version: 66.04
glider: 164
mission: 2
dive: 14
start: 3 4 109 5 42 4
data:
$ID,164
$MISSION,2
$DIVE,14
$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,-32390.979
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2768
$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,18
$R_STBD_OVSHOOT,24
$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,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
$GPS1,053638,4806.539,-12222.250,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-75.4
$GPS2,054125,4806.528,-12222.257,11,1.4,29,18.3
$SPEED_LIMITS,0.173,0.271
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.247
$KALMAN_X,-2459.1,-254.9,12.3,3939.8,-342.2
$KALMAN_Y,5306.3,535.5,-224.7,-8288.4,754.5
$MHEAD_RNG_PITCHd_Wd,137.2,1028,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.81,-161.3,0.0,0.0,0,91,0.00,0.00,-76.78,0.000,2,0.000,0.000,121,2102,3526
$GC,92,-0.81,-161.3,3.6,-7.4,13,117,10.05,2.30,-9.75,0.000,4,0.265,0.083,2497,689,3947
$GC,356,-0.81,-161.3,37.8,-12.4,62,363,0.00,2.28,0.00,0.000,6,0.000,0.064,2498,2087,3948
$GC,426,-0.81,-161.3,45.6,-10.9,75,432,0.00,2.30,0.00,0.000,4,0.000,0.078,2498,690,3948
$GC,672,-0.81,-161.3,74.7,-11.7,121,678,0.00,2.28,0.00,0.000,6,0.000,0.064,2498,2100,3948
$GC,804,-0.81,-161.3,89.3,-10.6,146,811,0.00,2.30,0.00,0.000,4,0.000,0.071,2498,685,3948
$GC,906,-0.81,-161.3,100.9,-11.1,165,913,0.00,2.28,0.00,0.000,6,0.000,0.064,2498,2100,3948
$STATE,1038,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1038,begin apogee
$GC,1042,-0.19,0.0,115.2,10.0,190,1171,0.65,0.00,123.97,0.849,6,0.150,0.000,2702,2100,3287
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1172,0.81,161.3,117.8,0.0,213,1301,0.98,0.00,125.62,0.812,6,0.097,0.000,3024,2099,2630
$GC,1428,0.81,161.3,80.0,18.9,260,1435,0.00,2.35,0.00,0.000,4,0.000,0.067,3024,695,2627
$GC,1476,0.81,161.3,71.4,17.4,269,1483,0.00,2.28,0.00,0.000,6,0.000,0.055,3024,2095,2628
$GC,1609,0.81,161.3,47.8,16.8,294,1616,0.00,2.33,0.00,0.000,4,0.000,0.070,3024,687,2627
$GC,1674,0.81,161.3,36.9,17.2,306,1680,0.00,2.28,0.00,0.000,6,0.000,0.055,3024,2102,2627
$GC,1743,0.81,161.3,25.0,17.4,319,1750,0.00,2.33,0.00,0.000,4,0.000,0.071,3024,691,2627
$GC,1776,0.81,161.3,19.6,16.5,325,1782,0.00,2.25,0.00,0.000,6,0.000,0.056,3024,2098,2627
$GC,1845,0.81,161.3,8.3,15.3,338,1852,0.00,2.33,0.00,0.000,4,0.000,0.071,3024,686,2627
$GC,1872,0.81,161.3,4.9,12.6,343,1878,0.00,2.28,0.00,0.000,6,0.000,0.057,3024,2105,2627
$STATE,1902,end climb,SURFACE_DEPTH_REACHED
$STATE,1902,begin surface coast
$FINISH,1.0,1.019722
$STATE,1961,end surface coast,CONTROL_FINISHED_OK
$STATE,1961,begin surface
$SM_CCo,1975,162.55,0.751,1,0,1779,370.16
$SM_GC,1.13,0.00,0.00,162.55,0.000,0.000,0.751,124,2106,1779,-8.26,0.17,370.16
$IRIDIUM_FIX,4748.51,-11913.92,290598,050541
$TT8_MAMPS,0.050622
$HUMID,1413
$INTERNAL_PRESSURE,9.09461
$TCM_TEMP,19.80
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.2,44.8
$24V_AH,23.4,1.991
$10V_AH,10.6,0.672
$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,19.850,32.125,249.600,162.550,0.000,23.244,23.891,152.167,1.750,0.000,0.000,31.136,0.000,898.857,474.606,789.390,267.614,33.307,815.696,0.000,642.245,0.000,5.824,0.000
$DEVICE_MAMPS,264.615,82.836,849.069,750.893,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,240.800,247.462,416.965,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19118,360
$CAP_FILE_SIZE,38586,0
$CFSIZE,260165632,258441216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040309,061814,4806.402,-12222.091,8,1.6,8,18.3