version: 66.04
glider: 164
mission: 2
dive: 5
start: 3 3 109 23 27 6
data:
$ID,164
$MISSION,2
$DIVE,5
$D_SURF,3
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,165
$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,370
$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,-32209.377
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2775
$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,17
$R_STBD_OVSHOOT,22
$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
$GPS1,231743,4807.885,-12223.122,11,2.0,28,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-65.6
$GPS2,232628,4807.926,-12223.124,13,2.2,32,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.083,-0.258
$KALMAN_X,-247.3,-210.9,-118.0,747.6,-41.4
$KALMAN_Y,805.7,571.9,298.1,-1766.8,240.8
$MHEAD_RNG_PITCHd_Wd,143.9,3829,-16.6,-10.000
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.81,-161.3,0.0,0.0,0,103,0.00,0.00,-88.45,0.000,2,0.000,0.000,120,2102,3762
$GC,105,-0.81,-161.3,3.9,-8.8,15,123,10.12,0.00,-3.85,0.000,6,0.268,0.000,2504,2102,3947
$GC,186,-0.81,-161.3,22.4,-11.3,30,187,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2102,3949
$GC,250,-0.81,-161.3,28.6,-9.3,42,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2102,3949
$GC,314,-0.81,-161.3,35.0,-10.3,54,320,0.00,2.30,0.00,0.000,4,0.000,0.071,2505,695,3949
$GC,362,-0.81,-161.3,40.7,-12.0,63,368,0.00,2.28,0.00,0.000,6,0.000,0.065,2505,2094,3949
$GC,495,-0.81,-161.3,56.0,-11.4,88,502,0.00,2.30,0.00,0.000,4,0.000,0.072,2505,686,3949
$GC,586,-0.81,-161.3,67.1,-11.8,105,592,0.00,2.28,0.00,0.000,6,0.000,0.064,2504,2094,3949
$GC,718,-0.81,-161.3,81.7,-10.4,130,719,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2094,3949
$GC,847,-0.81,-161.3,95.5,-10.4,154,854,0.00,2.28,0.00,0.000,4,0.000,0.071,2504,693,3949
$STATE,942,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,942,begin apogee
$GC,947,-0.19,0.0,106.6,11.4,172,1076,0.65,0.00,123.50,0.855,6,0.149,0.000,2708,2107,3288
$STATE,1076,end apogee,CONTROL_FINISHED_OK
$STATE,1076,begin climb
$GC,1077,0.81,161.3,109.5,0.0,195,1206,0.98,0.00,125.18,0.813,6,0.094,0.000,3031,2107,2630
$GC,1333,0.81,161.3,72.3,17.2,242,1340,0.00,2.38,0.00,0.000,4,0.000,0.069,3031,687,2628
$GC,1424,0.81,161.3,57.2,16.6,259,1430,0.00,2.28,0.00,0.000,6,0.000,0.056,3031,2094,2627
$GC,1557,0.81,161.3,34.4,17.1,284,1564,0.00,2.33,0.00,0.000,4,0.000,0.071,3031,687,2627
$GC,1611,0.81,161.3,25.4,15.5,294,1618,0.00,2.28,0.00,0.000,6,0.000,0.057,3031,2103,2627
$GC,1680,0.81,161.3,14.0,16.2,307,1687,0.00,2.28,0.00,0.000,4,0.000,0.065,3031,3515,2627
$GC,1707,0.81,161.3,9.5,16.7,312,1714,0.00,2.30,0.00,0.000,6,0.000,0.060,3031,2091,2627
$GC,1777,0.96,281.0,5.0,5.0,325,1814,0.15,0.00,35.40,0.776,2,0.089,0.000,3088,2091,2439
$STATE,1815,end climb,SURFACE_DEPTH_REACHED
$STATE,1815,begin surface coast
$FINISH,-0.1,1.007492
$STATE,1860,end surface coast,CONTROL_FINISHED_OK
$STATE,1860,begin surface
$SM_CCo,1874,124.72,0.764,0,0,1779,370.16
$SM_GC,0.74,0.00,0.00,124.72,0.000,0.000,0.764,124,2090,1779,-8.29,-0.28,370.16
$IRIDIUM_FIX,4751.72,-12228.02,280598,232349
$TT8_MAMPS,0.049855
$HUMID,1415
$INTERNAL_PRESSURE,9.09461
$TCM_TEMP,19.60
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,80.0,36.1
$24V_AH,24.0,1.034
$10V_AH,10.6,0.336
$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,20.325,27.525,284.075,124.725,0.000,45.779,48.700,262.855,3.500,0.000,0.000,35.269,0.000,870.894,455.182,758.203,438.978,33.312,793.336,0.000,609.483,0.000,5.497,0.000
$DEVICE_MAMPS,268.450,72.098,855.205,763.932,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,226.621,237.292,399.724,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19152,340
$CAP_FILE_SIZE,42454,0
$CFSIZE,260165632,258695168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,000124,4807.718,-12223.068,40,1.0,40,18.3