version: 66.04
glider: 174
mission: 3
dive: 5
start: 10 7 109 20 49 14
data:
$ID,174
$MISSION,3
$DIVE,5
$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,-52352.57
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,141
$PITCH_MAX,3944
$C_PITCH,2585
$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,33
$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,4
$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
$GPS1,204143,4806.599,-12222.553,8,0.9,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-72.5
$GPS2,204820,4806.585,-12222.558,14,0.9,14,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.188
$KALMAN_X,-248.1,-199.9,-152.8,1233.9,-38.6
$KALMAN_Y,-192.5,-207.7,-181.3,-1099.8,-9.0
$MHEAD_RNG_PITCHd_Wd,125.0,1285,-19.7,-10.000
$D_GRID,107
$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,-0.71,-117.3,0.0,0.0,0,85,0.00,0.00,-68.72,0.000,2,0.000,0.000,129,2026,3706
$GC,87,-0.71,-117.3,3.1,-6.8,13,110,9.45,2.17,-5.43,0.000,4,0.268,0.061,2355,622,3931
$GC,373,-0.71,-117.3,45.1,-14.0,74,380,0.00,2.20,0.00,0.000,6,0.000,0.052,2347,2048,3932
$GC,519,-0.71,-117.3,64.9,-13.7,105,524,0.00,2.17,0.00,0.000,4,0.000,0.048,2347,618,3932
$GC,529,-0.71,-117.3,66.4,-13.6,107,535,0.00,2.20,0.00,0.000,6,0.000,0.052,2347,2044,3933
$GC,677,-0.71,-117.3,87.0,-13.9,138,683,0.00,2.17,0.00,0.000,4,0.000,0.060,2338,3452,3933
$GC,688,-0.71,-117.3,88.5,-13.2,140,694,0.00,2.12,0.00,0.000,6,0.000,0.039,2338,2025,3933
$STATE,821,end dive,TARGET_DEPTH_EXCEEDED
$STATE,821,begin apogee
$GC,825,-0.14,0.0,107.4,13.3,168,921,0.62,0.00,91.07,0.732,6,0.166,0.000,2527,2022,3450
$STATE,922,end apogee,CONTROL_FINISHED_OK
$STATE,922,begin climb
$GC,924,0.71,117.3,111.2,0.0,186,1026,0.85,2.28,92.03,0.703,4,0.110,0.051,2815,645,2971
$GC,1086,0.71,117.3,94.5,13.8,218,1092,0.00,2.25,0.00,0.000,6,0.000,0.054,2815,2046,2970
$GC,1231,0.71,117.3,73.0,15.3,249,1237,0.00,2.22,0.00,0.000,4,0.000,0.061,2815,3452,2970
$GC,1265,0.71,117.3,67.3,17.0,256,1271,0.00,2.15,0.00,0.000,6,0.000,0.044,2825,2052,2970
$GC,1411,0.71,117.3,44.4,15.7,287,1417,0.00,2.20,0.00,0.000,4,0.000,0.053,2836,629,2970
$GC,1510,0.71,117.3,29.5,14.6,308,1516,0.00,2.22,0.00,0.000,6,0.000,0.057,2836,2050,2970
$GC,1585,0.71,117.3,18.1,14.9,324,1591,0.00,2.20,0.00,0.000,4,0.000,0.062,2836,3457,2970
$GC,1624,0.71,117.3,11.7,17.4,332,1631,0.12,2.17,0.00,0.000,6,0.193,0.045,2818,2028,2970
$STATE,1680,end climb,SURFACE_DEPTH_REACHED
$STATE,1681,begin surface coast
$FINISH,0.8,1.021909
$STATE,1719,end surface coast,CONTROL_FINISHED_OK
$STATE,1719,begin surface
$SM_CCo,1733,107.53,0.643,0,0,2022,350.04
$SM_GC,0.96,0.00,0.00,107.53,0.000,0.000,0.643,136,2025,2022,-7.65,-0.40,350.04
$IRIDIUM_FIX,4748.51,-12220.12,010199,202011
$TT8_MAMPS,0.028379
$HUMID,2020
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.50
$XPDR_PINGS,4
$24V_AH,24.5,0.964
$10V_AH,10.8,0.330
$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,18.375,30.750,183.100,107.525,0.000,0.000,0.000,0.000,4.000,0.000,0.000,15.032,529.300,451.682,357.685,544.011,29.190,33.323,675.673,0.000,525.726,0.000,24.699,0.000
$DEVICE_MAMPS,267.683,62.127,731.718,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,234.359,175.212,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12721,352
$CAP_FILE_SIZE,53915,0
$CFSIZE,260165632,257949696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,212038,4806.481,-12222.365,11,1.2,11,18.3