version: 66.04
glider: 164
mission: 3
dive: 52
start: 5 30 109 21 22 25
data:
$ID,164
$MISSION,3
$DIVE,52
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,100
$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,330
$T_MISSION,396
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51863
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,415
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-34134.277
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2744
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.035
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1471
$C_ROLL_CLIMB,1580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3962
$C_VBD,2947
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,40
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-9.4660435
$PRESSURE_SLOPE,0.0001160742
$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,25
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,3
$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
$GPS1,211636,2421.776,12316.687,35,0.8,47,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-69.4
$GPS2,212219,2421.768,12316.728,12,1.3,17,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_2
$TGT_LATLONG,2415.000,12318.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,180.6,12718,-15.7,-10.000
$D_GRID,610
$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,-0.99,-194.7,0.0,0.0,0,85,0.00,0.00,-71.47,0.000,2,0.000,0.000,111,1444,2936
$GC,87,-0.99,-194.7,3.0,-5.3,11,119,8.40,1.90,-16.08,0.000,4,0.207,0.068,2417,228,3745
$GC,359,-0.55,-194.7,79.7,-26.6,61,365,0.43,1.88,0.00,0.000,6,0.128,0.034,2559,1476,3747
$GC,685,-0.59,-194.7,119.0,-9.3,122,693,0.00,1.92,0.00,0.000,4,0.000,0.044,2558,224,3749
$GC,718,-0.59,-194.7,122.2,-9.8,128,725,0.00,1.88,0.00,0.000,6,0.000,0.035,2559,1475,3749
$GC,1045,-0.67,-194.7,152.9,-7.8,189,1051,0.00,1.92,0.00,0.000,4,0.000,0.045,2558,217,3750
$GC,1082,-0.75,-194.7,155.7,-7.7,196,1088,0.12,1.88,0.00,0.000,6,0.049,0.035,2486,1470,3751
$GC,1408,-0.63,-194.7,196.3,-11.4,257,1414,0.17,0.00,0.00,0.000,6,0.129,0.000,2539,1470,3751
$GC,1734,-0.69,-194.7,222.9,-8.7,318,1742,0.00,2.10,0.00,0.000,4,0.000,0.039,2539,2878,3751
$GC,1810,-0.83,-194.7,228.5,-7.5,332,1817,0.15,2.10,0.00,0.000,6,0.042,0.033,2457,1466,3751
$GC,2136,-0.67,-194.7,277.1,-16.2,393,2141,0.22,0.00,0.00,0.000,6,0.130,0.000,2526,1466,3750
$GC,2457,-0.75,-194.7,309.9,-8.2,443,2461,0.00,2.12,0.00,0.000,4,0.000,0.039,2526,2882,3751
$GC,2505,-0.87,-194.7,313.6,-8.1,447,2511,0.15,2.12,0.00,0.000,6,0.045,0.034,2444,1450,3751
$GC,2820,-0.71,-194.7,356.3,-15.7,478,2825,0.22,1.85,0.00,0.000,4,0.129,0.044,2513,221,3750
$GC,2862,-0.71,-194.7,361.6,-11.1,482,2867,0.00,1.83,0.00,0.000,6,0.000,0.033,2513,1452,3750
$GC,3184,-0.78,-194.7,387.9,-9.6,513,3185,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1454,3749
$GC,3496,-0.86,-194.7,419.0,-9.6,543,3499,0.12,2.10,0.00,0.000,4,0.071,0.041,2454,2876,3748
$GC,3531,-0.82,-194.7,423.4,-12.4,546,3535,0.00,2.12,0.00,0.000,6,0.000,0.035,2454,1451,3748
$GC,3852,-0.76,-194.7,464.0,-10.6,577,3856,0.15,1.88,0.00,0.000,4,0.133,0.048,2498,214,3747
$GC,3948,-0.81,-194.7,472.9,-8.4,586,3952,0.00,1.85,0.00,0.000,6,0.000,0.034,2498,1457,3746
$GC,4270,-0.86,-194.7,498.5,-8.4,617,4273,0.00,2.10,0.00,0.000,4,0.000,0.044,2498,2873,3745
$GC,4306,-0.97,-194.7,501.7,-8.2,619,4312,0.15,2.12,0.00,0.000,6,0.048,0.036,2417,1453,3744
$GC,4616,-0.82,-194.7,536.2,-11.5,635,4620,0.20,1.88,0.00,0.000,4,0.133,0.051,2477,225,3742
$GC,4653,-0.82,-194.7,540.1,-9.4,636,4660,0.00,1.85,0.00,0.000,6,0.000,0.035,2476,1465,3742
$GC,4963,-0.82,-194.7,567.8,-8.0,652,4967,0.00,1.92,0.00,0.000,4,0.000,0.051,2476,223,3740
$GC,4995,-0.82,-194.7,570.2,-7.7,653,4999,0.00,1.85,0.00,0.000,6,0.000,0.035,2476,1460,3740
$STATE,5289,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5289,begin apogee
$GC,5293,-0.24,0.0,592.8,8.0,668,5453,0.57,0.00,155.60,1.152,6,0.112,0.000,2668,1583,2947
$STATE,5453,end apogee,CONTROL_FINISHED_OK
$STATE,5453,begin climb
$GC,5455,0.99,194.7,597.6,0.0,676,5619,1.10,2.25,157.32,1.118,4,0.074,0.053,3056,224,2152
$GC,5666,0.58,194.7,578.3,14.7,685,5671,0.40,2.15,0.00,0.000,6,0.165,0.038,2938,1578,2149
$GC,5988,0.53,222.1,552.3,9.1,701,6016,0.00,2.22,22.58,1.058,4,0.000,0.054,2937,224,2041
$GC,6043,0.46,222.1,546.7,10.2,703,6050,0.12,2.10,0.00,0.000,6,0.135,0.040,2895,1564,2037
$GC,6354,0.55,247.0,518.5,9.1,719,6377,0.00,0.00,21.23,1.052,6,0.000,0.000,2895,1564,1939
$GC,6680,0.81,396.2,497.5,4.9,737,6815,0.30,2.22,125.57,1.081,4,0.052,0.054,3019,217,1331
$GC,6825,0.50,396.2,473.9,21.6,750,6828,0.40,2.15,0.00,0.000,6,0.153,0.041,2906,1569,1329
$GC,7145,0.61,396.2,435.1,10.1,781,7149,0.10,2.20,0.00,0.000,4,0.081,0.046,2951,2989,1320
$GC,7166,0.67,396.2,432.9,10.6,783,7170,0.00,2.20,0.00,0.000,6,0.000,0.043,2955,1574,1320
$GC,7487,0.59,396.2,379.5,17.5,814,7491,0.00,2.15,0.00,0.000,4,0.000,0.056,2955,213,1317
$GC,7534,0.59,396.2,371.1,16.6,818,7541,0.00,2.08,0.00,0.000,6,0.000,0.041,2955,1560,1316
$GC,7851,0.51,396.2,324.6,15.0,849,7855,0.17,2.17,0.00,0.000,4,0.150,0.045,2905,2999,1315
$GC,7881,0.55,396.2,320.2,12.6,851,7888,0.00,2.22,0.00,0.000,6,0.000,0.042,2905,1548,1315
$GC,8201,0.91,491.7,291.3,6.7,894,8287,0.35,2.15,79.88,0.950,4,0.044,0.053,3058,215,940
$GC,8346,0.60,491.7,256.3,27.5,919,8352,0.40,2.05,0.00,0.000,6,0.151,0.038,2943,1540,934
$GC,8671,0.65,491.7,213.6,12.8,980,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1541,931
$GC,8992,0.85,521.5,181.0,9.0,1040,9025,0.22,2.12,24.80,0.835,4,0.054,0.054,3045,221,818
$GC,9040,0.64,521.5,172.1,22.0,1048,9048,0.28,2.03,0.00,0.000,6,0.143,0.038,2957,1528,817
$GC,9368,0.95,591.0,123.7,7.6,1109,9431,0.25,0.00,58.88,0.805,6,0.046,0.000,3069,1528,536
$GC,9752,0.83,591.0,28.6,20.2,1179,9758,0.20,2.22,0.00,0.000,4,0.143,0.041,3012,3003,528
$GC,9789,0.91,591.0,22.4,15.4,1186,9795,0.00,2.28,0.00,0.000,6,0.000,0.040,3012,1523,528
$STATE,10022,end climb,SURFACE_DEPTH_REACHED
$STATE,10022,begin surface coast
$FINISH,0.1,1.022216
$STATE,10060,end surface coast,CONTROL_FINISHED_OK
$STATE,10060,begin surface
$SM_CCo,10134,0.00,0.000,0,0,525,594.12
$SM_GC,0.69,7.50,0.00,0.00,0.039,0.000,0.000,110,1464,525,-8.16,-0.20,594.12
$IRIDIUM_FIX,2413.38,12315.81,240898,181826
$TT8_MAMPS,0.049088
$HUMID,1510
$INTERNAL_PRESSURE,8.93835
$TCM_TEMP,25.50
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,500.3,116.4
$24V_AH,24.2,14.871
$10V_AH,10.7,8.747
$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,22.875,82.350,645.850,0.000,0.000,28.347,32.089,180.577,6.000,0.000,0.000,19.909,0.000,6594.729,700.725,2749.338,410.145,0.000,1745.812,0.000,2340.461,0.000,25.606,0.000
$DEVICE_MAMPS,207.090,115.817,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,832.844,888.353,1485.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69445,1237
$CAP_FILE_SIZE,119414,0
$CFSIZE,260165632,253108224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.093,164.0,1
$GPS,310509,001207,2419.674,12317.069,29,1.0,29,-3.5