version: 66.04
glider: 164
mission: 2
dive: 12
start: 3 4 109 4 19 47
data:
$ID,164
$MISSION,2
$DIVE,12
$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,-32341.713
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2768
$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,23
$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,2
$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
$GPS1,041432,4806.713,-12222.544,8,1.9,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-69.9
$GPS2,041908,4806.697,-12222.526,12,1.9,12,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.141,-0.232
$KALMAN_X,-2003.6,-270.9,51.4,3130.9,-346.6
$KALMAN_Y,3935.8,765.6,-169.4,-6891.2,544.7
$MHEAD_RNG_PITCHd_Wd,130.4,1446,-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,-77.07,0.000,2,0.000,0.000,122,2098,3493
$GC,93,-0.81,-161.3,3.0,-4.9,13,118,10.18,2.38,-10.25,0.000,4,0.269,0.087,2497,3512,3948
$GC,122,-0.81,-161.3,11.1,-24.9,18,129,0.00,2.30,0.00,0.000,6,0.000,0.060,2497,2103,3949
$GC,191,-0.81,-161.3,19.3,-10.9,31,198,0.00,2.33,0.00,0.000,4,0.000,0.074,2497,698,3950
$GC,437,-0.81,-161.3,49.2,-12.3,77,444,0.00,2.28,0.00,0.000,6,0.000,0.064,2497,2099,3950
$GC,570,-0.81,-161.3,64.3,-11.4,102,577,0.00,2.30,0.00,0.000,4,0.000,0.071,2497,688,3950
$GC,816,-0.81,-161.3,93.4,-11.7,148,823,0.00,2.28,0.00,0.000,6,0.000,0.068,2497,2101,3950
$GC,950,-0.81,-161.3,107.6,-10.6,173,956,0.00,2.28,0.00,0.000,4,0.000,0.070,2497,694,3950
$STATE,1012,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1013,begin apogee
$GC,1018,-0.19,0.0,114.7,11.5,185,1146,0.65,0.00,124.25,0.845,6,0.149,0.000,2702,2099,3287
$STATE,1146,end apogee,CONTROL_FINISHED_OK
$STATE,1146,begin climb
$GC,1148,0.81,161.3,117.5,0.0,208,1282,0.98,2.38,125.72,0.806,4,0.096,0.062,3024,3509,2629
$GC,1334,0.81,161.3,91.1,19.0,242,1341,0.00,2.35,0.00,0.000,6,0.000,0.057,3024,2096,2629
$GC,1468,0.81,161.3,66.8,17.7,267,1474,0.00,2.33,0.00,0.000,4,0.000,0.071,3024,692,2628
$GC,1574,0.81,161.3,48.4,16.5,287,1580,0.00,2.28,0.00,0.000,6,0.000,0.055,3024,2104,2628
$GC,1707,0.81,161.3,25.8,16.4,312,1714,0.00,2.33,0.00,0.000,4,0.000,0.071,3024,689,2628
$GC,1755,0.81,161.3,17.7,15.4,321,1762,0.00,2.25,0.00,0.000,6,0.000,0.055,3024,2098,2628
$GC,1825,0.81,161.3,7.4,13.3,334,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2098,2628
$STATE,1871,end climb,SURFACE_DEPTH_REACHED
$STATE,1871,begin surface coast
$FINISH,1.6,1.019561
$STATE,1920,end surface coast,CONTROL_FINISHED_OK
$STATE,1920,begin surface
$SM_CCo,1933,162.73,0.746,1,0,1779,370.16
$SM_GC,1.20,0.00,0.00,162.73,0.000,0.000,0.746,123,2100,1779,-8.27,0.03,370.16
$IRIDIUM_FIX,4748.51,-12221.84,290598,030309
$TT8_MAMPS,0.049855
$HUMID,1393
$INTERNAL_PRESSURE,9.08484
$TCM_TEMP,19.70
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,85.3,38.9
$24V_AH,24.0,1.781
$10V_AH,10.6,0.598
$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,19.950,32.275,249.975,162.725,0.000,25.871,25.495,153.428,3.000,0.000,0.000,14.913,0.000,877.469,472.360,757.781,270.788,33.299,805.784,0.000,626.887,0.000,10.192,0.000
$DEVICE_MAMPS,269.217,86.671,845.234,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,235.329,241.315,406.674,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19127,352
$CAP_FILE_SIZE,37689,0
$CFSIZE,260165632,258498560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,045536,4806.693,-12222.422,13,1.5,29,18.3