version: 66.04
glider: 174
mission: 3
dive: 17
start: 10 8 109 5 44 8
data:
$ID,174
$MISSION,3
$DIVE,17
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$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,280
$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,-52644.691
$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,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,34
$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,100
$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,3
$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
$GPS1,053515,4806.226,-12221.906,12,3.7,31,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-73.6
$GPS2,054316,4806.175,-12221.843,13,99.0,32,18.3
$SPEED_LIMITS,0.104,0.165
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.138
$KALMAN_X,71.5,34.0,-26.2,1435.9,737.6
$KALMAN_Y,-1638.7,104.0,-132.9,-771.8,-987.6
$MHEAD_RNG_PITCHd_Wd,308.1,2093,-15.2,-6.024
$D_GRID,150
$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,-0.53,-78.2,0.0,0.0,0,74,0.00,0.00,-57.78,0.000,6,0.000,0.000,128,2054,3769
$GC,76,-0.53,-78.2,2.8,-4.5,11,94,9.75,2.17,0.00,0.000,4,0.266,0.051,2401,3443,3772
$GC,187,-0.53,-78.2,17.4,-9.8,34,193,0.00,2.12,0.00,0.000,6,0.000,0.037,2400,2025,3773
$GC,262,-0.53,-78.2,24.0,-8.6,50,268,0.00,2.10,0.00,0.000,4,0.000,0.044,2400,638,3772
$GC,320,-0.53,-78.2,29.0,-8.7,62,326,0.00,2.17,0.00,0.000,6,0.000,0.050,2400,2042,3773
$GC,395,-0.53,-78.2,35.3,-8.1,78,401,0.00,2.20,0.00,0.000,4,0.000,0.058,2390,3460,3773
$GC,517,-0.53,-78.2,46.9,-9.8,104,523,0.00,2.12,0.00,0.000,6,0.000,0.038,2390,2038,3773
$GC,663,-0.53,-78.2,59.9,-8.7,135,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2037,3773
$GC,807,-0.53,-78.2,72.6,-9.0,166,812,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2037,3773
$STATE,894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,894,begin apogee
$GC,898,-0.14,0.0,80.2,9.2,184,964,0.45,0.00,60.88,0.714,6,0.155,0.000,2530,1980,3450
$STATE,964,end apogee,CONTROL_FINISHED_OK
$STATE,964,begin climb
$GC,966,0.53,78.2,83.2,0.0,196,1036,0.65,2.30,61.17,0.690,4,0.107,0.051,2757,582,3130
$GC,1064,0.53,78.2,78.1,6.7,215,1070,0.00,2.25,0.00,0.000,6,0.000,0.052,2757,1977,3130
$GC,1210,0.53,78.2,65.6,8.9,246,1215,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1977,3130
$GC,1354,0.53,78.2,52.7,8.9,277,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1977,3130
$GC,1499,0.53,78.2,40.3,8.4,308,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1977,3130
$GC,1643,0.53,78.2,28.0,8.5,339,1649,0.00,2.22,0.00,0.000,4,0.000,0.061,2757,3398,3130
$GC,1677,0.53,78.2,24.5,9.4,346,1683,0.00,2.15,0.00,0.000,6,0.000,0.041,2768,1979,3130
$GC,1753,0.53,78.2,17.9,8.5,362,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1978,3130
$GC,1828,0.53,78.2,11.9,8.0,378,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1978,3130
$GC,1903,0.53,78.2,5.6,8.2,394,1909,0.00,2.15,0.00,0.000,4,0.000,0.051,2778,572,3130
$GC,1914,0.53,78.2,4.9,8.1,396,1920,0.00,2.20,0.00,0.000,6,0.000,0.053,2778,1994,3130
$STATE,1957,end climb,SURFACE_DEPTH_REACHED
$STATE,1957,begin surface coast
$FINISH,0.6,1.021736
$STATE,1990,end surface coast,CONTROL_FINISHED_OK
$STATE,1990,begin surface
$SM_CCo,2004,95.53,0.650,0,0,2307,280.13
$SM_GC,0.82,0.00,0.00,95.53,0.000,0.000,0.650,137,2056,2307,-7.65,0.48,280.13
$IRIDIUM_FIX,4748.51,-12219.12,020199,050508
$TT8_MAMPS,0.028379
$HUMID,2006
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,46.5
$24V_AH,24.7,1.693
$10V_AH,10.8,0.645
$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,18.225,26.300,122.050,95.525,0.000,50.267,50.908,219.089,0.500,0.000,0.000,33.247,647.425,627.501,305.245,638.740,379.597,33.316,657.669,0.000,611.966,0.000,5.532,0.000
$DEVICE_MAMPS,266.149,108.147,714.077,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,276.723,225.198,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12728,412
$CAP_FILE_SIZE,45534,0
$CFSIZE,260165632,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,062007,4806.264,-12221.889,26,1.6,26,18.3