version: 66.04
glider: 173
mission: 3
dive: 3
start: 10 7 109 19 1 46
data:
$ID,173
$MISSION,3
$DIVE,3
$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,50
$T_MISSION,60
$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,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,-5738.6812
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2930
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,33
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,229
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3423
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-71.006035
$PRESSURE_SLOPE,0.0001159958
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,40
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.5
$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,0.0043109059
$SEABIRD_T_H,0.00062285131
$SEABIRD_T_I,2.334949e-05
$SEABIRD_T_J,2.5233101e-06
$SEABIRD_C_G,-10.053632
$SEABIRD_C_H,1.1655648
$SEABIRD_C_I,-0.001691877
$SEABIRD_C_J,0.00022416639
$GPS1,185438,4806.929,-12223.090,14,1.3,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.7
$GPS2,190055,4806.906,-12223.109,19,1.3,24,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SEVENN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,0.149
$KALMAN_X,-118.9,-76.0,-70.7,496.2,-102.2
$KALMAN_Y,-269.1,-171.9,-160.0,-169.4,-231.3
$MHEAD_RNG_PITCHd_Wd,12.1,221,-27.2,-10.000
$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,-0.90,-63.1,0.0,0.0,0,80,0.00,0.00,-63.38,0.000,2,0.000,0.000,136,2246,3563
$GC,82,-0.95,-101.2,3.0,-5.9,12,105,10.30,2.22,-6.60,0.000,4,0.269,0.065,2622,841,3838
$GC,184,-0.95,-101.2,22.8,-18.2,33,190,0.00,2.25,0.00,0.000,6,0.000,0.056,2621,2244,3840
$GC,260,-0.95,-101.2,36.6,-18.4,49,265,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2245,3840
$GC,335,-0.95,-101.2,50.3,-17.9,65,341,0.00,2.30,0.00,0.000,4,0.000,0.063,2621,3669,3840
$GC,383,-0.95,-101.2,59.8,-20.3,75,389,0.00,2.20,0.00,0.000,6,0.000,0.043,2622,2254,3839
$GC,529,-0.95,-101.2,88.7,-19.8,106,535,0.00,2.22,0.00,0.000,4,0.000,0.051,2622,826,3839
$GC,549,-0.95,-101.2,92.8,-19.6,110,555,0.00,2.28,0.00,0.000,6,0.000,0.055,2620,2257,3839
$STATE,638,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,638,begin apogee
$GC,642,-0.21,0.0,109.8,19.0,129,722,0.80,0.00,74.55,0.672,6,0.197,0.000,2856,2458,3423
$STATE,723,end apogee,CONTROL_FINISHED_OK
$STATE,723,begin climb
$GC,724,0.95,101.2,115.4,0.0,144,806,1.12,2.28,74.72,0.648,4,0.127,0.052,3229,3796,3010
$GC,816,0.95,101.2,104.9,16.9,161,822,0.00,2.17,0.00,0.000,6,0.000,0.040,3239,2450,3009
$GC,961,0.95,101.2,73.9,21.1,192,966,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,2450,3009
$GC,1105,0.95,101.2,44.2,20.5,223,1111,0.00,2.17,0.00,0.000,4,0.000,0.055,3239,3800,3009
$GC,1143,0.95,101.2,35.6,22.4,231,1149,0.00,2.12,0.00,0.000,6,0.000,0.041,3250,2439,3009
$GC,1219,0.95,101.2,19.7,20.2,247,1225,0.00,2.17,0.00,0.000,4,0.000,0.054,3250,3797,3009
$GC,1230,0.95,101.2,17.4,20.0,249,1237,0.12,2.10,0.00,0.000,6,0.232,0.040,3233,2447,3009
$GC,1306,0.95,101.2,4.1,15.4,265,1311,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2445,3009
$STATE,1320,end climb,SURFACE_DEPTH_REACHED
$STATE,1320,begin surface coast
$FINISH,0.3,1.011347
$STATE,1335,end surface coast,CONTROL_FINISHED_OK
$STATE,1335,begin surface
$SM_CCo,1350,114.22,0.568,0,0,1995,350.04
$SM_GC,1.29,0.00,0.00,114.22,0.000,0.000,0.568,134,2234,1995,-8.74,-0.45,350.04
$IRIDIUM_FIX,4748.51,-12226.29,010199,191959
$TT8_MAMPS,0.026845
$HUMID,2038
$INTERNAL_PRESSURE,9.2426
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,39.1
$24V_AH,24.6,2.718
$10V_AH,10.8,1.335
$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,20.325,27.125,149.275,114.225,0.000,0.000,0.000,0.000,0.750,0.000,0.000,25.101,418.768,337.948,338.629,426.107,23.276,31.408,601.162,0.000,409.331,0.000,5.518,0.000
$DEVICE_MAMPS,269.217,65.195,671.892,567.580,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,179.646,140.223,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9606,271
$CAP_FILE_SIZE,45703,0
$CFSIZE,260165632,258199552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,4
$GPS,071009,192656,4807.018,-12222.984,13,2.0,13,18.3