version: 66.04
glider: 164
mission: 2
dive: 7
start: 3 4 109 0 49 35
data:
$ID,164
$MISSION,2
$DIVE,7
$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,-32242.506
$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,21
$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
$GPS1,004126,4807.488,-12222.990,12,1.4,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-69.2
$GPS2,004855,4807.502,-12223.013,8,1.3,13,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.122,-0.242
$KALMAN_X,-673.8,-248.7,-46.8,1277.0,-218.7
$KALMAN_Y,1544.4,697.1,178.7,-3290.1,400.2
$MHEAD_RNG_PITCHd_Wd,135.0,3051,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.81,-161.3,0.0,0.0,0,101,0.00,0.00,-88.25,0.000,2,0.000,0.000,120,2108,3709
$GC,103,-0.81,-161.3,3.6,-7.5,15,123,10.25,2.38,-5.07,0.000,4,0.271,0.084,2508,691,3949
$GC,127,-0.81,-161.3,12.8,-33.3,19,133,0.00,2.33,0.00,0.000,6,0.000,0.067,2504,2101,3950
$GC,196,-0.81,-161.3,23.0,-11.3,32,197,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2101,3951
$GC,260,-0.81,-161.3,30.3,-11.6,44,261,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2101,3951
$GC,324,-0.81,-161.3,37.5,-11.6,56,325,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2101,3951
$GC,387,-0.81,-161.3,44.5,-11.0,68,388,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2101,3951
$GC,516,-0.81,-161.3,58.6,-11.0,92,523,0.00,2.30,0.00,0.000,4,0.000,0.071,2504,693,3951
$GC,628,-0.81,-161.3,71.6,-11.4,113,634,0.00,2.28,0.00,0.000,6,0.000,0.066,2504,2098,3951
$GC,761,-0.81,-161.3,85.8,-10.2,138,768,0.00,2.30,0.00,0.000,4,0.000,0.073,2505,689,3951
$GC,841,-0.81,-161.3,95.0,-11.4,153,848,0.00,2.28,0.00,0.000,6,0.000,0.067,2504,2098,3951
$GC,974,-0.81,-161.3,108.8,-10.5,178,981,0.00,2.28,0.00,0.000,4,0.000,0.071,2504,698,3951
$STATE,1000,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1000,begin apogee
$GC,1005,-0.19,0.0,111.7,11.5,183,1134,0.65,0.00,124.80,0.850,6,0.150,0.000,2706,2101,3288
$STATE,1134,end apogee,CONTROL_FINISHED_OK
$STATE,1134,begin climb
$GC,1136,0.81,161.3,114.3,0.0,206,1270,0.98,2.42,125.95,0.809,4,0.093,0.069,3031,691,2629
$GC,1317,0.81,161.3,89.1,18.2,239,1323,0.00,2.33,0.00,0.000,6,0.000,0.055,3030,2093,2629
$GC,1450,0.81,161.3,64.7,18.9,264,1457,0.00,2.33,0.00,0.000,4,0.000,0.070,3031,698,2628
$GC,1519,0.81,161.3,52.3,16.8,277,1526,0.00,2.28,0.00,0.000,6,0.000,0.056,3030,2105,2628
$GC,1653,0.81,161.3,29.2,16.9,302,1659,0.00,2.33,0.00,0.000,4,0.000,0.070,3031,691,2628
$GC,1695,0.81,161.3,21.9,16.9,310,1702,0.00,2.25,0.00,0.000,6,0.000,0.056,3031,2097,2628
$GC,1765,0.81,161.3,10.9,15.0,323,1766,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2096,2628
$GC,1829,0.94,261.6,5.1,5.8,335,1866,0.12,0.00,35.35,0.759,2,0.089,0.000,3081,2096,2443
$STATE,1866,end climb,SURFACE_DEPTH_REACHED
$STATE,1866,begin surface coast
$FINISH,0.5,1.019025
$STATE,1907,end surface coast,CONTROL_FINISHED_OK
$STATE,1907,begin surface
$SM_CCo,1921,126.12,0.750,0,0,1779,370.16
$SM_GC,1.32,0.00,0.00,126.12,0.000,0.000,0.750,129,2098,1779,-8.27,-0.06,370.16
$IRIDIUM_FIX,4801.38,-12218.84,290598,000026
$TT8_MAMPS,0.051389
$HUMID,1404
$INTERNAL_PRESSURE,9.09461
$TCM_TEMP,19.70
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,80.2,41.2
$24V_AH,23.4,1.250
$10V_AH,10.6,0.410
$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,20.525,32.300,286.100,126.125,0.000,49.242,60.815,200.239,2.750,0.000,0.000,15.950,0.000,892.648,462.969,756.429,386.124,33.335,808.215,0.000,622.009,0.000,5.511,0.000
$DEVICE_MAMPS,270.751,84.370,849.836,750.126,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,232.429,239.295,403.246,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19166,349
$CAP_FILE_SIZE,42430,0
$CFSIZE,260165632,258637824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,012414,4807.302,-12222.917,13,1.8,13,18.3