version: 66.04
glider: 164
mission: 2
dive: 16
start: 3 4 109 7 29 21
data:
$ID,164
$MISSION,2
$DIVE,16
$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,-4
$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,-32422.713
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,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,14
$R_STBD_OVSHOOT,21
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,071736,4806.182,-12221.936,10,1.3,26,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.7
$GPS2,072843,4806.176,-12221.945,9,1.3,14,18.3
$SPEED_LIMITS,0.129,0.213
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.025,-0.211
$KALMAN_X,-2635.1,-215.6,-45.0,4519.8,-106.1
$KALMAN_Y,6135.9,332.0,5.5,-9794.8,438.9
$MHEAD_RNG_PITCHd_Wd,155.0,334,-14.9,-7.463
$D_GRID,108
$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,-0.70,-117.3,0.0,0.0,0,103,0.00,0.00,-88.68,0.000,2,0.000,0.000,127,1855,3604
$GC,104,-0.70,-117.3,3.6,-3.7,15,123,10.18,2.33,-3.95,0.000,4,0.266,0.084,2534,434,3768
$GC,363,-0.70,-117.3,30.6,-9.5,63,370,0.00,2.28,0.00,0.000,6,0.000,0.061,2532,1845,3770
$GC,432,-0.70,-117.3,36.3,-7.9,76,439,0.00,2.33,0.00,0.000,4,0.000,0.074,2532,434,3770
$GC,545,-0.70,-117.3,46.6,-9.4,97,551,0.00,2.28,0.00,0.000,6,0.000,0.061,2531,1846,3770
$GC,677,-0.70,-117.3,57.7,-8.3,122,685,0.00,2.30,0.00,0.000,4,0.000,0.071,2531,3272,3769
$GC,699,-0.70,-117.3,59.5,-8.0,126,706,0.00,2.30,0.00,0.000,6,0.000,0.064,2532,1844,3770
$GC,833,-0.70,-117.3,70.0,-7.7,151,839,0.00,2.28,0.00,0.000,4,0.000,0.074,2531,442,3770
$GC,897,-0.70,-117.3,75.5,-8.6,163,903,0.00,2.28,0.00,0.000,6,0.000,0.063,2532,1857,3770
$GC,1030,-0.70,-117.3,86.2,-8.1,188,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1857,3770
$GC,1158,-0.70,-117.3,96.2,-7.8,212,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1857,3770
$GC,1286,-0.70,-117.3,105.8,-7.6,236,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1857,3770
$STATE,1316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1316,begin apogee
$GC,1319,-0.19,0.0,108.2,7.5,242,1415,0.52,0.00,90.43,0.848,6,0.145,0.000,2696,1857,3287
$STATE,1415,end apogee,CONTROL_FINISHED_OK
$STATE,1415,begin climb
$GC,1417,0.70,117.3,109.6,0.0,259,1513,0.85,0.00,91.75,0.811,6,0.100,0.000,2978,1858,2809
$GC,1639,0.70,117.3,84.7,13.0,300,1646,0.00,2.38,0.00,0.000,4,0.000,0.071,2979,442,2807
$GC,1671,0.70,117.3,80.3,13.6,306,1679,0.00,2.30,0.00,0.000,6,0.000,0.056,2979,1851,2807
$GC,1805,0.70,117.3,62.6,13.4,331,1812,0.00,2.35,0.00,0.000,4,0.000,0.071,2979,437,2807
$GC,1848,0.70,117.3,56.9,13.5,339,1854,0.00,2.28,0.00,0.000,6,0.000,0.055,2978,1850,2807
$GC,1981,0.70,117.3,40.0,12.3,364,1988,0.00,2.25,0.00,0.000,4,0.000,0.062,2978,3258,2807
$GC,2002,0.70,117.3,37.2,12.7,368,2010,0.00,2.28,0.00,0.000,6,0.000,0.060,2978,1850,2807
$GC,2072,0.70,117.3,28.7,12.1,381,2079,0.00,2.33,0.00,0.000,4,0.000,0.074,2979,433,2807
$GC,2126,0.70,117.3,22.2,12.1,391,2132,0.00,2.25,0.00,0.000,6,0.000,0.055,2978,1848,2807
$GC,2195,0.70,117.3,14.3,10.8,404,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1849,2807
$GC,2259,0.70,117.3,7.1,11.1,416,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1849,2806
$GC,2324,0.79,195.9,3.1,4.1,428,2332,0.12,0.00,6.20,0.640,2,0.083,0.000,3028,1849,2783
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,2.4,1.020330
$STATE,2415,end surface coast,CONTROL_FINISHED_OK
$STATE,2415,begin surface
$SM_CCo,2428,214.25,0.757,0,0,1657,400.08
$SM_GC,0.85,0.00,0.00,214.25,0.000,0.000,0.757,122,1851,1657,-8.25,0.03,400.08
$IRIDIUM_FIX,4748.51,-12217.40,290598,070743
$TT8_MAMPS,0.049855
$HUMID,1405
$INTERNAL_PRESSURE,9.06531
$TCM_TEMP,19.80
$XPDR_PINGS,5
$24V_AH,23.3,2.216
$10V_AH,10.6,0.771
$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,19.950,36.750,188.375,214.250,0.000,81.322,195.637,187.332,1.250,0.000,0.000,16.424,0.000,1309.140,499.176,950.512,548.402,33.302,889.079,0.000,791.956,0.000,0.835,0.000
$DEVICE_MAMPS,266.149,84.370,848.302,757.029,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,300.691,312.029,525.411,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25415,445
$CAP_FILE_SIZE,49833,0
$CFSIZE,260165632,258359296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,081415,4805.929,-12221.865,12,4.3,31,18.3