version: 66.04
glider: 173
mission: 2
dive: 13
start: 9 18 109 5 9 34
data:
$ID,173
$MISSION,2
$DIVE,13
$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,-7
$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,-4894.8413
$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,27
$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,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,5
$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
$GPS1,050506,4805.501,-12221.304,15,1.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-77.3
$GPS2,050838,4805.510,-12221.305,13,1.1,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIXN
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,0.199
$KALMAN_X,-132.3,-100.5,-32.8,1057.4,167.2
$KALMAN_Y,-902.0,-47.3,-80.3,-200.9,-225.0
$MHEAD_RNG_PITCHd_Wd,301.7,1250,-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,-0.69,-146.6,0.0,0.0,0,95,0.00,0.00,-79.10,0.000,2,0.000,0.000,140,2040,3638
$GC,98,-0.69,-146.6,3.2,-2.8,15,121,10.20,2.25,-7.32,0.000,4,0.270,0.071,2598,645,3961
$GC,292,-0.69,-146.6,30.8,-13.1,56,298,0.00,2.28,0.00,0.000,6,0.000,0.059,2593,2053,3963
$GC,368,-0.69,-146.6,40.7,-12.7,72,374,0.00,2.33,0.00,0.000,4,0.000,0.070,2593,3471,3964
$GC,407,-0.69,-146.6,46.0,-13.9,80,413,0.00,2.25,0.00,0.000,6,0.000,0.049,2593,2046,3964
$GC,552,-0.69,-146.6,65.0,-13.3,111,558,0.00,2.33,0.00,0.000,4,0.000,0.069,2592,3466,3965
$GC,600,-0.69,-146.6,71.4,-13.6,121,606,0.00,2.22,0.00,0.000,6,0.000,0.048,2592,2049,3965
$GC,744,-0.69,-146.6,89.4,-12.6,152,751,0.00,2.30,0.00,0.000,4,0.000,0.068,2592,3461,3964
$GC,807,-0.69,-146.6,97.5,-12.6,165,813,0.00,2.22,0.00,0.000,6,0.000,0.048,2592,2039,3965
$STATE,890,end dive,TARGET_DEPTH_EXCEEDED
$STATE,890,begin apogee
$GC,894,-0.21,0.0,108.1,12.9,183,996,0.50,0.00,96.28,0.632,6,0.154,0.000,2755,2264,3415
$STATE,996,end apogee,CONTROL_FINISHED_OK
$STATE,996,begin climb
$GC,998,0.69,146.6,111.6,0.0,202,1110,0.85,0.00,106.25,0.611,6,0.100,0.000,3054,2264,2817
$GC,1249,0.69,146.6,69.1,21.8,253,1255,0.00,2.30,0.00,0.000,4,0.000,0.061,3054,3661,2816
$GC,1297,0.69,146.6,58.5,22.6,263,1303,0.00,2.28,0.00,0.000,6,0.000,0.048,3065,2244,2816
$GC,1442,0.69,146.6,27.9,20.1,294,1448,0.00,2.33,0.00,0.000,4,0.000,0.061,3065,3670,2816
$GC,1463,0.69,146.6,23.5,21.2,298,1469,0.10,2.28,0.00,0.000,6,0.218,0.048,3053,2238,2816
$GC,1539,0.69,146.6,9.1,18.7,314,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2237,2815
$STATE,1591,end climb,SURFACE_DEPTH_REACHED
$STATE,1591,begin surface coast
$FINISH,1.1,1.018977
$STATE,1605,end surface coast,CONTROL_FINISHED_OK
$STATE,1605,begin surface
$SM_CCo,1620,138.15,0.581,0,0,1581,450.13
$SM_GC,1.18,0.00,0.00,138.15,0.000,0.000,0.581,134,2044,1581,-8.42,-0.17,450.13
$IRIDIUM_FIX,4748.51,-12214.67,131298,040431
$TT8_MAMPS,0.026845
$HUMID,2146
$INTERNAL_PRESSURE,9.2719
$TCM_TEMP,19.40
$XPDR_PINGS,1
$24V_AH,24.6,1.180
$10V_AH,10.8,0.782
$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,19.650,28.000,202.525,138.150,0.000,25.920,25.609,95.097,1.750,0.000,0.000,13.412,489.841,405.986,409.073,499.874,188.690,33.342,718.434,0.000,491.626,0.000,10.280,0.000
$DEVICE_MAMPS,269.984,70.564,632.008,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,217.931,166.738,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9581,328
$CAP_FILE_SIZE,35390,0
$CFSIZE,260165632,257982464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,053938,4805.614,-12221.574,13,1.4,13,18.3