version: 66.04
glider: 164
mission: 2
dive: 15
start: 3 4 109 6 29 34
data:
$ID,164
$MISSION,2
$DIVE,15
$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,67
$T_MISSION,75
$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,120
$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,400
$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,-32405.66
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2762
$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,1850
$C_ROLL_CLIMB,1850
$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,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
$GPS1,061814,4806.402,-12222.091,8,1.6,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-75.6
$GPS2,062856,4806.380,-12222.090,12,1.6,12,18.3
$SPEED_LIMITS,0.129,0.213
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.067,-0.202
$KALMAN_X,-2519.9,-266.0,-33.8,4264.2,-271.1
$KALMAN_Y,5739.7,466.0,-138.9,-9011.0,825.8
$MHEAD_RNG_PITCHd_Wd,143.4,713,-14.9,-7.463
$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,-0.70,-117.3,0.0,0.0,0,92,0.00,0.00,-77.12,0.000,2,0.000,0.000,124,2106,3495
$GC,94,-0.70,-117.3,3.4,-3.9,13,118,10.07,2.80,-6.62,0.000,4,0.264,0.084,2529,434,3770
$GC,358,-0.70,-117.3,30.4,-9.3,62,364,0.00,2.28,0.00,0.000,6,0.000,0.061,2527,1842,3772
$GC,427,-0.70,-117.3,36.5,-8.3,75,434,0.00,2.33,0.00,0.000,4,0.000,0.074,2527,433,3771
$GC,673,-0.70,-117.3,61.2,-9.9,121,680,0.00,2.28,0.00,0.000,6,0.000,0.061,2527,1850,3772
$GC,806,-0.70,-117.3,72.5,-8.3,146,813,0.00,2.30,0.00,0.000,4,0.000,0.072,2527,437,3771
$GC,919,-0.70,-117.3,82.8,-9.3,167,925,0.00,2.25,0.00,0.000,6,0.000,0.062,2527,1845,3771
$GC,1051,-0.70,-117.3,93.5,-7.9,192,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1845,3772
$GC,1180,-0.70,-117.3,103.1,-7.4,216,1187,0.00,2.28,0.00,0.000,4,0.000,0.072,2527,441,3771
$GC,1201,-0.70,-117.3,104.9,-7.9,220,1209,0.00,2.25,0.00,0.000,6,0.000,0.063,2527,1850,3771
$GC,1335,-0.70,-117.3,115.3,-7.6,245,1336,0.00,0.00,0.00,0.000,6,0.000,0.000,2527,1850,3771
$STATE,1345,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1345,begin apogee
$GC,1348,-0.19,0.0,116.0,7.4,247,1443,0.55,0.00,90.70,0.853,6,0.147,0.000,2699,1851,3287
$STATE,1444,end apogee,CONTROL_FINISHED_OK
$STATE,1444,begin climb
$GC,1445,0.70,117.3,117.4,0.0,264,1542,0.85,0.00,91.70,0.817,6,0.101,0.000,2978,1851,2808
$GC,1669,0.70,117.3,92.2,13.7,305,1675,0.00,2.38,0.00,0.000,4,0.000,0.071,2979,436,2807
$GC,1705,0.70,117.3,87.2,13.5,312,1712,0.00,2.30,0.00,0.000,6,0.000,0.054,2979,1850,2807
$GC,1839,0.70,117.3,69.8,12.4,337,1840,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1851,2807
$GC,1967,0.70,117.3,53.5,12.8,361,1974,0.00,2.33,0.00,0.000,4,0.000,0.071,2979,440,2806
$GC,2015,0.70,117.3,47.3,12.8,370,2022,0.00,2.25,0.00,0.000,6,0.000,0.055,2979,1847,2807
$GC,2149,0.70,117.3,31.2,12.1,395,2155,0.00,2.33,0.00,0.000,4,0.000,0.073,2979,433,2806
$GC,2192,0.70,117.3,26.0,12.4,403,2198,0.00,2.25,0.00,0.000,6,0.000,0.055,2979,1849,2806
$GC,2261,0.70,117.3,17.5,11.9,416,2268,0.00,2.25,0.00,0.000,4,0.000,0.063,2979,3265,2806
$GC,2282,0.70,117.3,14.9,12.1,420,2289,0.00,2.28,0.00,0.000,6,0.000,0.061,2979,1851,2806
$GC,2352,0.70,117.3,6.7,11.5,433,2359,0.00,2.30,0.00,0.000,4,0.000,0.075,2979,440,2806
$GC,2373,0.70,117.3,4.9,9.7,437,2380,0.00,2.25,0.00,0.000,6,0.000,0.057,2979,1852,2806
$GC,2443,0.90,280.0,3.8,0.5,450,2487,0.20,0.00,41.35,0.775,2,0.072,0.000,3057,1853,2588
$STATE,2487,end climb,SURFACE_DEPTH_REACHED
$STATE,2487,begin surface coast
$FINISH,1.0,1.019774
$STATE,2645,end surface coast,CONTROL_FINISHED_OK
$STATE,2645,begin surface
$SM_CCo,2659,178.43,0.754,0,0,1657,400.08
$SM_GC,0.84,0.00,0.00,178.43,0.000,0.000,0.754,127,1855,1657,-8.24,0.14,400.08
$IRIDIUM_FIX,4751.72,-12223.57,290598,060631
$TT8_MAMPS,0.049855
$HUMID,1396
$INTERNAL_PRESSURE,9.06531
$TCM_TEMP,19.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.3,45.3
$24V_AH,24.0,2.103
$10V_AH,10.6,0.723
$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,20.075,41.650,223.750,178.425,0.000,80.408,98.836,249.767,1.750,0.000,0.000,14.054,0.000,1423.360,490.174,1035.556,529.929,33.304,916.131,0.000,867.344,0.000,6.424,0.000
$DEVICE_MAMPS,263.848,84.370,852.904,753.961,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,329.033,344.543,580.657,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28576,487
$CAP_FILE_SIZE,53320,0
$CFSIZE,260165632,258387968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,071736,4806.182,-12221.936,10,1.3,26,18.3