version: 66.04
glider: 164
mission: 3
dive: 90
start: 6 2 109 2 15 2
data:
$ID,164
$MISSION,3
$DIVE,90
$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,-34867.16
$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,49
$R_STBD_OVSHOOT,43
$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
$GPS1,021006,2411.856,12301.227,10,1.1,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.3
$GPS2,021456,2411.861,12301.187,14,1.5,14,-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,168.6,3987,-15.7,-10.000
$D_GRID,451
$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,-0.99,-194.7,0.0,0.0,0,84,0.00,0.00,-70.95,0.000,2,0.000,0.000,111,1447,2707
$GC,86,-0.99,-194.7,3.1,-7.8,11,124,8.32,1.90,-22.70,0.000,4,0.203,0.061,2420,226,3743
$GC,145,-0.46,-194.7,17.3,-29.8,21,152,0.52,1.88,0.00,0.000,6,0.135,0.034,2588,1468,3744
$GC,471,-0.46,-194.7,64.7,-11.7,82,478,0.00,2.10,0.00,0.000,4,0.000,0.038,2588,2878,3746
$GC,541,-0.58,-194.7,72.2,-10.6,95,547,0.00,2.08,0.00,0.000,6,0.000,0.032,2589,1483,3746
$GC,867,-0.71,-194.7,111.0,-12.3,156,874,0.20,0.00,0.00,0.000,6,0.051,0.000,2494,1483,3747
$GC,1194,-0.63,-194.7,162.0,-13.8,217,1200,0.15,1.90,0.00,0.000,4,0.127,0.042,2539,213,3749
$GC,1285,-0.69,-194.7,175.1,-11.7,234,1291,0.00,1.90,0.00,0.000,6,0.000,0.031,2539,1499,3749
$GC,1612,-0.76,-194.7,200.1,-8.3,295,1618,0.12,2.00,0.00,0.000,4,0.064,0.037,2474,2874,3750
$GC,1659,-0.72,-194.7,205.0,-11.1,304,1668,0.10,2.05,0.00,0.000,6,0.118,0.032,2511,1481,3750
$GC,1987,-0.72,-194.7,244.4,-14.7,365,1993,0.00,1.90,0.00,0.000,4,0.000,0.043,2511,220,3750
$GC,2013,-0.72,-194.7,248.6,-16.5,370,2020,0.00,1.88,0.00,0.000,6,0.000,0.031,2511,1486,3750
$GC,2346,-0.76,-194.7,301.8,-14.1,431,2349,0.00,1.90,0.00,0.000,4,0.000,0.044,2511,210,3750
$GC,2381,-0.80,-194.7,307.7,-15.7,434,2389,0.00,1.88,0.00,0.000,6,0.000,0.031,2511,1481,3750
$GC,2698,-0.84,-194.7,351.2,-16.3,465,2702,0.12,2.03,0.00,0.000,4,0.067,0.039,2448,2873,3749
$GC,2772,-0.74,-194.7,369.5,-28.2,472,2776,0.15,2.03,0.00,0.000,6,0.119,0.035,2500,1512,3748
$STATE,3030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3030,begin apogee
$GC,3034,-0.24,0.0,406.1,10.9,497,3193,0.50,0.00,151.52,0.987,6,0.107,0.000,2670,1586,2947
$STATE,3193,end apogee,CONTROL_FINISHED_OK
$STATE,3193,begin climb
$GC,3195,0.99,194.7,421.2,0.0,513,3355,1.08,2.20,151.90,0.963,4,0.054,0.039,3064,2986,2151
$GC,3413,0.57,194.7,388.1,22.8,533,3419,0.43,2.17,0.00,0.000,6,0.153,0.035,2936,1588,2148
$GC,3728,0.55,211.4,343.0,9.4,564,3746,0.00,2.12,13.70,0.851,4,0.000,0.050,2936,206,2084
$GC,3894,0.57,232.2,327.5,9.3,579,3917,0.00,2.08,17.25,0.870,6,0.000,0.035,2936,1572,1999
$GC,4226,0.58,240.6,294.0,9.7,616,4239,0.00,2.10,7.57,0.755,4,0.000,0.050,2935,210,1965
$GC,4286,0.60,251.4,287.9,9.6,627,4303,0.00,2.08,10.27,0.805,6,0.000,0.036,2935,1576,1921
$GC,4623,0.60,251.4,250.9,11.8,690,4631,0.00,2.12,0.00,0.000,4,0.000,0.050,2936,210,1917
$GC,4720,0.67,276.1,241.3,9.1,708,4746,0.00,2.05,20.77,0.858,6,0.000,0.036,2936,1567,1821
$GC,5065,0.80,326.5,208.1,8.3,772,5110,0.17,2.20,41.20,0.858,4,0.058,0.050,3018,210,1614
$GC,5191,0.63,326.5,192.4,13.8,794,5198,0.25,2.05,0.00,0.000,6,0.153,0.035,2949,1569,1608
$GC,5518,0.78,368.2,155.2,8.6,855,5557,0.12,2.20,34.30,0.815,4,0.073,0.051,3011,208,1443
$GC,5577,0.65,368.2,146.7,16.7,865,5584,0.17,2.08,0.00,0.000,6,0.139,0.037,2956,1551,1440
$GC,5904,0.92,458.6,111.4,6.9,926,5980,0.22,0.00,73.90,0.785,6,0.051,0.000,3060,1550,1077
$GC,6301,0.81,458.6,41.4,19.3,998,6308,0.20,2.08,0.00,0.000,4,0.133,0.050,3000,207,1067
$GC,6366,1.13,498.7,34.1,8.6,1010,6406,0.25,2.05,32.53,0.709,6,0.034,0.036,3127,1557,914
$STATE,6521,end climb,SURFACE_DEPTH_REACHED
$STATE,6521,begin surface coast
$FINISH,0.3,1.022108
$STATE,6532,end surface coast,CONTROL_FINISHED_OK
$STATE,6532,begin surface
$SM_CCo,6606,0.00,0.000,0,0,905,500.66
$SM_GC,0.78,7.75,0.00,0.00,0.033,0.000,0.000,109,1452,905,-8.16,-0.54,500.66
$IRIDIUM_FIX,2403.92,12304.70,270898,000044
$TT8_MAMPS,0.049855
$HUMID,1550
$INTERNAL_PRESSURE,9.01648
$TCM_TEMP,25.40
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,300.4,130.5
$24V_AH,24.5,19.516
$10V_AH,10.8,11.728
$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,20.850,57.175,554.925,0.000,0.000,23.999,36.752,143.915,3.500,0.000,0.000,16.499,0.000,3692.538,603.154,2247.118,339.995,0.000,1456.269,0.000,1931.875,0.000,12.398,0.000
$DEVICE_MAMPS,203.255,86.671,987.129,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.417,814.926,1361.854,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,56964,1040
$CAP_FILE_SIZE,89852,0
$CFSIZE,260165632,251523072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.431,316.7,1
$GPS,020609,040552,2411.797,12300.115,6,5.7,25,-3.4