version: 66.04
glider: 174
mission: 3
dive: 3
start: 10 7 109 19 7 23
data:
$ID,174
$MISSION,3
$DIVE,3
$D_SURF,4
$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,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,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,-52234.219
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,141
$PITCH_MAX,3944
$C_PITCH,2590
$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,2040
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,24
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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
$GPS1,190252,4806.986,-12222.980,13,2.4,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-73.1
$GPS2,190631,4806.971,-12222.995,11,1.6,16,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.194,-0.132
$KALMAN_X,-142.8,-119.0,-113.6,468.6,-118.1
$KALMAN_Y,-166.3,-145.8,-140.7,-512.3,-141.7
$MHEAD_RNG_PITCHd_Wd,105.8,2180,-19.7,-10.000
$D_GRID,103
$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,-0.71,-117.3,0.0,0.0,0,84,0.00,0.00,-67.93,0.000,2,0.000,0.000,132,2057,3680
$GC,86,-0.71,-117.3,3.1,-6.6,13,109,9.55,2.20,-6.28,0.000,4,0.268,0.061,2358,623,3930
$GC,276,-0.71,-117.3,31.8,-13.1,53,282,0.00,2.20,0.00,0.000,6,0.000,0.052,2349,2047,3931
$GC,352,-0.71,-117.3,41.9,-13.6,69,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2047,3932
$GC,496,-0.71,-117.3,61.0,-13.6,100,502,0.00,2.17,0.00,0.000,4,0.000,0.061,2343,3450,3932
$GC,535,-0.71,-117.3,66.8,-15.6,108,541,0.00,2.12,0.00,0.000,6,0.000,0.041,2343,2028,3932
$GC,682,-0.71,-117.3,87.8,-14.1,139,688,0.00,2.22,0.00,0.000,4,0.000,0.058,2335,3461,3932
$GC,763,-0.71,-117.3,100.1,-15.4,156,769,0.00,2.12,0.00,0.000,6,0.000,0.043,2335,2037,3932
$STATE,781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,782,begin apogee
$GC,785,-0.14,0.0,103.2,15.4,160,882,0.65,0.00,90.65,0.731,6,0.166,0.000,2532,2034,3449
$STATE,882,end apogee,CONTROL_FINISHED_OK
$STATE,882,begin climb
$GC,884,0.71,117.3,107.5,0.0,178,980,0.82,0.00,91.65,0.701,6,0.106,0.000,2807,2034,2971
$GC,1119,0.71,117.3,81.7,13.3,226,1125,0.00,2.20,0.00,0.000,4,0.000,0.052,2818,631,2970
$GC,1157,0.71,117.3,76.4,13.5,234,1163,0.00,2.22,0.00,0.000,6,0.000,0.056,2818,2036,2970
$GC,1302,0.71,117.3,55.4,15.3,265,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2036,2970
$GC,1447,0.71,117.3,34.2,14.0,296,1453,0.00,2.15,0.00,0.000,4,0.000,0.052,2828,643,2969
$GC,1518,0.71,117.3,23.9,14.6,311,1524,0.00,2.17,0.00,0.000,6,0.000,0.055,2828,2039,2969
$GC,1593,0.71,117.3,13.1,14.0,327,1599,0.00,2.20,0.00,0.000,4,0.000,0.061,2828,3458,2969
$GC,1661,0.71,117.3,4.1,12.3,341,1667,0.00,2.15,0.00,0.000,6,0.000,0.045,2838,2045,2969
$STATE,1671,end climb,SURFACE_DEPTH_REACHED
$STATE,1671,begin surface coast
$FINISH,0.2,1.003359
$STATE,1704,end surface coast,CONTROL_FINISHED_OK
$STATE,1704,begin surface
$SM_CCo,1717,105.80,0.647,0,0,2022,350.04
$SM_GC,0.96,0.00,0.00,105.80,0.000,0.000,0.647,128,2043,2022,-7.70,0.08,350.04
$IRIDIUM_FIX,4748.51,-12219.12,010199,191913
$TT8_MAMPS,0.029146
$HUMID,2061
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,75.1,47.3
$24V_AH,24.6,0.790
$10V_AH,10.8,0.272
$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,18.300,26.150,182.300,105.800,0.000,0.000,0.000,0.000,2.000,0.000,0.000,16.706,523.166,454.929,353.329,536.473,27.646,31.412,670.425,0.000,521.985,0.000,9.946,0.000
$DEVICE_MAMPS,268.450,61.360,730.951,646.581,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,233.023,176.207,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12741,350
$CAP_FILE_SIZE,50026,0
$CFSIZE,260165632,258011136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071009,193852,4806.818,-12222.734,13,2.3,32,18.3