version: 66.04
glider: 174
mission: 3
dive: 2
start: 10 7 109 18 15 11
data:
$ID,174
$MISSION,3
$DIVE,2
$D_SURF,4
$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,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51281
$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,-52181.297
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,141
$PITCH_MAX,3944
$C_PITCH,2610
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,164
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2040
$C_ROLL_CLIMB,2040
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3450
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-65.588158
$PRESSURE_SLOPE,0.0001153192
$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,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043291254
$SEABIRD_T_H,0.00062543445
$SEABIRD_T_I,2.3941184e-05
$SEABIRD_T_J,2.5959678e-06
$SEABIRD_C_G,-10.112459
$SEABIRD_C_H,1.147844
$SEABIRD_C_I,-0.00018212647
$SEABIRD_C_J,0.00010580273
$GPS1,181014,4807.222,-12223.148,9,1.6,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.8
$GPS2,181420,4807.200,-12223.175,17,2.0,17,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.205,-0.115
$KALMAN_X,-56.7,-56.7,-56.7,45.8,-136.9
$KALMAN_Y,-86.8,-86.8,-86.8,-271.7,-209.5
$MHEAD_RNG_PITCHd_Wd,101.1,2656,-19.7,-10.000
$D_GRID,105
$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,-0.71,-117.3,0.0,0.0,0,147,0.00,0.00,-130.40,0.000,2,0.000,0.000,134,2050,3726
$GC,149,-0.71,-117.3,3.2,-6.8,25,172,9.02,2.20,-5.22,0.000,4,0.249,0.062,2376,639,3931
$GC,330,-0.71,-117.3,25.0,-11.4,63,336,0.00,2.17,0.00,0.000,6,0.000,0.052,2373,2051,3932
$GC,405,-0.71,-117.3,33.4,-11.4,79,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2051,3932
$GC,480,-0.71,-117.3,42.1,-11.8,95,486,0.00,2.17,0.00,0.000,4,0.000,0.058,2364,3462,3933
$GC,491,-0.71,-117.3,43.3,-11.5,97,497,0.00,2.12,0.00,0.000,6,0.000,0.040,2364,2037,3933
$GC,636,-0.71,-117.3,61.7,-12.6,128,642,0.00,2.20,0.00,0.000,4,0.000,0.059,2360,3454,3933
$GC,693,-0.71,-117.3,69.5,-13.8,140,699,0.00,2.12,0.00,0.000,6,0.000,0.040,2359,2027,3933
$GC,842,-0.71,-117.3,88.4,-13.0,171,848,0.00,2.20,0.00,0.000,4,0.000,0.058,2351,3453,3932
$GC,899,-0.71,-117.3,96.3,-13.7,183,905,0.12,2.10,0.00,0.000,6,0.167,0.040,2382,2034,3933
$STATE,974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,974,begin apogee
$GC,977,-0.14,0.0,105.4,11.7,199,1074,0.55,0.00,90.50,0.729,6,0.153,0.000,2556,2032,3450
$STATE,1074,end apogee,CONTROL_FINISHED_OK
$STATE,1074,begin climb
$GC,1076,0.71,117.3,107.9,0.0,217,1172,0.80,0.00,91.75,0.701,6,0.095,0.000,2831,2031,2971
$GC,1311,0.71,117.3,78.0,15.9,265,1317,0.00,2.17,0.00,0.000,4,0.000,0.053,2841,643,2969
$GC,1345,0.71,117.3,72.4,16.4,272,1351,0.00,2.20,0.00,0.000,6,0.000,0.056,2841,2035,2969
$GC,1491,0.71,117.3,48.3,17.4,303,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2036,2969
$GC,1635,0.71,117.3,24.5,16.1,334,1641,0.00,2.15,0.00,0.000,4,0.000,0.052,2851,643,2969
$GC,1683,0.71,117.3,17.0,15.3,344,1689,0.00,2.20,0.00,0.000,6,0.000,0.056,2851,2054,2969
$GC,1759,0.71,117.3,5.3,15.3,360,1764,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2055,2968
$STATE,1768,end climb,SURFACE_DEPTH_REACHED
$STATE,1768,begin surface coast
$FINISH,0.6,1.021909
$STATE,1796,end surface coast,CONTROL_FINISHED_OK
$STATE,1796,begin surface
$SM_CCo,1810,83.50,0.647,0,0,2226,300.00
$SM_GC,1.41,0.00,0.00,83.50,0.000,0.000,0.647,132,2057,2226,-7.75,0.48,300.00
$IRIDIUM_FIX,4751.72,-12200.32,010199,181833
$TT8_MAMPS,0.029146
$HUMID,2071
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,19.30
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,75.3,6.0
$24V_AH,24.6,0.694
$10V_AH,10.8,0.242
$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,17.775,26.025,182.250,83.500,0.000,0.000,0.000,0.000,1.750,0.000,0.000,17.488,533.124,463.093,379.433,563.717,28.883,30.181,721.768,0.000,549.393,0.000,9.774,0.000
$DEVICE_MAMPS,248.508,62.127,728.650,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,243.958,189.693,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12759,368
$CAP_FILE_SIZE,51962,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,184746,4807.046,-12222.916,9,2.2,28,18.3