version: 66.04
glider: 164
mission: 2
dive: 19
start: 3 4 109 9 49 10
data:
$ID,164
$MISSION,2
$DIVE,19
$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,-32473.84
$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,17
$R_STBD_OVSHOOT,26
$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
$GPS1,094334,4805.896,-12221.965,13,2.9,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-75.6
$GPS2,094831,4805.892,-12221.964,9,1.2,9,18.3
$SPEED_LIMITS,0.129,0.213
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.085,0.098
$KALMAN_X,-2591.8,-7.4,62.1,4138.6,128.8
$KALMAN_Y,6551.5,-150.0,72.2,-10321.7,-3.7
$MHEAD_RNG_PITCHd_Wd,300.9,205,-26.8,-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,11,-1.04,-40.8,0.0,0.0,0,95,0.00,0.00,-82.05,0.000,6,0.000,0.000,125,1855,3455
$GC,97,-1.09,-79.5,3.0,-2.7,14,116,9.68,2.33,-4.15,0.000,4,0.268,0.086,2402,436,3612
$GC,355,-1.09,-79.5,27.2,-8.4,62,362,0.00,2.28,0.00,0.000,6,0.000,0.062,2402,1840,3613
$GC,425,-1.09,-79.5,32.7,-7.9,75,432,0.00,2.30,0.00,0.000,4,0.000,0.073,2402,437,3613
$GC,671,-1.09,-79.5,57.8,-10.5,121,677,0.00,2.28,0.00,0.000,6,0.000,0.063,2402,1848,3613
$GC,804,-1.09,-79.5,70.4,-9.0,146,811,0.00,2.30,0.00,0.000,4,0.000,0.073,2402,437,3613
$GC,1050,-1.09,-79.5,95.7,-9.4,192,1057,0.00,2.28,0.00,0.000,6,0.000,0.064,2402,1854,3613
$GC,1184,-1.09,-79.5,107.4,-8.6,217,1190,0.00,2.30,0.00,0.000,4,0.000,0.072,2402,436,3613
$STATE,1193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1193,begin apogee
$GC,1198,-0.19,0.0,108.2,8.4,219,1266,1.00,0.00,61.50,0.858,6,0.191,0.000,2691,1857,3288
$STATE,1266,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1268,1.09,79.5,109.7,0.0,231,1336,1.23,2.40,62.08,0.824,4,0.102,0.059,3102,3272,2963
$GC,1404,1.09,79.5,88.9,20.7,256,1411,0.00,2.38,0.00,0.000,6,0.000,0.061,3102,1845,2962
$GC,1538,1.09,79.5,63.5,18.3,281,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1844,2962
$GC,1666,1.09,79.5,39.8,18.8,305,1672,0.00,2.33,0.00,0.000,4,0.000,0.072,3102,434,2961
$GC,1687,1.09,79.5,35.7,18.9,309,1694,0.00,2.28,0.00,0.000,6,0.000,0.054,3102,1855,2961
$GC,1757,1.09,79.5,23.2,17.6,322,1763,0.00,2.35,0.00,0.000,4,0.000,0.073,3104,433,2962
$GC,1794,1.09,79.5,16.7,17.5,329,1801,0.00,2.28,0.00,0.000,6,0.000,0.054,3103,1858,2961
$GC,1864,1.09,79.5,4.9,16.9,342,1870,0.00,2.22,0.00,0.000,4,0.000,0.061,3104,3256,2961
$STATE,1879,end climb,SURFACE_DEPTH_REACHED
$STATE,1879,begin surface coast
$FINISH,1.9,1.020153
$STATE,1895,end surface coast,CONTROL_FINISHED_OK
$STATE,1895,begin surface
$SM_CCo,1911,253.70,0.739,3,0,1656,400.08
$SM_GC,0.91,0.00,0.00,253.70,0.000,0.000,0.739,120,1839,1656,-8.26,-0.31,400.08
$IRIDIUM_FIX,4748.51,-12224.57,290598,090952
$TT8_MAMPS,0.050622
$HUMID,1385
$INTERNAL_PRESSURE,9.07508
$TCM_TEMP,19.80
$XPDR_PINGS,6
$24V_AH,24.0,2.499
$10V_AH,10.6,0.886
$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,20.625,36.850,123.575,253.700,0.000,28.750,28.924,169.325,1.500,0.000,0.000,12.083,0.000,938.890,492.987,749.534,296.246,33.295,799.726,0.000,623.491,0.000,0.836,0.000
$DEVICE_MAMPS,267.683,85.904,857.506,739.388,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,235.284,246.444,415.170,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19232,348
$CAP_FILE_SIZE,38612,0
$CFSIZE,260165632,258285568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,040309,102601,4805.857,-12222.062,7,1.0,12,18.3