version: 66.04
glider: 171
mission: 1
dive: 12
start: 7 16 109 3 32 8
data:
$ID,171
$MISSION,1
$DIVE,12
$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,-661.54547
$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,18
$R_STBD_OVSHOOT,17
$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
$GPS1,032538,4806.164,-12222.217,13,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-79.5
$GPS2,033114,4806.119,-12222.184,14,1.5,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.121,-0.124
$KALMAN_X,38.7,9.4,-37.5,792.3,-31.3
$KALMAN_Y,1196.2,366.0,84.4,-4282.5,40.7
$MHEAD_RNG_PITCHd_Wd,117.4,317,-27.2,-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,13,begin dive
$GC,14,-0.83,-63.1,0.0,0.0,0,95,0.00,0.00,-78.47,0.000,2,0.000,0.000,152,2208,3520
$GC,97,-0.85,-72.1,3.4,-9.0,15,121,10.02,2.47,-7.40,0.000,4,0.245,0.110,2594,3611,3791
$GC,384,-0.85,-72.1,28.5,-10.3,76,391,0.00,2.38,0.00,0.000,6,0.000,0.078,2593,2195,3791
$GC,460,-0.85,-72.1,36.1,-10.2,92,466,0.00,2.45,0.00,0.000,4,0.000,0.097,2582,3608,3792
$GC,729,-0.85,-72.1,69.2,-11.7,150,735,0.00,2.35,0.00,0.000,6,0.000,0.076,2582,2194,3792
$GC,874,-0.85,-72.1,85.2,-11.5,181,880,0.00,2.42,0.00,0.000,4,0.000,0.094,2572,3609,3792
$GC,1014,-0.85,-72.1,102.8,-12.7,211,1021,0.15,2.35,0.00,0.000,6,0.165,0.076,2610,2191,3792
$STATE,1057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1057,begin apogee
$GC,1060,-0.14,0.0,107.3,9.7,220,1119,0.68,0.00,52.92,0.702,6,0.142,0.000,2828,2191,3496
$STATE,1120,end apogee,CONTROL_FINISHED_OK
$STATE,1120,begin climb
$GC,1121,0.85,72.1,108.9,0.0,231,1181,0.93,0.00,54.05,0.680,6,0.087,0.000,3150,2191,3201
$GC,1319,0.85,72.1,84.3,14.2,272,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2191,3201
$GC,1463,0.85,72.1,63.6,14.2,303,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2191,3200
$GC,1607,0.85,72.1,44.6,12.8,334,1612,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2191,3200
$GC,1751,0.85,72.1,28.0,11.2,365,1757,0.00,2.33,0.00,0.000,4,0.000,0.076,3161,781,3199
$GC,1784,0.85,72.1,24.3,10.8,372,1790,0.00,2.35,0.00,0.000,6,0.000,0.071,3161,2207,3199
$GC,1860,0.85,72.1,16.4,10.1,388,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2208,3199
$GC,1935,0.86,82.0,9.3,9.0,404,1952,0.00,2.42,8.20,0.592,4,0.000,0.081,3161,3625,3162
$GC,1962,0.88,96.7,7.0,8.4,409,1979,0.00,2.35,12.10,0.616,6,0.000,0.068,3172,2196,3102
$STATE,2002,end climb,SURFACE_DEPTH_REACHED
$STATE,2002,begin surface coast
$FINISH,3.8,1.021663
$STATE,2067,end surface coast,CONTROL_FINISHED_OK
$STATE,2067,begin surface
$SM_CCo,2069,360.00,0.622,0,1,1163,572.28
$SM_CCo,2431,138.90,0.588,0,0,435,751.11
$SM_GC,0.26,8.43,0.00,0.00,0.048,0.000,0.000,147,2195,431,-8.49,-0.11,752.09
$IRIDIUM_FIX,4748.51,-12217.40,101098,020240
$TT8_MAMPS,0.026845
$HUMID,1939
$INTERNAL_PRESSURE,9.2128
$TCM_TEMP,18.90
$XPDR_PINGS,0
$24V_AH,24.7,1.312
$10V_AH,10.8,0.350
$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,20.200,23.875,127.275,498.900,0.000,22.992,28.118,219.901,0.000,0.000,0.000,14.538,655.268,701.171,719.914,642.461,310.441,33.344,1079.719,0.000,639.032,0.000,0.535,0.000
$DEVICE_MAMPS,245.440,110.448,701.805,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.283,222.942,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15864,431
$CAP_FILE_SIZE,45286,7
$CFSIZE,260165632,258060288
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$GPS,160709,041755,4805.952,-12222.062,42,1.1,42,18.3