version: 66.04
glider: 164
mission: 2
dive: 20
start: 3 4 109 10 31 11
data:
$ID,164
$MISSION,2
$DIVE,20
$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,-32489.207
$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,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,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
$GPS1,102601,4805.857,-12222.062,7,1.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-76.2
$GPS2,103032,4805.850,-12222.046,12,0.9,12,18.3
$SPEED_LIMITS,0.129,0.213
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.023,0.158
$KALMAN_X,-2679.9,141.4,146.9,3893.1,123.4
$KALMAN_Y,6318.4,-289.0,64.0,-10019.4,-183.0
$MHEAD_RNG_PITCHd_Wd,333.4,284,-21.4,-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,-0.87,-62.0,0.0,0.0,0,96,0.00,0.00,-82.38,0.000,2,0.000,0.000,121,1838,3499
$GC,98,-0.93,-111.5,3.4,-3.5,14,123,9.85,2.38,-6.30,0.000,4,0.263,0.085,2454,427,3746
$GC,362,-0.93,-111.5,33.5,-11.6,63,369,0.00,2.30,0.00,0.000,6,0.000,0.062,2454,1847,3747
$GC,431,-0.93,-111.5,41.1,-10.3,76,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1848,3747
$GC,559,-0.93,-111.5,55.6,-12.0,100,566,0.00,2.30,0.00,0.000,4,0.000,0.072,2454,441,3748
$GC,591,-0.93,-111.5,59.7,-12.9,106,599,0.00,2.28,0.00,0.000,6,0.000,0.063,2448,1850,3747
$GC,726,-0.93,-111.5,75.8,-11.1,131,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2448,1850,3747
$GC,854,-0.93,-111.5,90.6,-11.7,155,860,0.00,2.30,0.00,0.000,4,0.000,0.073,2448,439,3747
$GC,917,-0.93,-111.5,98.4,-12.0,167,923,0.00,2.28,0.00,0.000,6,0.000,0.063,2448,1854,3747
$STATE,1001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1001,begin apogee
$GC,1005,-0.19,0.0,108.2,11.1,183,1095,0.82,0.00,86.35,0.841,6,0.168,0.000,2695,1854,3288
$STATE,1095,end apogee,CONTROL_FINISHED_OK
$STATE,1095,begin climb
$GC,1097,0.93,111.5,110.0,0.0,199,1188,1.08,0.00,87.28,0.808,6,0.100,0.000,3052,1854,2833
$GC,1315,0.93,111.5,78.0,17.7,239,1321,0.00,2.38,0.00,0.000,4,0.000,0.070,3052,437,2831
$GC,1351,0.93,111.5,71.2,18.4,246,1359,0.00,2.30,0.00,0.000,6,0.000,0.053,3052,1853,2830
$GC,1486,0.93,111.5,47.2,17.8,271,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1854,2830
$GC,1613,0.93,111.5,25.2,16.9,295,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1854,2830
$GC,1677,0.93,111.5,14.5,16.7,307,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1854,2830
$GC,1742,0.93,111.5,3.9,16.4,319,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1854,2830
$STATE,1751,end climb,SURFACE_DEPTH_REACHED
$STATE,1751,begin surface coast
$FINISH,1.5,1.020210
$STATE,1767,end surface coast,CONTROL_FINISHED_OK
$STATE,1767,begin surface
$SM_CCo,1781,225.65,0.746,1,0,1657,400.08
$SM_GC,1.02,0.00,0.00,225.65,0.000,0.000,0.746,123,1856,1657,-8.25,0.17,400.08
$IRIDIUM_FIX,4748.51,-12220.12,290598,090939
$TT8_MAMPS,0.049855
$HUMID,1385
$INTERNAL_PRESSURE,9.07508
$TCM_TEMP,19.90
$XPDR_PINGS,3
$24V_AH,24.0,2.598
$10V_AH,10.6,0.920
$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,20.125,18.500,173.625,225.650,0.000,27.437,24.613,147.442,0.750,0.000,0.000,14.739,0.000,846.217,468.455,703.448,265.410,33.297,764.706,0.000,580.036,0.000,0.836,0.000
$DEVICE_MAMPS,263.081,85.137,840.632,745.524,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,218.102,227.066,382.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19221,324
$CAP_FILE_SIZE,36267,0
$CFSIZE,260165632,258260992
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,110514,4806.005,-12222.086,12,1.8,12,18.3