version: 66.04
glider: 174
mission: 2
dive: 2
start: 9 17 109 20 50 16
data:
$ID,174
$MISSION,2
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,150
$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,500
$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,-51835.219
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,141
$PITCH_MAX,3944
$C_PITCH,2680
$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,54
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3427
$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,-66.162605
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$GPS1,204602,4806.012,-12221.995,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.3
$GPS2,204925,4805.999,-12221.981,10,1.4,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.161,-0.204
$KALMAN_X,26.1,26.1,26.1,150.0,38.2
$KALMAN_Y,-65.0,-65.0,-65.0,-263.5,-95.0
$MHEAD_RNG_PITCHd_Wd,123.5,2213,-17.5,-10.000
$D_GRID,108
$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,-0.68,-146.6,0.0,0.0,0,132,0.00,0.00,-114.70,0.000,2,0.000,0.000,126,2046,3356
$GC,134,-0.68,-146.6,3.3,-6.5,22,163,10.12,2.22,-13.82,0.000,4,0.275,0.067,2442,3467,3963
$GC,169,-0.68,-146.6,10.2,-18.7,28,175,0.00,2.08,0.00,0.000,6,0.000,0.033,2441,2048,3964
$GC,245,-0.68,-146.6,15.6,-5.6,44,251,0.00,2.15,0.00,0.000,4,0.000,0.054,2432,3461,3964
$GC,256,-0.68,-146.6,16.0,-4.8,46,262,0.00,2.08,0.00,0.000,6,0.000,0.032,2432,2033,3964
$GC,332,-0.68,-146.6,20.6,-6.0,62,338,0.00,2.17,0.00,0.000,4,0.000,0.055,2430,3460,3965
$GC,343,-0.68,-146.6,21.3,-6.0,64,350,0.10,2.08,0.00,0.000,6,0.161,0.031,2454,2026,3965
$GC,420,-0.68,-146.6,26.2,-6.8,80,425,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2025,3965
$GC,495,-0.68,-146.6,31.6,-7.8,96,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,2025,3966
$GC,571,-0.68,-146.6,37.3,-7.8,112,577,0.00,2.17,0.00,0.000,4,0.000,0.054,2454,3454,3967
$GC,596,-0.68,-146.6,39.3,-8.2,117,602,0.00,2.05,0.00,0.000,6,0.000,0.032,2454,2042,3967
$STATE,666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,666,begin apogee
$GC,669,-0.14,0.0,45.1,8.0,132,775,0.52,0.00,99.38,0.652,6,0.130,0.000,2627,2040,3427
$STATE,776,end apogee,CONTROL_FINISHED_OK
$STATE,776,begin climb
$GC,778,0.68,146.6,46.0,0.0,152,896,0.73,2.25,111.25,0.626,4,0.061,0.044,2912,641,2829
$GC,924,0.68,146.6,24.0,22.6,180,930,0.00,2.20,0.00,0.000,6,0.000,0.048,2912,2045,2828
$GC,999,0.68,146.6,7.1,21.2,196,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2046,2828
$GC,1075,0.99,396.6,5.5,-1.5,212,1145,0.20,0.00,67.40,0.614,2,0.062,0.000,3003,2046,2468
$STATE,1146,end climb,SURFACE_DEPTH_REACHED
$STATE,1146,begin surface coast
$FINISH,0.5,1.017061
$STATE,1266,end surface coast,CONTROL_FINISHED_OK
$STATE,1266,begin surface
$SM_CCo,1281,120.50,0.605,0,0,1387,500.17
$SM_GC,1.39,0.00,0.00,120.50,0.000,0.000,0.605,136,2046,1387,-7.95,0.17,500.17
$IRIDIUM_FIX,4748.51,-12217.40,121298,202035
$TT8_MAMPS,0.028379
$HUMID,1975
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,20.00
$XPDR_PINGS,11
$24V_AH,24.9,0.429
$10V_AH,10.9,0.153
$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,19.675,21.450,278.025,120.500,0.000,0.000,0.000,0.000,2.750,0.000,0.000,15.489,344.069,245.589,471.963,387.808,24.309,30.181,753.681,0.000,381.427,0.000,0.993,0.000
$DEVICE_MAMPS,275.353,66.729,651.950,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.989,157.108,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9592,251
$CAP_FILE_SIZE,55279,0
$CFSIZE,260165632,258043904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170909,211436,4805.906,-12221.928,10,2.0,26,18.3