version: 66.04
glider: 164
mission: 2
dive: 9
start: 3 4 109 2 15 59
data:
$ID,164
$MISSION,2
$DIVE,9
$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,-32276.014
$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,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
$GPS1,020708,4807.196,-12222.841,11,1.8,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.0
$GPS2,021520,4807.261,-12222.846,14,1.5,14,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.132,-0.237
$KALMAN_X,-1268.8,-270.9,3.8,2048.9,-320.6
$KALMAN_Y,2680.1,742.2,-16.5,-4724.9,542.7
$MHEAD_RNG_PITCHd_Wd,132.6,2559,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.81,-161.3,0.0,0.0,0,91,0.00,0.00,-76.82,0.000,2,0.000,0.000,121,2099,3506
$GC,93,-0.81,-161.3,3.3,-5.7,13,118,10.27,2.38,-10.15,0.000,4,0.272,0.087,2500,3512,3949
$GC,197,-0.81,-161.3,20.5,-11.5,32,203,0.00,2.28,0.00,0.000,6,0.000,0.065,2500,2109,3950
$GC,266,-0.81,-161.3,28.4,-11.6,45,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2109,3950
$GC,330,-0.81,-161.3,35.8,-11.4,57,337,0.00,2.33,0.00,0.000,4,0.000,0.071,2500,688,3951
$GC,388,-0.81,-161.3,43.0,-12.2,68,396,0.00,2.30,0.00,0.000,6,0.000,0.067,2500,2098,3951
$GC,522,-0.81,-161.3,58.0,-10.6,93,529,0.00,2.30,0.00,0.000,4,0.000,0.072,2500,694,3950
$GC,602,-0.81,-161.3,67.4,-11.9,108,609,0.00,2.28,0.00,0.000,6,0.000,0.066,2500,2098,3950
$GC,736,-0.81,-161.3,81.8,-10.6,133,742,0.00,2.30,0.00,0.000,4,0.000,0.071,2500,686,3951
$GC,821,-0.81,-161.3,91.6,-11.5,149,827,0.00,2.28,0.00,0.000,6,0.000,0.065,2500,2100,3951
$GC,953,-0.81,-161.3,105.5,-10.7,174,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,2100,3950
$STATE,1011,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1011,begin apogee
$GC,1015,-0.19,0.0,111.4,10.0,185,1143,0.65,0.00,124.47,0.845,6,0.148,0.000,2704,2099,3287
$STATE,1143,end apogee,CONTROL_FINISHED_OK
$STATE,1143,begin climb
$GC,1144,0.81,161.3,113.6,0.0,208,1274,0.98,0.00,125.78,0.807,6,0.095,0.000,3028,2099,2630
$GC,1401,0.81,161.3,74.7,18.3,255,1407,0.00,2.35,0.00,0.000,4,0.000,0.068,3027,695,2628
$GC,1480,0.81,161.3,60.5,17.2,270,1487,0.00,2.28,0.00,0.000,6,0.000,0.055,3028,2098,2628
$GC,1614,0.81,161.3,36.7,18.0,295,1621,0.00,2.33,0.00,0.000,4,0.000,0.070,3028,689,2628
$GC,1678,0.81,161.3,25.7,16.1,307,1685,0.00,2.25,0.00,0.000,6,0.000,0.055,3027,2094,2628
$GC,1748,0.81,161.3,14.2,17.1,320,1749,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2094,2628
$GC,1812,0.81,161.3,5.8,11.6,332,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2094,2628
$STATE,1853,end climb,SURFACE_DEPTH_REACHED
$STATE,1853,begin surface coast
$FINISH,1.0,1.019405
$STATE,1901,end surface coast,CONTROL_FINISHED_OK
$STATE,1901,begin surface
$SM_CCo,1915,162.48,0.749,1,0,1779,370.16
$SM_GC,1.00,0.00,0.00,162.48,0.000,0.000,0.749,121,2095,1779,-8.30,-0.14,370.16
$IRIDIUM_FIX,4748.51,-12217.40,290598,020208
$TT8_MAMPS,0.049855
$HUMID,1400
$INTERNAL_PRESSURE,9.08484
$TCM_TEMP,19.90
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.1,40.9
$24V_AH,24.0,1.468
$10V_AH,10.6,0.486
$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,20.100,27.625,250.250,162.475,0.000,52.761,57.224,189.765,1.750,0.000,0.000,16.488,0.000,923.790,469.523,755.772,425.690,33.325,802.439,0.000,622.930,0.000,5.510,0.000
$DEVICE_MAMPS,271.518,87.438,845.234,749.359,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.236,240.256,404.947,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19101,349
$CAP_FILE_SIZE,40523,0
$CFSIZE,260165632,258584576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,025128,4807.090,-12222.684,8,99.0,27,18.3