version: 66.04
glider: 173
mission: 3
dive: 2
start: 10 7 109 18 19 5
data:
$ID,173
$MISSION,3
$DIVE,2
$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,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5696.2676
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2930
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,33
$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,2250
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3423
$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,-71.006035
$PRESSURE_SLOPE,0.0001159958
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,40
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$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,3
$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
$GPS1,181443,4806.879,-12223.237,13,1.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-69.9
$GPS2,181814,4806.851,-12223.256,14,1.7,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SEVENN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,0.182
$KALMAN_X,-49.6,-49.6,-49.6,202.5,-80.9
$KALMAN_Y,-112.3,-112.3,-112.3,-525.4,-183.1
$MHEAD_RNG_PITCHd_Wd,20.8,420,-19.7,-10.000
$D_GRID,101
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.74,-117.3,0.0,0.0,0,141,0.00,0.00,-125.07,0.000,2,0.000,0.000,139,2261,3582
$GC,144,-0.74,-117.3,3.3,-6.6,24,168,10.43,2.30,-7.50,0.000,4,0.268,0.065,2684,834,3904
$GC,270,-0.74,-117.3,23.4,-15.1,50,276,0.00,2.25,0.00,0.000,6,0.000,0.058,2683,2239,3905
$GC,346,-0.74,-117.3,35.4,-16.0,66,352,0.00,2.30,0.00,0.000,4,0.000,0.065,2683,3663,3905
$GC,389,-0.74,-117.3,42.5,-16.4,75,395,0.00,2.17,0.00,0.000,6,0.000,0.042,2683,2252,3905
$GC,534,-0.74,-117.3,65.8,-16.6,106,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2253,3906
$GC,681,-0.74,-117.3,90.1,-16.7,137,687,0.00,2.28,0.00,0.000,4,0.000,0.065,2683,3661,3906
$GC,729,-0.74,-117.3,98.3,-16.9,147,735,0.00,2.17,0.00,0.000,6,0.000,0.043,2683,2252,3906
$STATE,743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,743,begin apogee
$GC,747,-0.21,0.0,101.0,17.4,150,838,0.55,0.00,86.47,0.691,6,0.176,0.000,2855,2462,3423
$STATE,839,end apogee,CONTROL_FINISHED_OK
$STATE,839,begin climb
$GC,840,0.74,117.3,107.0,0.0,167,937,0.93,2.25,86.75,0.655,4,0.128,0.056,3161,3787,2943
$GC,951,0.74,117.3,96.0,15.2,188,957,0.00,2.15,0.00,0.000,6,0.000,0.041,3171,2453,2943
$GC,1097,0.74,117.3,71.7,16.4,219,1103,0.00,2.20,0.00,0.000,4,0.000,0.057,3171,3805,2943
$GC,1109,0.74,117.3,69.7,16.8,221,1115,0.00,2.15,0.00,0.000,6,0.000,0.041,3181,2437,2942
$GC,1254,0.74,117.3,44.5,17.6,252,1260,0.00,2.20,0.00,0.000,4,0.000,0.058,3181,3799,2942
$GC,1283,0.74,117.3,39.0,18.5,258,1290,0.10,2.12,0.00,0.000,6,0.211,0.041,3168,2437,2942
$GC,1359,0.74,117.3,26.8,15.2,274,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2436,2942
$GC,1434,0.74,117.3,16.1,14.1,290,1439,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2436,2942
$GC,1509,0.74,117.3,6.4,12.4,306,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2437,2942
$STATE,1545,end climb,SURFACE_DEPTH_REACHED
$STATE,1545,begin surface coast
$FINISH,0.2,0.999504
$STATE,1564,end surface coast,CONTROL_FINISHED_OK
$STATE,1565,begin surface
$SM_CCo,1579,84.22,0.581,0,0,2199,300.00
$SM_GC,1.66,0.00,0.00,84.22,0.000,0.000,0.581,138,2235,2199,-8.73,-0.42,300.00
$IRIDIUM_FIX,4742.09,-12358.36,010199,181800
$TT8_MAMPS,0.026078
$HUMID,2062
$INTERNAL_PRESSURE,9.26213
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,35.3
$24V_AH,24.6,2.641
$10V_AH,10.8,1.311
$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,19.800,27.175,173.225,84.225,0.000,0.000,0.000,0.000,1.250,0.000,0.000,14.489,464.617,382.351,373.073,488.452,26.423,30.180,682.677,0.000,476.957,0.000,11.503,0.000
$DEVICE_MAMPS,267.683,65.962,691.067,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.998,170.466,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9627,318
$CAP_FILE_SIZE,63193,0
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,184732,4806.955,-12223.058,11,1.4,11,18.3