version: 66.04
glider: 164
mission: 3
dive: 87
start: 6 1 109 19 56 30
data:
$ID,164
$MISSION,3
$DIVE,87
$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,-34798.621
$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,41
$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
$GPS1,194952,2412.567,12303.497,12,99.0,31,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-70.6
$GPS2,195625,2412.653,12303.580,12,1.6,29,-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,189.3,7794,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.99,-194.7,0.0,0.0,0,73,0.00,0.00,-58.03,0.000,2,0.000,0.000,108,1462,2826
$GC,74,-0.99,-194.7,3.3,-7.9,9,106,8.43,1.88,-18.58,0.000,4,0.208,0.058,2425,213,3741
$GC,159,-0.54,-194.7,27.3,-29.0,24,165,0.43,1.90,0.00,0.000,6,0.159,0.034,2562,1475,3744
$GC,485,-0.54,-194.7,68.6,-12.6,85,492,0.00,2.08,0.00,0.000,4,0.000,0.038,2562,2873,3745
$GC,560,-0.61,-194.7,77.6,-11.5,99,568,0.00,2.08,0.00,0.000,6,0.000,0.033,2562,1474,3745
$GC,888,-0.66,-194.7,112.6,-9.7,160,894,0.00,2.10,0.00,0.000,4,0.000,0.038,2562,2884,3746
$GC,903,-0.74,-194.7,114.2,-9.6,163,911,0.12,2.12,0.00,0.000,6,0.042,0.033,2487,1448,3746
$GC,1231,-0.62,-194.7,159.3,-12.2,224,1238,0.20,1.83,0.00,0.000,4,0.130,0.044,2547,227,3747
$GC,1328,-0.69,-194.7,171.3,-9.3,242,1334,0.00,1.80,0.00,0.000,6,0.000,0.032,2545,1445,3747
$GC,1654,-0.76,-194.7,196.9,-7.6,303,1661,0.12,0.00,0.00,0.000,6,0.068,0.000,2480,1446,3747
$GC,1980,-0.67,-194.7,232.8,-11.3,364,1987,0.17,1.85,0.00,0.000,4,0.129,0.044,2534,221,3747
$GC,2029,-0.71,-194.7,237.4,-9.3,373,2035,0.00,1.80,0.00,0.000,6,0.000,0.033,2532,1438,3747
$GC,2355,-0.77,-194.7,265.2,-9.1,434,2361,0.10,2.12,0.00,0.000,4,0.078,0.038,2474,2875,3747
$GC,2392,-0.77,-194.7,269.3,-11.8,441,2398,0.00,2.12,0.00,0.000,6,0.000,0.033,2474,1440,3747
$GC,2715,-0.67,-194.7,307.8,-10.6,495,2719,0.17,1.85,0.00,0.000,4,0.128,0.045,2528,210,3746
$GC,2736,-0.63,-194.7,310.2,-11.6,497,2740,0.00,1.80,0.00,0.000,6,0.000,0.032,2528,1430,3746
$GC,3058,-0.71,-194.7,334.1,-4.8,528,3061,0.00,2.12,0.00,0.000,4,0.000,0.040,2527,2879,3745
$GC,3163,-0.87,-194.7,337.7,-2.7,538,3168,0.15,2.12,0.00,0.000,6,0.044,0.034,2445,1448,3745
$GC,3484,-0.73,-194.7,369.5,-12.0,569,3489,0.22,1.85,0.00,0.000,4,0.133,0.045,2514,220,3743
$GC,3516,-0.73,-194.7,372.8,-9.6,572,3520,0.00,1.83,0.00,0.000,6,0.000,0.032,2514,1452,3743
$STATE,3783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3783,begin apogee
$GC,3787,-0.24,0.0,391.3,7.5,598,3940,0.45,0.00,150.30,0.973,6,0.105,0.000,2665,1584,2947
$STATE,3940,end apogee,CONTROL_FINISHED_OK
$STATE,3941,begin climb
$GC,3942,0.99,194.7,396.2,0.0,613,4101,1.10,2.17,151.43,0.948,4,0.070,0.038,3059,2979,2152
$GC,4110,0.62,194.7,383.2,12.5,628,4114,0.38,2.20,0.00,0.000,6,0.157,0.038,2949,1590,2150
$GC,4431,0.63,255.9,355.0,7.9,659,4488,0.00,2.20,48.72,0.923,4,0.000,0.051,2949,207,1901
$GC,4604,0.63,255.9,335.9,11.7,675,4608,0.00,2.08,0.00,0.000,6,0.000,0.035,2949,1560,1897
$GC,4926,0.65,270.1,304.1,9.5,706,4941,0.00,2.10,11.82,0.827,4,0.000,0.049,2949,201,1844
$GC,4972,0.65,270.1,299.1,10.7,710,4980,0.00,2.08,0.00,0.000,6,0.000,0.036,2948,1563,1842
$GC,5300,0.65,270.1,258.3,13.7,771,5307,0.00,2.10,0.00,0.000,4,0.000,0.050,2948,208,1839
$GC,5385,0.65,270.1,246.7,13.0,787,5393,0.00,2.00,0.00,0.000,6,0.000,0.036,2948,1534,1839
$GC,5712,0.66,282.4,205.7,9.6,848,5731,0.00,2.08,10.55,0.776,4,0.000,0.050,2948,211,1794
$GC,5777,0.79,346.8,200.2,7.8,860,5836,0.10,1.98,53.47,0.853,6,0.056,0.036,3007,1513,1533
$GC,6156,0.65,346.8,158.2,15.4,929,6162,0.17,2.20,0.00,0.000,4,0.146,0.040,2954,2992,1522
$GC,6204,0.71,352.9,152.8,9.8,938,6218,0.00,2.25,5.03,0.588,6,0.000,0.038,2955,1516,1507
$GC,6538,0.81,352.9,117.0,10.9,1000,6544,0.15,2.00,0.00,0.000,4,0.061,0.050,3038,211,1504
$GC,6683,0.70,352.9,94.2,13.1,1027,6690,0.15,1.95,0.00,0.000,6,0.123,0.035,2970,1510,1503
$GC,7010,1.02,487.4,76.7,5.4,1088,7123,0.28,0.00,109.80,0.756,6,0.044,0.000,3098,1510,959
$STATE,7426,end climb,SURFACE_DEPTH_REACHED
$STATE,7426,begin surface coast
$FINISH,0.1,1.009575
$STATE,7442,end surface coast,CONTROL_FINISHED_OK
$STATE,7442,begin surface
$SM_CCo,7515,0.00,0.000,0,0,947,490.60
$SM_GC,0.81,7.70,0.00,0.00,0.036,0.000,0.000,107,1510,947,-8.15,1.10,490.60
$IRIDIUM_FIX,2406.29,12309.95,260898,181852
$TT8_MAMPS,0.049855
$HUMID,1553
$INTERNAL_PRESSURE,9.03601
$TCM_TEMP,25.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,275.4,142.9
$24V_AH,24.5,19.069
$10V_AH,10.8,11.426
$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,20.600,64.775,541.125,0.000,0.000,30.288,46.201,205.493,2.750,0.000,0.000,31.345,0.000,4339.236,578.514,2541.968,432.553,0.000,1521.289,0.000,2170.961,0.000,10.774,0.000
$DEVICE_MAMPS,207.857,61.360,973.323,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,781.184,909.997,1522.258,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63176,1166
$CAP_FILE_SIZE,99249,0
$CFSIZE,260165632,251678720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,340.9,1
$GPS,010609,220237,2412.558,12303.000,34,1.3,34,-3.4