version: 66.04
glider: 173
mission: 2
dive: 17
start: 9 18 109 7 45 50
data:
$ID,173
$MISSION,2
$DIVE,17
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$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,33
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,100
$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,450
$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,-4969.4233
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3932
$C_PITCH,2829
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,34
$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,2050
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3416
$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,-71.154404
$PRESSURE_SLOPE,0.0001159958
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,7
$ALTIM_SENSITIVITY,0
$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
$GPS1,074019,4806.131,-12222.261,7,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.8
$GPS2,074456,4806.151,-12222.271,14,2.0,14,18.3
$SPEED_LIMITS,0.210,0.227
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.049,0.222
$KALMAN_X,-821.9,74.9,181.1,163.8,-93.9
$KALMAN_Y,-1478.0,-141.9,-140.9,1718.2,-78.2
$MHEAD_RNG_PITCHd_Wd,329.3,1811,-25.5,-12.121
$D_GRID,107
$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,-0.87,-97.8,0.0,0.0,0,95,0.00,0.00,-78.75,0.000,2,0.000,0.000,139,2038,3652
$GC,97,-0.87,-97.8,3.4,-3.7,15,116,10.05,2.30,-3.55,0.000,4,0.271,0.070,2546,644,3817
$GC,380,-0.87,-97.8,41.9,-13.6,75,386,0.00,2.28,0.00,0.000,6,0.000,0.059,2540,2056,3820
$GC,525,-0.87,-97.8,62.7,-14.5,106,531,0.00,2.25,0.00,0.000,4,0.000,0.057,2540,645,3820
$GC,633,-0.87,-97.8,79.2,-15.1,129,639,0.00,2.28,0.00,0.000,6,0.000,0.061,2539,2057,3821
$GC,777,-0.87,-97.8,100.6,-15.6,160,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2057,3821
$STATE,823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,823,begin apogee
$GC,827,-0.21,0.0,107.5,14.6,170,902,0.70,0.00,71.55,0.664,6,0.176,0.000,2756,2254,3416
$STATE,903,end apogee,CONTROL_FINISHED_OK
$STATE,903,begin climb
$GC,905,0.87,97.8,110.7,0.0,184,984,1.00,0.00,71.65,0.651,6,0.102,0.000,3109,2255,3016
$GC,1123,0.87,97.8,72.1,21.5,229,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2255,3015
$GC,1267,0.87,97.8,42.8,19.8,260,1273,0.00,2.28,0.00,0.000,4,0.000,0.059,3109,3661,3014
$GC,1320,0.87,97.8,31.7,20.3,271,1326,0.00,2.25,0.00,0.000,6,0.000,0.048,3119,2247,3015
$GC,1395,0.87,97.8,18.0,15.4,287,1401,0.00,0.00,0.00,0.000,6,0.000,0.000,3120,2246,3015
$GC,1470,0.87,97.8,10.0,19.2,303,1476,0.00,2.25,0.00,0.000,4,0.000,0.059,3130,835,3015
$GC,1500,1.13,311.7,10.8,-5.7,309,1634,0.20,2.25,127.82,0.588,2,0.084,0.053,3207,2250,2238
$STATE,1635,end climb,SURFACE_DEPTH_REACHED
$STATE,1636,begin surface coast
$FINISH,0.3,1.019491
$STATE,1645,end surface coast,CONTROL_FINISHED_OK
$STATE,1645,begin surface
$SM_CCo,1661,76.80,0.538,0,0,1580,450.13
$SM_GC,1.07,0.00,0.00,76.80,0.000,0.000,0.538,140,2043,1580,-8.41,-0.20,450.13
$IRIDIUM_FIX,4745.30,-12222.84,131298,070738
$TT8_MAMPS,0.026845
$HUMID,2126
$INTERNAL_PRESSURE,9.3012
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,24.6,1.468
$10V_AH,10.8,0.874
$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,20.350,18.775,271.025,76.800,0.000,25.017,26.314,149.627,1.750,0.000,0.000,14.493,477.807,409.126,386.323,511.571,250.181,33.334,706.270,0.000,503.091,0.000,10.274,0.000
$DEVICE_MAMPS,270.751,69.797,664.222,538.434,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.340,177.780,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9619,336
$CAP_FILE_SIZE,35958,0
$CFSIZE,260165632,257871872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180909,081552,4806.268,-12222.366,12,2.8,31,18.3