version: 66.04
glider: 164
mission: 2
dive: 23
start: 3 4 109 13 3 10
data:
$ID,164
$MISSION,2
$DIVE,23
$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,-32556.375
$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,19
$R_STBD_OVSHOOT,25
$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
$GPS1,125201,4806.376,-12222.385,10,1.6,10,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-75.9
$GPS2,130232,4806.370,-12222.387,12,1.5,12,18.3
$SPEED_LIMITS,0.129,0.213
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.094,0.191
$KALMAN_X,-3089.4,591.3,253.5,3324.3,-59.5
$KALMAN_Y,7059.1,-1257.2,-318.8,-8450.4,-44.5
$MHEAD_RNG_PITCHd_Wd,315.4,3619,-14.9,-7.463
$D_GRID,105
$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,-117.3,0.0,0.0,0,104,0.00,0.00,-88.82,0.000,2,0.000,0.000,126,1839,3602
$GC,106,-0.70,-117.3,3.3,-3.3,15,125,9.95,2.30,-4.38,0.000,4,0.258,0.085,2532,433,3767
$GC,364,-0.70,-117.3,27.9,-8.9,63,371,0.00,2.28,0.00,0.000,6,0.000,0.061,2532,1841,3768
$GC,434,-0.70,-117.3,33.5,-7.9,76,440,0.00,2.30,0.00,0.000,4,0.000,0.073,2532,440,3769
$GC,546,-0.70,-117.3,44.2,-10.0,97,552,0.00,2.28,0.00,0.000,6,0.000,0.063,2532,1851,3769
$GC,679,-0.70,-117.3,55.3,-8.3,122,686,0.00,2.33,0.00,0.000,4,0.000,0.073,2531,433,3769
$GC,749,-0.70,-117.3,62.0,-9.9,135,755,0.00,2.28,0.00,0.000,6,0.000,0.061,2531,1853,3769
$GC,882,-0.70,-117.3,73.3,-8.5,160,883,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1853,3769
$GC,1010,-0.70,-117.3,84.2,-8.4,184,1010,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1852,3769
$GC,1138,-0.70,-117.3,94.0,-7.8,208,1145,0.00,2.30,0.00,0.000,4,0.000,0.071,2532,434,3769
$GC,1208,-0.70,-117.3,100.1,-9.0,221,1214,0.00,2.25,0.00,0.000,6,0.000,0.061,2532,1849,3769
$STATE,1270,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1270,begin apogee
$GC,1274,-0.19,0.0,105.3,8.0,233,1369,0.52,0.00,90.38,0.849,6,0.145,0.000,2696,1849,3288
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1371,0.70,117.3,106.9,0.0,250,1472,0.85,2.47,91.93,0.812,4,0.098,0.071,2980,436,2808
$GC,1481,0.70,117.3,96.8,12.1,270,1489,0.00,2.38,0.00,0.000,6,0.000,0.054,2980,1852,2808
$GC,1616,0.70,117.3,78.8,13.4,295,1622,0.00,2.38,0.00,0.000,4,0.000,0.072,2980,440,2807
$GC,1652,0.70,117.3,74.0,13.2,302,1660,0.00,2.30,0.00,0.000,6,0.000,0.054,2980,1854,2807
$GC,1787,0.70,117.3,56.6,13.2,327,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1854,2806
$GC,1915,0.70,117.3,40.4,12.7,351,1921,0.00,2.33,0.00,0.000,4,0.000,0.071,2980,438,2806
$GC,1931,0.70,117.3,38.3,12.5,354,1937,0.00,2.25,0.00,0.000,6,0.000,0.054,2981,1848,2806
$GC,1999,0.70,117.3,29.7,12.4,367,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1849,2807
$GC,2063,0.70,117.3,21.9,12.2,379,2070,0.00,2.33,0.00,0.000,4,0.000,0.071,2980,435,2806
$GC,2080,0.70,117.3,19.8,12.1,382,2086,0.00,2.25,0.00,0.000,6,0.000,0.054,2980,1851,2807
$GC,2149,0.70,117.3,11.4,12.2,395,2155,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1851,2806
$GC,2217,0.70,117.3,3.4,11.6,408,2224,0.00,2.30,0.00,0.000,4,0.000,0.071,2980,441,2806
$STATE,2227,end climb,SURFACE_DEPTH_REACHED
$STATE,2227,begin surface coast
$FINISH,1.9,1.020346
$STATE,2237,end surface coast,CONTROL_FINISHED_OK
$STATE,2238,begin surface
$SM_CCo,2253,220.98,0.751,1,0,1657,400.08
$SM_GC,1.26,0.00,0.00,220.98,0.000,0.000,0.751,123,1862,1657,-8.25,0.34,400.08
$IRIDIUM_FIX,4748.51,-12224.57,290598,131348
$TT8_MAMPS,0.050622
$HUMID,1380
$INTERNAL_PRESSURE,9.06531
$TCM_TEMP,19.90
$XPDR_PINGS,4
$24V_AH,24.0,2.932
$10V_AH,10.6,1.056
$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,19.325,41.550,182.300,220.975,0.000,80.681,186.717,168.010,1.000,0.000,0.000,14.719,0.000,1199.493,512.654,880.191,516.079,33.303,882.790,0.000,733.744,0.000,0.836,0.000
$DEVICE_MAMPS,258.479,85.137,849.069,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,277.634,286.666,481.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22355,412
$CAP_FILE_SIZE,46960,0
$CFSIZE,260165632,258162688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,134515,4806.544,-12222.574,7,2.8,26,18.3