version: 66.04
glider: 173
mission: 2
dive: 20
start: 9 18 109 9 32 26
data:
$ID,173
$MISSION,2
$DIVE,20
$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,-5049.9937
$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,25
$R_STBD_OVSHOOT,24
$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
$GPS1,092656,4806.549,-12222.476,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-76.5
$GPS2,093132,4806.548,-12222.469,13,1.4,13,18.3
$SPEED_LIMITS,0.210,0.227
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.136,0.182
$KALMAN_X,-554.4,70.2,51.2,-214.8,49.9
$KALMAN_Y,-1969.3,-138.8,-29.3,2830.0,-77.7
$MHEAD_RNG_PITCHd_Wd,304.8,1064,-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,-97.8,0.0,0.0,0,74,0.00,0.00,-57.95,0.000,2,0.000,0.000,142,2045,3083
$GC,76,-0.87,-97.8,3.3,-6.9,11,110,10.18,2.25,-16.75,0.000,4,0.275,0.067,2545,642,3819
$GC,292,-0.87,-97.8,32.8,-13.5,56,298,0.00,2.28,0.00,0.000,6,0.000,0.058,2539,2053,3820
$GC,368,-0.87,-97.8,43.1,-13.9,72,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2053,3821
$GC,512,-0.87,-97.8,63.7,-14.9,103,518,0.00,2.30,0.00,0.000,4,0.000,0.069,2539,3460,3822
$GC,610,-0.87,-97.8,78.9,-15.6,124,616,0.00,2.22,0.00,0.000,6,0.000,0.048,2539,2045,3822
$GC,755,-0.87,-97.8,99.8,-14.1,155,761,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,2045,3823
$STATE,806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,806,begin apogee
$GC,810,-0.21,0.0,107.5,14.2,166,886,0.70,0.00,71.75,0.648,6,0.173,0.000,2756,2255,3416
$STATE,887,end apogee,CONTROL_FINISHED_OK
$STATE,887,begin climb
$GC,888,0.87,97.8,110.4,0.0,180,963,0.98,0.00,71.35,0.611,6,0.100,0.000,3103,2257,3017
$GC,1102,0.87,97.8,72.1,22.2,224,1108,0.00,2.30,0.00,0.000,4,0.000,0.058,3103,3660,3016
$GC,1132,0.87,97.8,65.5,23.8,230,1138,0.00,2.28,0.00,0.000,6,0.000,0.048,3114,2242,3016
$GC,1277,0.87,97.8,34.9,19.8,261,1283,0.00,2.33,0.00,0.000,4,0.000,0.060,3114,3671,3015
$GC,1367,0.87,97.8,15.9,20.8,280,1374,0.08,2.25,0.00,0.000,6,0.249,0.047,3110,2251,3015
$GC,1444,0.96,170.0,4.4,6.1,296,1503,0.10,2.35,51.90,0.591,4,0.109,0.059,3148,3665,2721
$GC,1582,1.14,314.1,3.8,0.1,324,1673,0.12,2.28,82.85,0.589,6,0.100,0.046,3205,2243,2133
$STATE,1677,end climb,SURFACE_DEPTH_REACHED
$STATE,1677,begin surface coast
$FINISH,0.2,1.000020
$STATE,1706,end surface coast,CONTROL_FINISHED_OK
$STATE,1706,begin surface
$SM_CCo,1721,65.80,0.581,0,0,1580,450.13
$SM_GC,1.45,0.00,0.00,65.80,0.000,0.000,0.581,135,2041,1580,-8.42,-0.25,450.13
$IRIDIUM_FIX,4748.51,-12229.01,131298,090926
$TT8_MAMPS,0.026845
$HUMID,2158
$INTERNAL_PRESSURE,9.31096
$TCM_TEMP,19.60
$XPDR_PINGS,0
$24V_AH,24.7,1.681
$10V_AH,10.8,0.940
$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,20.425,23.500,277.850,65.800,0.000,30.670,24.795,147.119,1.500,0.000,0.000,13.277,502.265,424.043,376.688,528.103,252.831,33.334,709.297,0.000,521.943,0.000,10.281,0.000
$DEVICE_MAMPS,274.586,69.030,648.115,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.284,186.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12721,348
$CAP_FILE_SIZE,38022,0
$CFSIZE,260165632,257785856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,100302,4806.652,-12222.687,16,1.5,16,18.3