version: 66.04
glider: 173
mission: 2
dive: 21
start: 9 18 109 10 8 32
data:
$ID,173
$MISSION,2
$DIVE,21
$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,-5062.2158
$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,23
$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
$GPS1,100302,4806.652,-12222.687,16,1.5,16,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-77.1
$GPS2,100738,4806.650,-12222.696,11,1.4,11,18.3
$SPEED_LIMITS,0.210,0.227
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.095,0.206
$KALMAN_X,-625.6,103.9,54.2,-459.9,2.2
$KALMAN_Y,-2128.8,-138.8,1.7,3147.8,-77.3
$MHEAD_RNG_PITCHd_Wd,316.9,749,-25.5,-12.121
$D_GRID,105
$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,-58.03,0.000,2,0.000,0.000,135,2041,3069
$GC,76,-0.87,-97.8,3.2,-7.4,11,110,10.10,2.35,-17.27,0.000,4,0.272,0.077,2539,3466,3816
$GC,374,-0.87,-97.8,44.9,-14.2,74,380,0.00,2.22,0.00,0.000,6,0.000,0.048,2539,2055,3819
$GC,519,-0.87,-97.8,64.9,-14.0,105,525,0.00,2.30,0.00,0.000,4,0.000,0.068,2536,3461,3820
$GC,680,-0.87,-97.8,89.7,-15.2,140,687,0.00,2.22,0.00,0.000,6,0.000,0.048,2537,2042,3820
$STATE,789,end dive,TARGET_DEPTH_EXCEEDED
$STATE,789,begin apogee
$GC,793,-0.21,0.0,105.6,15.1,163,869,0.70,0.00,71.57,0.660,6,0.174,0.000,2754,2251,3416
$STATE,870,end apogee,CONTROL_FINISHED_OK
$STATE,870,begin climb
$GC,871,0.87,97.8,109.3,0.0,177,947,1.00,0.00,71.30,0.610,6,0.102,0.000,3107,2251,3017
$GC,1086,0.87,97.8,72.0,20.4,221,1092,0.00,2.30,0.00,0.000,4,0.000,0.058,3107,3659,3015
$GC,1110,0.87,97.8,66.5,22.5,226,1116,0.00,2.28,0.00,0.000,6,0.000,0.047,3118,2241,3016
$GC,1256,0.87,97.8,36.0,20.5,257,1262,0.00,2.33,0.00,0.000,4,0.000,0.059,3118,3671,3015
$GC,1327,0.87,97.8,20.8,20.6,272,1334,0.10,2.28,0.00,0.000,6,0.240,0.048,3108,2237,3015
$GC,1403,0.87,97.8,7.6,13.7,288,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,3108,2236,3014
$GC,1478,1.06,254.5,6.1,-0.9,304,1586,0.17,2.45,101.57,0.565,4,0.090,0.059,3180,3660,2377
$STATE,1590,end climb,SURFACE_DEPTH_REACHED
$STATE,1590,begin surface coast
$FINISH,0.2,1.019030
$STATE,1609,end surface coast,CONTROL_FINISHED_OK
$STATE,1610,begin surface
$SM_CCo,1627,99.18,0.578,0,0,1579,450.13
$SM_GC,1.04,0.00,0.00,99.18,0.000,0.000,0.578,140,2049,1579,-8.40,-0.03,450.13
$IRIDIUM_FIX,4748.51,-12224.57,131298,090951
$TT8_MAMPS,0.027612
$HUMID,2098
$INTERNAL_PRESSURE,9.3012
$TCM_TEMP,19.30
$XPDR_PINGS,1
$24V_AH,24.7,1.751
$10V_AH,10.8,0.962
$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,20.325,23.750,244.450,99.175,0.000,23.708,25.065,155.780,1.750,0.000,0.000,11.595,477.080,412.999,381.765,497.547,253.052,33.336,689.758,0.000,493.289,0.000,10.284,0.000
$DEVICE_MAMPS,271.518,76.700,660.387,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,218.331,176.622,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9604,329
$CAP_FILE_SIZE,35440,0
$CFSIZE,260165632,257765376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180909,103802,4806.777,-12222.781,11,1.6,11,18.3