version: 66.04
glider: 174
mission: 3
dive: 22
start: 10 8 109 9 53 54
data:
$ID,174
$MISSION,3
$DIVE,22
$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,-52755.031
$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,34
$R_STBD_OVSHOOT,30
$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
$GPS1,094801,4806.785,-12222.492,13,1.6,18,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-76.0
$GPS2,095301,4806.764,-12222.489,11,1.5,11,18.3
$SPEED_LIMITS,0.104,0.165
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.108
$KALMAN_X,-16.5,1728.9,65.8,-1063.2,178.1
$KALMAN_Y,-2222.9,-939.8,-331.6,2146.6,-229.5
$MHEAD_RNG_PITCHd_Wd,292.5,768,-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,-57.03,0.000,6,0.000,0.000,138,2042,3770
$GC,76,-0.53,-78.2,2.4,-4.2,11,94,9.73,2.22,0.00,0.000,4,0.266,0.050,2394,3460,3772
$GC,233,-0.53,-78.2,23.5,-12.3,44,239,0.00,2.15,0.00,0.000,6,0.000,0.036,2394,2026,3773
$GC,309,-0.53,-78.2,32.4,-11.3,60,315,0.00,2.10,0.00,0.000,4,0.000,0.041,2394,633,3773
$GC,366,-0.53,-78.2,38.4,-10.7,72,373,0.00,2.17,0.00,0.000,6,0.000,0.049,2391,2039,3773
$GC,442,-0.53,-78.2,45.7,-9.5,88,448,0.00,2.20,0.00,0.000,4,0.000,0.057,2388,3454,3773
$GC,513,-0.53,-78.2,53.2,-10.8,103,519,0.00,2.12,0.00,0.000,6,0.000,0.036,2388,2027,3773
$GC,658,-0.53,-78.2,67.6,-9.7,134,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2025,3773
$GC,802,-0.53,-78.2,81.2,-9.6,165,808,0.00,2.22,0.00,0.000,4,0.000,0.056,2379,3466,3773
$GC,870,-0.53,-78.2,88.2,-10.7,179,876,0.12,2.12,0.00,0.000,6,0.169,0.035,2409,2023,3773
$GC,1019,-0.53,-78.2,101.2,-8.3,210,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2023,3773
$STATE,1111,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1111,begin apogee
$GC,1115,-0.14,0.0,108.3,7.7,230,1181,0.38,0.00,61.08,0.736,6,0.147,0.000,2530,2022,3450
$STATE,1181,end apogee,CONTROL_FINISHED_OK
$STATE,1181,begin climb
$GC,1183,0.53,78.2,110.6,0.0,242,1253,0.65,2.35,61.33,0.710,4,0.107,0.048,2759,592,3130
$GC,1273,0.53,78.2,105.7,6.8,259,1279,0.00,2.25,0.00,0.000,6,0.000,0.051,2759,1988,3130
$GC,1418,0.53,78.2,92.5,9.1,290,1424,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1988,3130
$GC,1563,0.53,78.2,79.7,8.8,321,1569,0.00,2.17,0.00,0.000,4,0.000,0.049,2769,589,3130
$GC,1574,0.53,78.2,78.5,8.9,323,1580,0.00,2.17,0.00,0.000,6,0.000,0.051,2769,1983,3130
$GC,1719,0.53,78.2,65.0,9.4,354,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1983,3130
$GC,1864,0.53,78.2,51.7,9.1,385,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1983,3129
$GC,2008,0.53,78.2,38.6,9.3,416,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1983,3130
$GC,2083,0.53,78.2,31.8,9.2,432,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1983,3130
$GC,2157,0.53,78.2,25.2,8.7,448,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1983,3129
$GC,2232,0.53,78.2,19.2,7.8,464,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1983,3130
$GC,2307,0.53,78.2,13.2,8.1,480,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1983,3130
$GC,2382,0.53,78.2,7.7,7.4,496,2388,0.00,2.17,0.00,0.000,4,0.000,0.060,2769,3390,3129
$GC,2397,0.53,78.2,6.5,7.6,499,2404,0.00,2.10,0.00,0.000,6,0.000,0.041,2778,1997,3129
$STATE,2472,end climb,SURFACE_DEPTH_REACHED
$STATE,2472,begin surface coast
$FINISH,0.6,1.021415
$STATE,2516,end surface coast,CONTROL_FINISHED_OK
$STATE,2516,begin surface
$SM_CCo,2530,95.72,0.659,0,0,2307,280.13
$SM_GC,0.47,0.00,0.00,95.72,0.000,0.000,0.659,135,2041,2307,-7.66,0.03,280.13
$IRIDIUM_FIX,4751.72,-12223.57,020199,090913
$TT8_MAMPS,0.029146
$HUMID,1990
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.2,23.1
$24V_AH,24.6,1.968
$10V_AH,10.8,0.794
$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,18.175,30.600,122.400,95.725,0.000,28.059,25.515,171.172,2.000,0.000,0.000,11.238,815.295,732.246,320.840,783.864,290.198,33.327,752.085,0.000,772.312,0.000,15.759,0.000
$DEVICE_MAMPS,266.149,116.584,735.553,658.853,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.976,269.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19032,524
$CAP_FILE_SIZE,51739,0
$CFSIZE,260165632,257449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,103843,4806.964,-12222.746,13,1.7,30,18.3