version: 66.04
glider: 171
mission: 1
dive: 9
start: 7 16 109 1 16 20
data:
$ID,171
$MISSION,1
$DIVE,9
$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,-618.77344
$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,18
$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
$GPS1,011101,4806.650,-12222.551,12,1.4,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-74.5
$GPS2,011526,4806.646,-12222.562,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.101,-0.212
$KALMAN_X,109.2,23.8,41.7,160.9,-52.9
$KALMAN_Y,909.6,334.5,1.6,-2909.7,174.8
$MHEAD_RNG_PITCHd_Wd,136.4,1383,-19.7,-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,-0.69,-117.3,0.0,0.0,0,111,0.00,0.00,-94.55,0.000,2,0.000,0.000,147,2198,3854
$GC,113,-0.69,-117.3,3.0,-6.8,18,132,10.20,2.47,-2.75,0.000,4,0.245,0.097,2653,776,3963
$GC,395,-0.69,-117.3,34.8,-10.5,78,401,0.00,2.42,0.00,0.000,6,0.000,0.087,2643,2201,3963
$GC,470,-0.69,-117.3,43.5,-11.4,94,476,0.00,2.40,0.00,0.000,4,0.000,0.087,2643,783,3963
$GC,666,-0.69,-117.3,66.5,-11.5,136,672,0.00,2.40,0.00,0.000,6,0.000,0.088,2632,2202,3964
$GC,810,-0.69,-117.3,83.6,-12.2,167,816,0.00,2.38,0.00,0.000,4,0.000,0.087,2632,787,3964
$GC,826,-0.69,-117.3,85.4,-11.6,170,833,0.12,2.40,0.00,0.000,6,0.165,0.090,2655,2203,3964
$GC,972,-0.69,-117.3,100.0,-9.9,201,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2203,3964
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1041,begin apogee
$GC,1044,-0.14,0.0,107.0,9.7,216,1130,0.52,0.00,82.47,0.700,6,0.129,0.000,2828,2203,3497
$STATE,1130,end apogee,CONTROL_FINISHED_OK
$STATE,1131,begin climb
$GC,1132,0.69,117.3,108.7,0.0,232,1229,0.77,2.53,87.20,0.673,4,0.087,0.077,3097,3616,3018
$GC,1257,0.69,117.3,96.4,15.3,256,1263,0.00,2.40,0.00,0.000,6,0.000,0.067,3108,2199,3017
$GC,1402,0.69,117.3,74.0,15.2,287,1408,0.00,2.38,0.00,0.000,4,0.000,0.075,3120,783,3017
$GC,1459,0.69,117.3,65.5,14.5,299,1465,0.00,2.38,0.00,0.000,6,0.000,0.069,3120,2210,3017
$GC,1604,0.69,117.3,43.7,14.3,330,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2210,3016
$GC,1747,0.69,117.3,23.7,13.6,361,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2210,3016
$GC,1822,0.69,117.3,14.1,12.6,377,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2210,3015
$GC,1896,0.69,117.3,4.7,12.0,393,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2210,3015
$STATE,1905,end climb,SURFACE_DEPTH_REACHED
$STATE,1905,begin surface coast
$FINISH,1.4,1.020301
$STATE,1943,end surface coast,CONTROL_FINISHED_OK
$STATE,1943,begin surface
$SM_CCo,1957,272.20,0.623,1,0,1539,480.05
$SM_GC,0.54,0.00,0.00,272.20,0.000,0.000,0.623,151,2211,1539,-8.54,0.34,480.05
$IRIDIUM_FIX,4748.51,-12221.84,101098,000050
$TT8_MAMPS,0.027612
$HUMID,1903
$INTERNAL_PRESSURE,9.23233
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.5,0.996
$10V_AH,10.8,0.269
$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,19.975,24.150,169.675,272.200,0.000,23.119,27.126,151.756,0.000,0.000,0.000,12.122,596.758,547.382,535.610,602.349,237.361,33.328,887.738,0.000,598.984,0.000,0.534,0.000
$DEVICE_MAMPS,244.673,96.642,700.271,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.492,200.556,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12739,403
$CAP_FILE_SIZE,40661,0
$CFSIZE,260165632,258154496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,160709,015436,4806.551,-12222.430,30,1.3,30,18.3