version: 66.04
glider: 173
mission: 2
dive: 8
start: 9 18 109 2 8 46
data:
$ID,173
$MISSION,2
$DIVE,8
$D_SURF,2
$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,60
$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,-8
$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,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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-4816.0542
$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,34
$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,2050
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3416
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$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
$GPS1,020408,4804.957,-12221.146,13,1.6,13,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.4
$GPS2,020750,4804.948,-12221.150,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,0.060
$KALMAN_X,-525.6,-87.3,-25.3,1622.8,-176.7
$KALMAN_Y,5.8,24.5,27.7,-2326.9,-36.1
$MHEAD_RNG_PITCHd_Wd,51.9,210,-26.6,-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,13,-0.86,-66.3,0.0,0.0,0,131,0.00,0.00,-114.57,0.000,2,0.000,0.000,136,2034,3431
$GC,133,-0.91,-107.7,3.2,-5.8,22,162,9.80,2.28,-10.12,0.000,4,0.268,0.073,2528,643,3857
$GC,416,-0.91,-107.7,44.7,-15.0,82,422,0.00,2.28,0.00,0.000,6,0.000,0.060,2525,2060,3859
$GC,561,-0.91,-107.7,67.5,-16.0,113,566,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2060,3859
$GC,704,-0.91,-107.7,90.8,-16.6,144,710,0.00,2.28,0.00,0.000,4,0.000,0.069,2523,3466,3860
$GC,738,-0.91,-107.7,96.7,-17.8,151,745,0.00,2.20,0.00,0.000,6,0.000,0.048,2523,2052,3860
$STATE,807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,807,begin apogee
$GC,812,-0.24,0.0,108.0,15.7,166,897,0.73,0.00,78.05,0.652,6,0.181,0.000,2746,2261,3415
$STATE,898,end apogee,CONTROL_FINISHED_OK
$STATE,898,begin climb
$GC,899,0.91,107.7,111.7,0.0,182,984,1.08,0.00,78.43,0.640,6,0.106,0.000,3123,2262,2976
$GC,1123,0.91,107.7,68.3,24.0,228,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2262,2975
$GC,1267,0.91,107.7,35.6,22.1,259,1273,0.00,2.28,0.00,0.000,4,0.000,0.058,3123,3673,2974
$GC,1338,0.91,107.7,18.6,25.3,274,1344,0.00,2.28,0.00,0.000,6,0.000,0.048,3134,2235,2974
$GC,1414,0.91,107.7,4.0,13.1,290,1420,0.00,2.30,0.00,0.000,4,0.000,0.057,3134,3672,2974
$GC,1430,0.92,113.7,2.7,9.4,293,1442,0.10,2.25,4.57,0.441,6,0.255,0.048,3125,2245,2950
$GC,1512,1.05,219.3,4.3,-0.7,310,1583,0.12,2.30,63.97,0.568,4,0.109,0.054,3181,830,2520
$STATE,1596,end climb,SURFACE_DEPTH_REACHED
$STATE,1596,begin surface coast
$FINISH,0.3,1.018768
$STATE,1638,end surface coast,CONTROL_FINISHED_OK
$STATE,1638,begin surface
$SM_CCo,1655,101.12,0.535,0,0,1579,450.13
$SM_GC,1.59,0.00,0.00,101.12,0.000,0.000,0.535,136,2055,1579,-8.42,0.14,450.13
$IRIDIUM_FIX,4748.51,-12217.40,131298,010119
$TT8_MAMPS,0.026078
$HUMID,2185
$INTERNAL_PRESSURE,9.34026
$TCM_TEMP,19.60
$XPDR_PINGS,1
$24V_AH,24.7,0.827
$10V_AH,10.8,0.674
$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,20.200,22.775,225.025,101.125,0.000,23.956,36.294,95.807,1.750,0.000,0.000,14.280,477.820,404.172,412.776,511.436,194.712,33.329,735.120,0.000,502.602,0.000,10.274,0.000
$DEVICE_MAMPS,268.450,72.865,651.950,535.366,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,221.111,179.242,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12762,335
$CAP_FILE_SIZE,34786,0
$CFSIZE,260165632,258109440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,023904,4804.947,-12220.924,9,2.9,28,18.3