version: 66.04
glider: 164
mission: 2
dive: 4
start: 3 3 109 22 43 39
data:
$ID,164
$MISSION,2
$DIVE,4
$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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,165
$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,370
$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,-32173.479
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2775
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,21
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$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
$GPS1,223649,4808.042,-12223.217,7,1.1,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-64.9
$GPS2,224301,4808.083,-12223.215,10,1.3,15,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.094,-0.255
$KALMAN_X,-157.9,-141.4,-124.6,480.5,-52.2
$KALMAN_Y,505.5,402.1,329.2,-1038.4,177.8
$MHEAD_RNG_PITCHd_Wd,141.5,4140,-16.6,-10.000
$D_GRID,150
$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,9,begin dive
$GC,11,-0.81,-161.3,0.0,0.0,0,101,0.00,0.00,-88.22,0.000,2,0.000,0.000,126,2104,3700
$GC,103,-0.81,-161.3,3.6,-7.9,15,122,10.05,0.00,-5.35,0.000,6,0.271,0.000,2507,2104,3948
$GC,184,-0.81,-161.3,20.7,-10.4,30,185,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2104,3950
$GC,248,-0.81,-161.3,27.7,-10.7,42,255,0.00,2.30,0.00,0.000,4,0.000,0.072,2507,689,3950
$GC,302,-0.81,-161.3,33.8,-11.3,52,309,0.00,2.28,0.00,0.000,6,0.000,0.067,2506,2088,3950
$GC,371,-0.81,-161.3,41.6,-11.1,65,372,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2089,3950
$GC,499,-0.81,-161.3,55.7,-10.4,89,506,0.00,2.28,0.00,0.000,4,0.000,0.071,2507,686,3950
$GC,568,-0.81,-161.3,63.7,-11.5,102,575,0.00,2.28,0.00,0.000,6,0.000,0.065,2507,2097,3950
$GC,702,-0.81,-161.3,78.4,-10.2,127,703,0.00,0.00,0.00,0.000,6,0.000,0.000,2507,2097,3950
$GC,831,-0.81,-161.3,91.7,-10.6,151,837,0.00,2.28,0.00,0.000,4,0.000,0.071,2507,690,3950
$GC,883,-0.81,-161.3,97.4,-10.8,161,890,0.00,2.28,0.00,0.000,6,0.000,0.067,2507,2102,3950
$STATE,962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,962,begin apogee
$GC,965,-0.19,0.0,105.4,9.4,176,1094,0.62,0.00,124.57,0.849,6,0.147,0.000,2704,2102,3288
$STATE,1094,end apogee,CONTROL_FINISHED_OK
$STATE,1094,begin climb
$GC,1095,0.81,161.3,107.8,0.0,199,1230,0.98,0.00,126.25,0.804,6,0.096,0.000,3027,2102,2629
$GC,1357,0.81,161.3,68.5,18.2,247,1363,0.00,2.38,0.00,0.000,4,0.000,0.069,3028,684,2627
$GC,1414,0.81,161.3,58.3,17.4,258,1422,0.00,2.30,0.00,0.000,6,0.000,0.057,3027,2096,2627
$GC,1549,0.81,161.3,34.9,17.8,283,1555,0.00,2.33,0.00,0.000,4,0.000,0.071,3028,687,2626
$GC,1613,0.81,161.3,23.9,16.5,295,1620,0.00,2.25,0.00,0.000,6,0.000,0.057,3027,2092,2626
$GC,1682,0.81,161.3,12.5,15.8,308,1689,0.00,2.30,0.00,0.000,4,0.000,0.072,3028,692,2626
$GC,1704,0.81,161.3,9.7,13.7,312,1710,0.00,2.25,0.00,0.000,6,0.000,0.058,3028,2098,2626
$GC,1773,0.97,285.9,6.0,4.8,325,1828,0.17,0.00,52.70,0.762,2,0.082,0.000,3095,2098,2349
$STATE,1828,end climb,SURFACE_DEPTH_REACHED
$STATE,1829,begin surface coast
$FINISH,0.2,1.016924
$STATE,1874,end surface coast,CONTROL_FINISHED_OK
$STATE,1874,begin surface
$SM_CCo,1888,108.28,0.746,0,0,1778,370.16
$SM_GC,1.04,0.00,0.00,108.28,0.000,0.000,0.746,120,2102,1778,-8.30,0.08,370.16
$IRIDIUM_FIX,4748.51,-12229.01,280598,222214
$TT8_MAMPS,0.049088
$HUMID,1415
$INTERNAL_PRESSURE,9.08484
$TCM_TEMP,19.60
$XPDR_PINGS,104
$ALTIM_BOTTOM_PING,80.1,35.1
$24V_AH,24.1,0.921
$10V_AH,10.6,0.297
$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,20.425,27.475,303.525,108.275,0.000,0.000,0.000,0.000,26.500,0.000,0.000,17.382,0.000,803.050,456.021,744.949,39.273,32.311,803.169,0.000,614.289,0.000,5.493,0.000
$DEVICE_MAMPS,270.751,72.098,849.069,746.291,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,228.185,240.380,404.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19105,343
$CAP_FILE_SIZE,52901,0
$CFSIZE,260165632,258703360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030309,231743,4807.885,-12223.122,11,2.0,28,18.3