version: 66.04
glider: 174
mission: 3
dive: 24
start: 10 8 109 11 36 28
data:
$ID,174
$MISSION,3
$DIVE,24
$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,-52812.949
$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,36
$R_STBD_OVSHOOT,29
$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
$GPS1,112952,4807.174,-12222.890,11,2.4,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.30
$_SM_ANGLEo,-75.7
$GPS2,113536,4807.145,-12222.843,10,1.8,26,18.3
$SPEED_LIMITS,0.104,0.165
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.131,0.101
$KALMAN_X,800.3,1982.8,-351.6,-2150.0,617.3
$KALMAN_Y,-3136.5,-1523.4,698.1,3315.9,-889.5
$MHEAD_RNG_PITCHd_Wd,289.2,331,-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,-78.2,0.0,0.0,0,73,0.00,0.00,-56.47,0.000,6,0.000,0.000,131,2044,3770
$GC,76,-0.53,-78.2,3.1,-5.4,11,93,9.55,2.20,0.00,0.000,4,0.258,0.045,2397,3462,3771
$GC,224,-0.53,-78.2,23.5,-10.5,42,230,0.00,2.15,0.00,0.000,6,0.000,0.035,2397,2024,3773
$GC,300,-0.53,-78.2,31.0,-9.8,58,305,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2024,3773
$GC,374,-0.53,-78.2,37.6,-8.8,74,380,0.00,2.22,0.00,0.000,4,0.000,0.056,2388,3451,3773
$GC,436,-0.53,-78.2,43.2,-9.5,87,442,0.00,2.10,0.00,0.000,6,0.000,0.036,2388,2039,3773
$GC,581,-0.53,-78.2,57.9,-10.0,118,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2038,3773
$GC,725,-0.53,-78.2,71.8,-9.5,149,731,0.00,2.20,0.00,0.000,4,0.000,0.057,2385,3459,3773
$GC,829,-0.53,-78.2,82.5,-10.4,171,835,0.00,2.10,0.00,0.000,6,0.000,0.036,2384,2039,3773
$GC,976,-0.53,-78.2,96.4,-9.4,202,982,0.00,2.10,0.00,0.000,4,0.000,0.043,2384,636,3773
$GC,1033,-0.53,-78.2,102.1,-10.0,214,1039,0.12,2.15,0.00,0.000,6,0.173,0.048,2408,2043,3773
$STATE,1099,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1099,begin apogee
$GC,1103,-0.14,0.0,107.7,8.2,228,1169,0.38,0.00,60.78,0.735,6,0.143,0.000,2530,1992,3450
$STATE,1170,end apogee,CONTROL_FINISHED_OK
$STATE,1170,begin climb
$GC,1171,0.53,78.2,110.0,0.0,240,1241,0.65,2.33,61.20,0.710,4,0.106,0.048,2759,576,3130
$GC,1270,0.53,78.2,104.5,7.0,259,1277,0.00,2.25,0.00,0.000,6,0.000,0.051,2759,1977,3130
$GC,1416,0.53,78.2,91.4,9.1,290,1422,0.00,2.20,0.00,0.000,4,0.000,0.051,2770,575,3130
$GC,1436,0.53,78.2,89.5,9.0,294,1442,0.00,2.22,0.00,0.000,6,0.000,0.051,2770,1988,3129
$GC,1582,0.53,78.2,75.7,9.4,325,1588,0.00,2.20,0.00,0.000,4,0.000,0.050,2779,572,3129
$GC,1598,0.53,78.2,74.2,9.4,328,1604,0.00,2.20,0.00,0.000,6,0.000,0.051,2779,1985,3129
$GC,1744,0.53,78.2,60.1,9.7,359,1750,0.00,2.20,0.00,0.000,4,0.000,0.060,2779,3392,3130
$GC,1759,0.53,78.2,58.4,9.9,362,1766,0.12,2.15,0.00,0.000,6,0.173,0.041,2760,1978,3129
$GC,1904,0.53,78.2,45.8,8.3,393,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1975,3129
$GC,2049,0.53,78.2,34.0,8.2,424,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1976,3129
$GC,2123,0.53,78.2,27.9,8.2,440,2129,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1976,3130
$GC,2198,0.53,78.2,22.2,7.6,456,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1976,3129
$GC,2273,0.53,78.2,16.5,7.5,472,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1976,3129
$GC,2348,0.53,78.2,11.2,6.7,488,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1976,3130
$GC,2423,0.53,78.2,5.7,7.5,504,2429,0.00,2.20,0.00,0.000,4,0.000,0.058,2759,3395,3130
$STATE,2483,end climb,SURFACE_DEPTH_REACHED
$STATE,2483,begin surface coast
$FINISH,1.1,1.021585
$STATE,2520,end surface coast,CONTROL_FINISHED_OK
$STATE,2520,begin surface
$SM_CCo,2536,97.47,0.657,0,0,2307,280.13
$SM_GC,0.73,0.00,0.00,97.47,0.000,0.000,0.657,138,2021,2307,-7.65,-0.54,280.13
$IRIDIUM_FIX,4745.30,-12212.96,020199,101048
$TT8_MAMPS,0.029146
$HUMID,2007
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,27.2
$24V_AH,24.6,2.084
$10V_AH,10.8,0.854
$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,18.100,39.325,121.975,97.475,0.000,22.453,24.338,206.590,1.250,0.000,0.000,26.488,818.541,729.427,327.599,799.956,317.720,33.313,761.485,0.000,773.547,0.000,11.407,0.000
$DEVICE_MAMPS,258.479,108.914,734.786,657.319,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.603,272.220,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,18992,525
$CAP_FILE_SIZE,53146,0
$CFSIZE,260165632,257388544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,122107,4807.321,-12223.148,12,1.6,12,18.3