version: 66.04
glider: 174
mission: 3
dive: 20
start: 10 8 109 8 3 18
data:
$ID,174
$MISSION,3
$DIVE,20
$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,-52711.492
$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,38
$R_STBD_OVSHOOT,27
$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,10
$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
$GPS1,075719,4806.533,-12221.899,11,1.5,16,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-75.4
$GPS2,080225,4806.511,-12221.876,12,1.9,17,18.3
$SPEED_LIMITS,0.104,0.165
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.133,0.098
$KALMAN_X,-732.5,1479.7,426.7,302.7,141.9
$KALMAN_Y,-985.4,-1028.7,-1008.5,1202.3,-149.3
$MHEAD_RNG_PITCHd_Wd,288.2,1659,-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,-56.88,0.000,6,0.000,0.000,130,2041,3770
$GC,76,-0.53,-78.2,2.9,-4.8,11,94,9.77,2.22,0.00,0.000,4,0.266,0.050,2400,3458,3772
$GC,233,-0.53,-78.2,20.8,-10.0,44,240,0.00,2.15,0.00,0.000,6,0.000,0.036,2400,2024,3773
$GC,309,-0.53,-78.2,27.8,-8.9,60,315,0.00,2.25,0.00,0.000,4,0.000,0.055,2393,3466,3773
$GC,371,-0.53,-78.2,33.6,-9.6,73,377,0.00,2.12,0.00,0.000,6,0.000,0.034,2393,2032,3773
$GC,447,-0.53,-78.2,40.5,-9.2,89,452,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2032,3774
$GC,591,-0.53,-78.2,53.9,-9.1,120,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2032,3774
$GC,735,-0.53,-78.2,67.3,-9.2,151,741,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2032,3774
$GC,879,-0.53,-78.2,80.5,-8.9,182,885,0.00,2.20,0.00,0.000,4,0.000,0.057,2388,3453,3774
$GC,934,-0.53,-78.2,85.8,-9.8,193,940,0.00,2.10,0.00,0.000,6,0.000,0.036,2388,2032,3774
$GC,1082,-0.53,-78.2,99.4,-9.1,224,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2029,3774
$GC,1229,-0.53,-78.2,112.7,-8.8,255,1235,0.00,2.20,0.00,0.000,4,0.000,0.058,2387,3454,3773
$STATE,1261,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1261,begin apogee
$GC,1267,-0.14,0.0,115.3,8.5,261,1333,0.43,0.00,60.85,0.740,6,0.125,0.000,2529,1965,3450
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1335,0.53,78.2,115.8,0.0,273,1401,0.68,0.00,61.38,0.713,6,0.119,0.000,2750,1965,3131
$GC,1540,0.53,78.2,102.9,8.0,315,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1965,3130
$GC,1684,0.53,78.2,91.6,8.1,346,1689,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1965,3130
$GC,1828,0.53,78.2,80.6,7.8,377,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1965,3130
$GC,1972,0.53,78.2,69.0,8.1,408,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1965,3130
$GC,2116,0.53,78.2,57.4,8.1,439,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1965,3130
$GC,2260,0.53,78.2,46.0,7.9,470,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1965,3130
$GC,2405,0.53,78.2,35.0,7.7,501,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1965,3130
$GC,2480,0.53,78.2,29.5,7.4,517,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1965,3130
$GC,2555,0.53,78.2,24.3,6.6,533,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1965,3130
$GC,2629,0.53,78.2,19.4,6.6,549,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1965,3130
$GC,2704,0.53,78.2,14.5,6.6,565,2709,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1965,3130
$GC,2779,0.53,78.2,9.5,6.7,581,2785,0.00,2.22,0.00,0.000,4,0.000,0.059,2749,3400,3130
$GC,2790,0.53,78.2,8.8,6.6,583,2796,0.00,2.12,0.00,0.000,6,0.000,0.041,2759,1978,3130
$GC,2866,0.53,78.2,3.7,6.5,599,2872,0.00,2.20,0.00,0.000,4,0.000,0.058,2759,3400,3130
$STATE,2889,end climb,SURFACE_DEPTH_REACHED
$STATE,2889,begin surface coast
$FINISH,1.1,1.021985
$STATE,2904,end surface coast,CONTROL_FINISHED_OK
$STATE,2904,begin surface
$SM_CCo,2920,91.62,0.658,0,0,2307,280.13
$SM_GC,1.11,0.00,0.00,91.62,0.000,0.000,0.658,135,2023,2307,-7.66,-0.45,280.13
$IRIDIUM_FIX,4748.51,-12219.12,020199,070709
$TT8_MAMPS,0.028379
$HUMID,1998
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.3,8.1
$24V_AH,24.6,1.857
$10V_AH,10.8,0.734
$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,18.200,26.150,122.225,91.625,0.000,25.737,25.500,171.683,3.500,0.000,0.000,17.441,941.546,860.718,321.944,917.458,291.468,33.313,807.019,0.000,892.128,0.000,30.260,0.000
$DEVICE_MAMPS,266.149,59.059,740.155,658.086,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,409.834,308.189,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18983,607
$CAP_FILE_SIZE,56234,0
$CFSIZE,260165632,257511424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,085414,4806.646,-12222.172,11,1.9,11,18.3