version: 66.04
glider: 164
mission: 3
dive: 86
start: 6 1 109 18 1 37
data:
$ID,164
$MISSION,3
$DIVE,86
$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,-34766.645
$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,39
$R_STBD_OVSHOOT,42
$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
$GPS1,175638,2412.501,12304.005,12,1.8,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.3
$GPS2,180132,2412.624,12304.000,14,1.5,14,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_4
$TGT_LATLONG,2410.000,12300.000
$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,192.7,8324,-15.7,-10.000
$D_GRID,391
$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,11,begin dive
$GC,13,-0.99,-194.7,0.0,0.0,0,79,0.00,0.00,-64.15,0.000,2,0.000,0.000,102,1458,2719
$GC,81,-0.99,-194.7,3.1,-8.0,10,118,8.35,1.92,-21.95,0.000,4,0.206,0.059,2423,210,3744
$GC,204,-0.55,-194.7,35.0,-26.1,32,211,0.40,1.88,0.00,0.000,6,0.126,0.033,2561,1464,3745
$GC,530,-0.55,-194.7,77.6,-12.4,93,537,0.00,2.10,0.00,0.000,4,0.000,0.038,2561,2879,3747
$GC,594,-0.63,-194.7,85.6,-12.5,105,601,0.00,2.08,0.00,0.000,6,0.000,0.033,2561,1482,3747
$GC,921,-0.69,-194.7,125.1,-11.3,166,927,0.12,1.90,0.00,0.000,4,0.064,0.044,2499,217,3748
$GC,1017,-0.56,-194.7,138.6,-13.0,184,1025,0.17,1.88,0.00,0.000,6,0.119,0.032,2560,1485,3748
$GC,1345,-0.64,-194.7,172.3,-13.6,245,1352,0.00,2.05,0.00,0.000,4,0.000,0.037,2560,2877,3749
$GC,1393,-0.76,-194.7,178.3,-12.7,254,1400,0.15,2.03,0.00,0.000,6,0.041,0.031,2473,1497,3749
$GC,1720,-0.66,-194.7,223.5,-10.4,315,1726,0.20,1.92,0.00,0.000,4,0.122,0.044,2536,212,3749
$GC,1806,-0.72,-194.7,231.1,-7.7,331,1811,0.00,1.88,0.00,0.000,6,0.000,0.032,2536,1484,3749
$GC,2131,-0.79,-194.7,263.1,-14.1,392,2138,0.15,0.00,0.00,0.000,6,0.060,0.000,2464,1486,3749
$GC,2459,-0.66,-194.7,318.1,-17.1,444,2460,0.22,0.00,0.00,0.000,6,0.123,0.000,2535,1486,3749
$GC,2770,-0.79,-194.7,351.9,-10.4,474,2774,0.15,2.03,0.00,0.000,4,0.061,0.038,2462,2879,3749
$STATE,2789,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2789,begin apogee
$GC,2795,-0.24,0.0,354.8,14.0,476,2952,0.60,0.00,150.70,0.936,6,0.110,0.000,2663,1572,2946
$STATE,2952,end apogee,CONTROL_FINISHED_OK
$STATE,2953,begin climb
$GC,2954,0.99,194.7,366.4,0.0,492,3113,1.10,0.00,150.95,0.919,6,0.076,0.000,3054,1572,2151
$GC,3422,0.66,194.7,310.9,18.0,537,3426,0.32,2.10,0.00,0.000,4,0.155,0.038,2960,2982,2147
$GC,3443,0.46,194.7,307.9,13.8,539,3447,0.20,2.12,0.00,0.000,6,0.133,0.036,2894,1584,2146
$GC,3766,0.63,215.5,276.0,9.3,591,3787,0.15,2.17,16.25,0.832,4,0.061,0.049,2970,204,2067
$GC,3845,0.55,215.5,265.3,14.0,605,3851,0.12,2.08,0.00,0.000,6,0.140,0.035,2929,1575,2066
$GC,4170,0.59,215.5,235.5,10.5,666,4177,0.00,2.10,0.00,0.000,4,0.000,0.050,2929,220,2063
$GC,4219,0.64,215.5,229.9,11.0,675,4224,0.00,2.05,0.00,0.000,6,0.000,0.036,2929,1579,2063
$GC,4544,0.90,366.7,202.3,4.8,736,4670,0.28,2.17,119.97,0.844,4,0.048,0.048,3058,216,1449
$GC,4701,0.64,366.7,179.3,18.8,762,4708,0.32,2.10,0.00,0.000,6,0.141,0.035,2956,1570,1444
$GC,5027,0.73,366.7,145.2,11.2,823,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,1571,1438
$GC,5353,0.85,366.7,113.3,10.0,884,5360,0.17,2.10,0.00,0.000,4,0.056,0.050,3046,212,1436
$GC,5489,0.74,366.7,92.3,14.8,909,5494,0.22,2.03,0.00,0.000,6,0.133,0.035,2978,1585,1435
$GC,5814,0.93,410.0,62.7,8.5,970,5853,0.17,2.17,34.15,0.734,4,0.051,0.040,3070,2990,1274
$GC,5889,0.80,410.0,51.9,15.9,983,5896,0.20,2.20,0.00,0.000,6,0.137,0.038,3005,1558,1270
$GC,6216,1.03,424.1,21.8,9.5,1044,6236,0.20,2.17,12.05,0.647,4,0.048,0.039,3109,2985,1217
$GC,6293,0.88,424.1,9.7,17.8,1058,6300,0.25,2.10,0.00,0.000,6,0.140,0.037,3028,1595,1215
$STATE,6346,end climb,SURFACE_DEPTH_REACHED
$STATE,6346,begin surface coast
$FINISH,0.1,1.019937
$STATE,6373,end surface coast,CONTROL_FINISHED_OK
$STATE,6373,begin surface
$SM_CCo,6446,0.00,0.000,0,0,1210,426.09
$SM_GC,0.93,7.45,0.00,0.00,0.037,0.000,0.000,108,1464,1210,-8.14,-0.20,426.09
$IRIDIUM_FIX,2403.92,12309.95,260898,161611
$TT8_MAMPS,0.049088
$HUMID,1517
$INTERNAL_PRESSURE,9.08484
$TCM_TEMP,26.00
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,250.1,129.1
$24V_AH,24.6,18.917
$10V_AH,10.8,11.317
$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,21.700,53.450,484.075,0.000,0.000,30.492,32.613,145.775,3.250,0.000,0.000,16.170,0.000,3568.370,546.366,2271.953,338.033,0.000,1380.786,0.000,1949.579,0.000,9.080,0.000
$DEVICE_MAMPS,205.556,62.127,935.740,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,717.130,862.002,1441.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56981,1073
$CAP_FILE_SIZE,89101,0
$CFSIZE,260165632,251756544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.271,349.0,1
$GPS,010609,194952,2412.567,12303.497,12,99.0,31,-3.4