version: 66.04
glider: 173
mission: 2
dive: 1
start: 9 17 109 21 7 29
data:
$ID,173
$MISSION,2
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,0
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4450.0332
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2829
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3276
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-71.154404
$PRESSURE_SLOPE,0.0001159958
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.5
$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,0.0043109059
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,210344,4806.185,-12221.956,13,1.8,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.2
$GPS2,210632,4806.174,-12221.945,12,2.0,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIXS
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,-0.254
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,173.6,330,-17.5,-10.000
$D_GRID,108
$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,-0.62,-146.6,0.0,0.0,0,132,0.00,0.00,-115.05,0.000,2,0.000,0.000,131,2001,3478
$GC,134,-0.62,-146.6,3.1,-6.1,22,158,9.88,2.28,-9.10,0.000,4,0.255,0.068,2627,580,3876
$GC,422,-0.62,-146.6,24.1,-6.7,83,428,0.00,2.25,0.00,0.000,6,0.000,0.060,2627,2007,3877
$GC,498,-0.62,-146.6,29.6,-7.7,99,504,0.00,2.22,0.00,0.000,4,0.000,0.055,2627,582,3876
$GC,547,-0.62,-146.6,33.7,-8.6,109,552,0.00,2.25,0.00,0.000,6,0.000,0.059,2625,2010,3876
$GC,623,-0.62,-146.6,39.7,-8.4,125,629,0.00,2.25,0.00,0.000,4,0.000,0.066,2620,3421,3876
$STATE,683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,683,begin apogee
$GC,689,-0.12,0.0,45.4,9.0,138,796,0.50,0.00,102.57,0.600,6,0.145,0.000,2787,1994,3276
$STATE,796,end apogee,CONTROL_FINISHED_OK
$STATE,797,begin climb
$GC,798,0.62,146.6,46.6,0.0,158,911,0.65,2.38,103.62,0.574,4,0.087,0.059,3029,3422,2678
$GC,962,0.62,146.6,21.9,20.2,190,968,0.00,2.28,0.00,0.000,6,0.000,0.047,3040,1990,2676
$GC,1038,0.62,146.6,7.8,17.6,206,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,1989,2675
$GC,1113,0.83,319.2,3.7,2.1,222,1173,0.17,0.00,57.03,0.547,2,0.077,0.000,3123,1989,2240
$STATE,1174,end climb,SURFACE_DEPTH_REACHED
$STATE,1174,begin surface coast
$FINISH,0.2,1.007494
$STATE,1235,end surface coast,CONTROL_FINISHED_OK
$STATE,1235,begin surface
$SM_CCo,1249,200.50,0.533,0,0,440,695.67
$SM_CCo,1452,0.00,0.000,0,0,438,695.92
$SM_CCo,1454,0.00,0.000,0,0,438,696.16
$SM_GC,1.01,0.00,0.00,0.00,0.000,0.000,0.000,131,1989,438,-8.43,-0.34,696.16
$IRIDIUM_FIX,4748.51,-12220.12,121298,202032
$TT8_MAMPS,0.026078
$HUMID,1890
$INTERNAL_PRESSURE,9.39886
$TCM_TEMP,21.00
$XPDR_PINGS,9
$24V_AH,25.1,0.245
$10V_AH,10.9,0.498
$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,18.975,18.125,263.225,200.500,0.000,0.000,0.000,0.000,2.250,0.000,0.000,12.324,336.155,263.228,525.956,376.201,29.060,29.238,789.470,0.000,374.687,0.000,0.540,0.000
$DEVICE_MAMPS,254.644,68.263,599.794,533.065,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,160.058,161.098,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6458,246
$CAP_FILE_SIZE,51010,0
$CFSIZE,260165632,258281472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,213246,4806.097,-12221.935,10,3.9,29,18.3