version: 66.04
glider: 174
mission: 3
dive: 21
start: 10 8 109 9 0 28
data:
$ID,174
$MISSION,3
$DIVE,21
$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,83
$T_MISSION,90
$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,-5
$MAX_BUOY,80
$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,280
$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,-52743.164
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,141
$PITCH_MAX,3944
$C_PITCH,2585
$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,1980
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,27
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$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
$GPS1,085414,4806.646,-12222.172,11,1.9,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-75.7
$GPS2,085936,4806.618,-12222.165,14,1.5,30,18.3
$SPEED_LIMITS,0.104,0.165
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.139,0.090
$KALMAN_X,-630.4,1776.7,334.0,-363.3,-3.5
$KALMAN_Y,-1373.1,-1108.6,-830.8,1694.8,30.0
$MHEAD_RNG_PITCHd_Wd,284.5,1251,-15.2,-6.024
$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,-0.53,-78.2,0.0,0.0,0,74,0.00,0.00,-57.83,0.000,6,0.000,0.000,136,2024,3769
$GC,76,-0.53,-78.2,2.1,-3.4,11,94,9.65,2.25,0.00,0.000,4,0.263,0.050,2395,3458,3772
$GC,247,-0.53,-78.2,23.1,-11.6,47,253,0.00,2.15,0.00,0.000,6,0.000,0.036,2396,2024,3773
$GC,323,-0.53,-78.2,31.0,-10.0,63,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2022,3773
$GC,398,-0.53,-78.2,38.0,-9.0,79,404,0.00,2.25,0.00,0.000,4,0.000,0.056,2388,3466,3773
$GC,446,-0.53,-78.2,42.7,-10.0,89,452,0.00,2.12,0.00,0.000,6,0.000,0.035,2387,2034,3772
$GC,591,-0.53,-78.2,56.8,-9.6,120,597,0.00,2.10,0.00,0.000,4,0.000,0.043,2387,635,3773
$GC,630,-0.53,-78.2,60.7,-10.0,128,636,0.12,2.17,0.00,0.000,6,0.175,0.048,2409,2057,3772
$GC,776,-0.53,-78.2,73.1,-8.3,159,782,0.00,2.15,0.00,0.000,4,0.000,0.057,2400,3454,3773
$GC,842,-0.53,-78.2,79.1,-9.3,173,848,0.00,2.10,0.00,0.000,6,0.000,0.036,2400,2037,3772
$GC,992,-0.53,-78.2,91.9,-8.8,204,997,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2035,3773
$GC,1136,-0.53,-78.2,104.9,-8.9,235,1142,0.00,2.20,0.00,0.000,4,0.000,0.057,2395,3462,3773
$STATE,1192,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1192,begin apogee
$GC,1198,-0.14,0.0,110.1,9.2,247,1264,0.43,0.00,60.80,0.738,6,0.153,0.000,2527,1975,3450
$STATE,1265,end apogee,CONTROL_FINISHED_OK
$STATE,1265,begin climb
$GC,1266,0.53,78.2,112.9,0.0,259,1337,0.65,2.28,61.30,0.712,4,0.110,0.048,2756,586,3130
$GC,1347,0.54,81.8,109.0,5.8,274,1359,0.00,2.25,4.70,0.500,6,0.000,0.051,2756,1977,3115
$GC,1498,0.54,81.8,96.0,8.7,306,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1976,3115
$GC,1642,0.54,81.8,83.8,8.6,337,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1977,3114
$GC,1786,0.54,81.8,71.5,8.6,368,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1977,3114
$GC,1930,0.54,81.8,59.7,8.0,399,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1977,3114
$GC,2075,0.54,81.8,48.2,7.9,430,2080,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1977,3114
$GC,2219,0.54,81.8,36.6,8.1,461,2225,0.00,2.15,0.00,0.000,4,0.000,0.051,2766,576,3114
$GC,2234,0.54,81.8,35.3,8.1,464,2241,0.00,2.17,0.00,0.000,6,0.000,0.052,2767,1985,3114
$GC,2310,0.54,81.8,29.1,8.0,480,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1986,3114
$GC,2385,0.54,81.8,23.1,7.8,496,2391,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1986,3114
$GC,2460,0.54,81.8,17.5,7.4,512,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1986,3114
$GC,2536,0.54,81.8,11.6,7.6,528,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1986,3114
$GC,2611,0.54,81.8,6.3,6.9,544,2616,0.00,2.17,0.00,0.000,4,0.000,0.060,2766,3393,3114
$GC,2663,0.54,81.8,2.3,7.9,555,2669,0.00,2.12,0.00,0.000,6,0.000,0.041,2776,1977,3114
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,0.6,1.021350
$STATE,2702,end surface coast,CONTROL_FINISHED_OK
$STATE,2702,begin surface
$SM_CCo,2717,85.45,0.655,0,0,2307,280.13
$SM_GC,0.97,0.00,0.00,85.45,0.000,0.000,0.655,138,2041,2307,-7.65,0.03,280.13
$IRIDIUM_FIX,4748.51,-12219.12,020199,080816
$TT8_MAMPS,0.028379
$HUMID,2002
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,19.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.0,29.8
$24V_AH,24.6,1.912
$10V_AH,10.8,0.765
$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,18.125,35.000,126.800,85.450,0.000,23.209,28.402,174.825,1.750,0.000,0.000,31.044,873.045,790.533,322.531,860.646,291.832,33.320,782.680,0.000,828.452,0.000,14.850,0.000
$DEVICE_MAMPS,263.081,83.603,737.854,655.018,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.742,287.861,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19038,563
$CAP_FILE_SIZE,55146,0
$CFSIZE,260165632,257478656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,081009,094801,4806.785,-12222.492,13,1.6,18,18.3