version: 66.04
glider: 164
mission: 2
dive: 28
start: 3 4 109 17 6 25
data:
$ID,164
$MISSION,2
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,30
$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,380
$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,-32670.73
$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,1800
$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
$GPS1,170028,4807.073,-12223.225,8,2.1,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.1
$GPS2,170546,4807.043,-12223.208,10,2.1,29,18.3
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.110,0.207
$KALMAN_X,-2352.2,735.0,-82.7,1764.6,19.2
$KALMAN_Y,5773.1,-1505.3,-90.0,-5895.9,-44.6
$MHEAD_RNG_PITCHd_Wd,313.7,2025,-19.7,-10.000
$D_GRID,102
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.87,-117.3,0.0,0.0,0,107,0.00,0.00,-93.25,0.000,2,0.000,0.000,122,1854,3715
$GC,109,-0.87,-117.3,3.7,-7.0,16,127,9.55,2.30,-1.30,0.000,4,0.251,0.081,2462,3252,3770
$GC,174,-0.87,-117.3,14.4,-11.1,28,181,0.00,2.28,0.00,0.000,6,0.000,0.062,2462,1858,3770
$GC,243,-0.87,-117.3,21.6,-10.6,41,250,0.00,2.35,0.00,0.000,4,0.000,0.074,2462,436,3770
$GC,270,-0.87,-117.3,24.8,-12.6,46,277,0.00,2.30,0.00,0.000,6,0.000,0.062,2460,1848,3770
$GC,340,-0.87,-117.3,32.8,-11.2,59,345,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1848,3770
$GC,407,-0.87,-117.3,40.7,-11.8,72,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1848,3770
$GC,536,-0.87,-117.3,55.7,-11.8,96,543,0.00,2.30,0.00,0.000,4,0.000,0.074,2460,447,3770
$STATE,572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,572,begin apogee
$GC,578,-0.19,0.0,60.2,11.9,103,672,0.77,0.00,90.75,0.810,6,0.175,0.000,2692,1803,3288
$STATE,673,end apogee,CONTROL_FINISHED_OK
$STATE,673,begin climb
$GC,674,0.87,117.3,63.0,0.0,120,775,1.00,2.40,91.50,0.780,4,0.083,0.059,3035,3213,2808
$GC,843,0.87,117.3,41.4,17.5,151,849,0.00,2.35,0.00,0.000,6,0.000,0.060,3035,1805,2807
$GC,976,0.87,117.3,19.5,15.5,176,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,1804,2807
$GC,1040,0.87,117.3,9.7,15.9,188,1046,0.00,2.35,0.00,0.000,4,0.000,0.074,3035,389,2806
$GC,1077,0.87,117.3,3.5,15.5,195,1084,0.00,2.25,0.00,0.000,6,0.000,0.054,3035,1789,2806
$STATE,1086,end climb,SURFACE_DEPTH_REACHED
$STATE,1087,begin surface coast
$FINISH,1.1,1.020439
$STATE,1108,end surface coast,CONTROL_FINISHED_OK
$STATE,1108,begin surface
$SM_CCo,1122,202.88,0.751,0,0,1737,380.21
$SM_GC,0.86,0.00,0.00,202.88,0.000,0.000,0.751,119,1855,1737,-8.26,0.14,380.21
$IRIDIUM_FIX,4751.72,-12226.29,290598,161628
$TT8_MAMPS,0.049855
$HUMID,1395
$INTERNAL_PRESSURE,9.08484
$TCM_TEMP,19.70
$XPDR_PINGS,5
$24V_AH,23.9,3.438
$10V_AH,10.6,1.257
$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,19.675,23.150,182.250,202.875,0.000,25.277,24.862,176.636,1.250,0.000,0.000,32.587,0.000,418.812,454.662,483.312,286.272,33.301,680.508,0.000,373.888,0.000,0.535,0.000
$DEVICE_MAMPS,250.809,87.438,809.952,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,132.417,163.720,275.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9633,201
$CAP_FILE_SIZE,29299,0
$CFSIZE,260165632,258048000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040309,172901,4807.092,-12223.276,6,1.9,11,18.3