version: 66.04
glider: 164
mission: 2
dive: 21
start: 3 4 109 11 16 33
data:
$ID,164
$MISSION,2
$DIVE,21
$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,-32507.668
$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,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,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
$GPS1,110514,4806.005,-12222.086,12,1.8,12,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-75.3
$GPS2,111555,4806.001,-12222.064,10,1.6,15,18.3
$SPEED_LIMITS,0.129,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.087,0.194
$KALMAN_X,-2949.7,346.9,251.0,3831.3,16.0
$KALMAN_Y,6609.6,-630.2,-65.9,-9563.2,-196.9
$MHEAD_RNG_PITCHd_Wd,317.6,4407,-14.9,-7.463
$D_GRID,107
$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,-88.88,0.000,2,0.000,0.000,124,1856,3586
$GC,105,-0.70,-117.3,3.3,-3.2,15,124,10.15,2.38,-4.65,0.000,4,0.265,0.085,2534,436,3769
$GC,363,-0.70,-117.3,28.6,-9.0,63,370,0.00,2.28,0.00,0.000,6,0.000,0.061,2531,1846,3770
$GC,433,-0.70,-117.3,34.4,-8.1,76,440,0.00,2.33,0.00,0.000,4,0.000,0.074,2531,434,3771
$GC,513,-0.70,-117.3,42.0,-9.3,91,520,0.00,2.28,0.00,0.000,6,0.000,0.061,2531,1848,3771
$GC,646,-0.70,-117.3,52.9,-8.2,116,653,0.00,2.30,0.00,0.000,4,0.000,0.073,2531,439,3771
$GC,700,-0.70,-117.3,57.9,-9.4,126,707,0.00,2.28,0.00,0.000,6,0.000,0.062,2531,1854,3771
$GC,834,-0.70,-117.3,69.2,-8.6,151,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1854,3770
$GC,966,-0.70,-117.3,79.7,-7.9,176,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1854,3771
$GC,1094,-0.70,-117.3,89.9,-8.1,200,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1854,3771
$GC,1223,-0.70,-117.3,100.2,-7.9,224,1230,0.00,2.30,0.00,0.000,4,0.000,0.072,2531,436,3771
$STATE,1302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1302,begin apogee
$GC,1308,-0.19,0.0,107.4,9.0,239,1403,0.52,0.00,90.75,0.851,6,0.150,0.000,2695,1851,3287
$STATE,1404,end apogee,CONTROL_FINISHED_OK
$STATE,1404,begin climb
$GC,1405,0.70,117.3,109.3,0.0,256,1501,0.85,0.00,91.95,0.818,6,0.100,0.000,2976,1852,2809
$GC,1629,0.70,117.3,85.0,13.2,297,1635,0.00,2.38,0.00,0.000,4,0.000,0.071,2976,440,2807
$GC,1681,0.70,117.3,77.9,13.2,307,1688,0.00,2.30,0.00,0.000,6,0.000,0.054,2976,1854,2807
$GC,1814,0.70,117.3,60.5,12.6,332,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1854,2807
$GC,1943,0.70,117.3,44.1,12.7,356,1950,0.00,2.33,0.00,0.000,4,0.000,0.070,2976,440,2807
$GC,1980,0.70,117.3,39.5,12.5,363,1987,0.00,2.25,0.00,0.000,6,0.000,0.054,2976,1850,2806
$GC,2050,0.70,117.3,30.8,12.4,376,2057,0.00,2.25,0.00,0.000,4,0.000,0.061,2976,3262,2807
$GC,2066,0.70,117.3,28.5,12.8,379,2073,0.00,2.28,0.00,0.000,6,0.000,0.060,2976,1847,2807
$GC,2136,0.70,117.3,19.8,12.4,392,2143,0.00,2.30,0.00,0.000,4,0.000,0.074,2976,441,2806
$GC,2152,0.70,117.3,17.9,11.9,395,2159,0.00,2.25,0.00,0.000,6,0.000,0.055,2976,1852,2806
$GC,2222,0.70,117.3,9.5,11.8,408,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,1853,2807
$STATE,2283,end climb,SURFACE_DEPTH_REACHED
$STATE,2283,begin surface coast
$FINISH,1.9,1.020360
$STATE,2310,end surface coast,CONTROL_FINISHED_OK
$STATE,2310,begin surface
$SM_CCo,2324,221.40,0.755,1,0,1656,400.08
$SM_GC,0.85,0.00,0.00,221.40,0.000,0.000,0.755,123,1855,1656,-8.25,0.14,400.08
$IRIDIUM_FIX,4748.51,-12226.29,290598,111109
$TT8_MAMPS,0.049855
$HUMID,1376
$INTERNAL_PRESSURE,9.07508
$TCM_TEMP,19.80
$XPDR_PINGS,4
$24V_AH,24.0,2.711
$10V_AH,10.6,0.966
$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,19.500,36.700,182.700,221.400,0.000,72.932,85.258,278.452,1.000,0.000,0.000,17.830,0.000,1250.055,508.444,908.932,524.628,33.305,885.968,0.000,757.737,0.000,1.437,0.000
$DEVICE_MAMPS,265.382,85.137,850.603,754.728,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,286.765,294.894,496.130,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22341,425
$CAP_FILE_SIZE,49892,0
$CFSIZE,260165632,258215936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,115952,4806.184,-12222.220,9,99.0,28,18.3