version: 66.04
glider: 174
mission: 3
dive: 4
start: 10 7 109 19 54 18
data:
$ID,174
$MISSION,3
$DIVE,4
$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,350
$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,-52293.961
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,141
$PITCH_MAX,3944
$C_PITCH,2595
$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,29
$R_STBD_OVSHOOT,25
$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,4
$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
$GPS1,194944,4806.774,-12222.764,11,1.0,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.9
$GPS2,195325,4806.762,-12222.768,10,1.5,15,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.175,-0.157
$KALMAN_X,-196.8,-158.8,-140.2,868.8,-85.2
$KALMAN_Y,-209.2,-190.5,-172.4,-781.4,-90.8
$MHEAD_RNG_PITCHd_Wd,113.5,1700,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.71,-117.3,0.0,0.0,0,84,0.00,0.00,-67.88,0.000,2,0.000,0.000,129,2043,3684
$GC,86,-0.71,-117.3,3.1,-6.8,13,109,9.50,2.20,-5.93,0.000,4,0.267,0.061,2368,626,3930
$GC,363,-0.71,-117.3,42.0,-12.9,72,369,0.00,2.20,0.00,0.000,6,0.000,0.051,2361,2054,3932
$GC,508,-0.71,-117.3,60.5,-12.6,103,514,0.00,2.17,0.00,0.000,4,0.000,0.058,2351,3463,3932
$GC,519,-0.71,-117.3,61.9,-12.7,105,525,0.00,2.15,0.00,0.000,6,0.000,0.039,2351,2022,3932
$GC,664,-0.71,-117.3,82.1,-13.3,136,669,0.00,2.22,0.00,0.000,4,0.000,0.058,2347,3456,3932
$GC,735,-0.71,-117.3,92.2,-14.3,151,741,0.00,2.12,0.00,0.000,6,0.000,0.040,2347,2027,3932
$STATE,831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,831,begin apogee
$GC,834,-0.14,0.0,105.5,13.5,171,931,0.62,0.00,90.55,0.732,6,0.163,0.000,2539,2025,3450
$STATE,932,end apogee,CONTROL_FINISHED_OK
$STATE,932,begin climb
$GC,933,0.71,117.3,109.0,0.0,189,1035,0.82,2.28,91.72,0.701,4,0.104,0.051,2825,644,2971
$GC,1069,0.71,117.3,95.4,14.3,215,1075,0.00,2.25,0.00,0.000,6,0.000,0.054,2825,2039,2971
$GC,1215,0.71,117.3,73.2,15.3,246,1220,0.00,2.25,0.00,0.000,4,0.000,0.060,2826,3463,2971
$GC,1239,0.71,117.3,69.1,15.9,251,1245,0.00,2.17,0.00,0.000,6,0.000,0.043,2836,2049,2971
$GC,1385,0.71,117.3,45.6,16.9,282,1391,0.00,2.17,0.00,0.000,4,0.000,0.052,2847,626,2970
$GC,1484,0.71,117.3,29.3,16.0,303,1490,0.00,2.22,0.00,0.000,6,0.000,0.056,2847,2049,2970
$GC,1559,0.71,117.3,17.6,14.9,319,1565,0.00,2.20,0.00,0.000,4,0.000,0.062,2847,3457,2970
$GC,1593,0.71,117.3,11.9,17.1,326,1600,0.12,2.17,0.00,0.000,6,0.198,0.046,2830,2028,2970
$STATE,1651,end climb,SURFACE_DEPTH_REACHED
$STATE,1651,begin surface coast
$FINISH,0.5,1.021926
$STATE,1688,end surface coast,CONTROL_FINISHED_OK
$STATE,1688,begin surface
$SM_CCo,1702,105.43,0.637,1,0,2022,350.04
$SM_GC,0.96,0.00,0.00,105.43,0.000,0.000,0.637,129,2026,2022,-7.71,-0.40,350.04
$IRIDIUM_FIX,4748.51,-12219.12,010199,191902
$TT8_MAMPS,0.028379
$HUMID,2042
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.20
$XPDR_PINGS,1
$24V_AH,24.6,0.871
$10V_AH,10.8,0.299
$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,18.275,30.800,182.275,105.425,0.000,0.000,0.000,0.000,2.500,0.000,0.000,15.497,522.611,444.171,359.213,530.278,28.416,32.327,674.397,0.000,517.713,0.000,16.685,0.000
$DEVICE_MAMPS,266.916,62.127,732.485,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.213,174.215,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12769,346
$CAP_FILE_SIZE,49333,0
$CFSIZE,260165632,257982464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071009,202534,4806.634,-12222.539,11,2.3,30,18.3