version: 66.04
glider: 164
mission: 2
dive: 10
start: 3 4 109 2 57 13
data:
$ID,164
$MISSION,2
$DIVE,10
$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,-32311.215
$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,18
$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
$GPS1,025128,4807.090,-12222.684,8,99.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-68.2
$GPS2,025634,4807.085,-12222.643,12,99.0,31,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.114,-0.246
$KALMAN_X,-1379.4,-307.5,7.8,2440.9,-275.4
$KALMAN_Y,3140.9,758.5,-106.7,-5432.5,567.8
$MHEAD_RNG_PITCHd_Wd,136.8,2162,-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,-77.15,0.000,2,0.000,0.000,121,2095,3527
$GC,93,-0.81,-161.3,3.6,-8.0,13,118,10.23,2.33,-9.18,0.000,4,0.271,0.087,2504,3512,3945
$GC,357,-0.81,-161.3,37.9,-11.4,62,364,0.00,2.28,0.00,0.000,6,0.000,0.061,2504,2100,3946
$GC,426,-0.81,-161.3,45.3,-10.2,75,433,0.00,2.33,0.00,0.000,4,0.000,0.075,2504,3510,3946
$GC,490,-0.81,-161.3,52.2,-10.6,87,496,0.00,2.28,0.00,0.000,6,0.000,0.066,2504,2101,3946
$GC,623,-0.81,-161.3,66.6,-10.2,112,630,0.00,2.30,0.00,0.000,4,0.000,0.072,2504,686,3946
$GC,698,-0.81,-161.3,75.2,-11.6,126,705,0.00,2.28,0.00,0.000,6,0.000,0.066,2504,2092,3946
$GC,831,-0.81,-161.3,89.8,-10.4,151,838,0.00,2.28,0.00,0.000,4,0.000,0.072,2504,694,3946
$GC,900,-0.81,-161.3,97.7,-11.0,164,907,0.00,2.28,0.00,0.000,6,0.000,0.065,2504,2104,3946
$GC,1034,-0.81,-161.3,111.6,-10.2,189,1040,0.00,2.30,0.00,0.000,4,0.000,0.072,2504,687,3946
$STATE,1054,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1054,begin apogee
$GC,1059,-0.19,0.0,113.9,11.2,193,1187,0.65,0.00,123.62,0.849,6,0.146,0.000,2708,2104,3287
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1189,0.81,161.3,116.5,0.0,216,1323,0.95,2.45,125.97,0.814,4,0.093,0.069,3025,684,2629
$GC,1343,0.81,161.3,96.8,19.0,244,1350,0.00,2.38,0.00,0.000,6,0.000,0.054,3025,2105,2628
$GC,1477,0.81,161.3,72.1,19.1,269,1483,0.00,2.38,0.00,0.000,4,0.000,0.071,3025,688,2628
$GC,1546,0.81,161.3,59.7,17.7,282,1553,0.00,2.30,0.00,0.000,6,0.000,0.055,3026,2106,2628
$GC,1680,0.81,161.3,35.1,18.2,307,1687,0.00,2.33,0.00,0.000,4,0.000,0.070,3025,697,2627
$GC,1739,0.81,161.3,24.9,17.6,318,1745,0.00,2.25,0.00,0.000,6,0.000,0.056,3025,2101,2627
$GC,1808,0.81,161.3,13.5,15.8,331,1815,0.00,2.33,0.00,0.000,4,0.000,0.071,3026,685,2628
$GC,1840,0.81,161.3,9.0,12.1,337,1847,0.00,2.25,0.00,0.000,6,0.000,0.057,3025,2095,2627
$GC,1910,0.95,272.3,3.9,5.4,350,1930,0.15,0.00,17.95,0.743,2,0.086,0.000,3082,2095,2538
$STATE,1930,end climb,SURFACE_DEPTH_REACHED
$STATE,1930,begin surface coast
$FINISH,0.9,1.019452
$STATE,1970,end surface coast,CONTROL_FINISHED_OK
$STATE,1970,begin surface
$SM_CCo,1984,144.15,0.753,0,0,1779,370.16
$SM_GC,1.04,0.00,0.00,144.15,0.000,0.000,0.753,124,2096,1779,-8.28,-0.11,370.16
$IRIDIUM_FIX,4751.72,-12219.12,290598,020247
$TT8_MAMPS,0.050622
$HUMID,1403
$INTERNAL_PRESSURE,9.09461
$TCM_TEMP,19.80
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.6,43.0
$24V_AH,23.4,1.573
$10V_AH,10.6,0.525
$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,20.475,41.550,267.550,144.150,0.000,30.103,28.396,156.578,2.000,0.000,0.000,34.571,0.000,874.009,479.322,797.864,284.151,33.311,830.151,0.000,643.470,0.000,5.514,0.000
$DEVICE_MAMPS,270.751,86.671,849.069,753.194,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.689,248.492,418.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19151,361
$CAP_FILE_SIZE,41065,0
$CFSIZE,260165632,258555904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,033308,4806.899,-12222.596,7,1.9,7,18.3