version: 66.04
glider: 164
mission: 2
dive: 1
start: 3 3 109 19 50 8
data:
$ID,164
$MISSION,2
$DIVE,1
$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,30
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,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,4736
$TGT_DEFAULT_LON,-12218
$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,-31930.305
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,3040
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,204
$ROLL_MAX,3882
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3962
$C_VBD,3288
$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,40
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-7.9007363
$PRESSURE_SLOPE,0.0001158597
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.94
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,53
$DEVICE3,35
$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,0.0043488215
$SEABIRD_T_H,0.00063635618
$SEABIRD_T_I,2.5028745e-05
$SEABIRD_T_J,2.7326657e-06
$SEABIRD_C_G,-10.160287
$SEABIRD_C_H,1.1436546
$SEABIRD_C_I,-0.00018147723
$SEABIRD_C_J,0.00010835609
$GPS1,194601,4807.937,-12223.251,11,1.5,16,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-65.7
$GPS2,194926,4807.972,-12223.261,13,1.5,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.239
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,138.6,3972,-17.5,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.83,-146.6,0.0,0.0,0,160,0.00,0.00,-145.82,0.000,2,0.000,0.000,112,2104,3634
$GC,161,-0.83,-146.6,3.2,-5.4,25,186,10.82,2.28,-6.72,0.000,4,0.258,0.086,2763,3504,3887
$GC,190,-0.83,-146.6,7.1,-11.3,30,196,0.00,2.22,0.00,0.000,6,0.000,0.058,2764,2110,3888
$GC,259,-0.83,-146.6,8.3,-3.5,43,260,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2110,3889
$GC,323,-0.83,-146.6,10.5,-3.8,55,329,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2110,3889
$GC,392,-0.83,-146.6,13.5,-4.4,68,398,0.00,2.25,0.00,0.000,4,0.000,0.069,2764,3508,3889
$GC,456,-0.83,-146.6,16.2,-4.4,80,462,0.00,2.22,0.00,0.000,6,0.000,0.058,2764,2106,3888
$GC,525,-0.83,-146.6,18.9,-4.3,93,532,0.00,2.28,0.00,0.000,4,0.000,0.071,2764,693,3889
$GC,670,-0.83,-146.6,24.8,-4.2,120,676,0.00,2.22,0.00,0.000,6,0.000,0.061,2764,2089,3888
$GC,739,-0.83,-146.6,27.6,-4.5,133,746,0.00,2.28,0.00,0.000,4,0.000,0.072,2764,3508,3889
$GC,846,-0.83,-146.6,32.5,-4.9,153,853,0.00,2.22,0.00,0.000,6,0.000,0.064,2764,2101,3888
$STATE,903,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,903,begin apogee
$GC,907,-0.19,0.0,35.0,4.9,164,1022,0.55,0.00,111.57,0.792,6,0.064,0.000,2982,2100,3288
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1024,0.83,146.6,40.9,0.0,184,1146,0.90,2.38,113.32,0.755,4,0.071,0.067,3300,686,2689
$STATE,1180,end climb,SURFACE_DEPTH_REACHED
$STATE,1181,begin surface coast
$FINISH,0.1,1.019971
$STATE,1191,end surface coast,CONTROL_FINISHED_OK
$STATE,1191,begin surface
$SM_CCo,1208,273.25,0.735,0,0,1249,500.17
$SM_GC,0.89,0.00,0.00,273.25,0.000,0.000,0.735,126,2105,1249,-9.11,0.14,500.17
$IRIDIUM_FIX,4748.51,-12221.84,280598,191923
$TT8_MAMPS,0.050622
$HUMID,1401
$INTERNAL_PRESSURE,9.05555
$TCM_TEMP,19.70
$XPDR_PINGS,21
$24V_AH,24.1,0.522
$10V_AH,10.6,0.155
$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,21.325,22.725,224.900,273.250,0.000,0.000,0.000,0.000,5.250,0.000,0.000,15.720,0.000,404.208,586.109,507.004,36.770,29.225,848.057,0.000,414.167,0.000,0.994,0.000
$DEVICE_MAMPS,258.479,85.904,792.311,734.786,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,140.003,213.768,360.131,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9702,214
$CAP_FILE_SIZE,61599,0
$CFSIZE,260165632,258797568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,201536,4807.998,-12223.306,11,1.1,27,18.3