333,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,3128,2201,3016
$GC,1768,0.69,117.3,21.8,14.5,364,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,3127,2201,3015
$GC,1842,0.69,117.3,11.5,13.3,380,1848,0.00,2.33,0.00,0.000,4,0.000,0.073,3138,784,3015
$STATE,1903,end climb,SURFACE_DEPTH_REACHED
$STATE,1903,begin surface coast
$FINISH,2.2,1.020890
$STATE,1924,end surface coast,CONTROL_FINISHED_OK
$STATE,1924,begin surface
$SM_CCo,1940,270.17,0.618,1,0,1539,480.05
$SM_GC,0.59,0.00,0.00,270.17,0.000,0.000,0.618,147,2211,1539,-8.55,0.34,480.05
$IRIDIUM_FIX,4751.72,-12223.57,091098,222225
$TT8_MAMPS,0.027612
$HUMID,1906
$INTERNAL_PRESSURE,9.2421
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,24.6,0.710
$10V_AH,10.8,0.192
$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,20.075,28.575,169.125,270.175,0.000,26.412,25.588,159.497,0.000,0.000,0.000,15.343,576.807,528.556,564.419,597.242,245.362,33.326,917.267,0.000,589.876,0.000,0.534,0.000
$DEVICE_MAMPS,246.974,90.506,689.533,618.202,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.086,202.338,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12748,397
$CAP_FILE_SIZE,39931,0
$CFSIZE,260165632,258240512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,150709,234108,4806.836,-12222.825,10,1.2,10,18.3