version: 66.04
glider: 164
mission: 3
dive: 96
start: 6 2 109 14 4 7
data:
$ID,164
$MISSION,3
$DIVE,96
$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,-35025.195
$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,38
$R_STBD_OVSHOOT,37
$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
$GPS1,135900,2412.842,12259.275,37,1.3,37,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.5
$GPS2,140402,2412.830,12259.220,13,1.3,13,-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,124.3,5404,-15.7,-10.000
$D_GRID,381
$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,-194.7,0.0,0.0,0,75,0.00,0.00,-60.08,0.000,2,0.000,0.000,104,1465,2778
$GC,77,-0.99,-194.7,3.2,-8.4,9,109,8.30,2.17,-19.98,0.000,4,0.201,0.051,2414,2890,3743
$GC,167,-0.59,-194.7,27.7,-28.5,25,174,0.40,2.15,0.00,0.000,6,0.120,0.033,2550,1460,3745
$GC,493,-0.53,-194.7,75.9,-12.9,86,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1460,3746
$GC,819,-0.53,-194.7,113.8,-11.2,147,826,0.00,1.88,0.00,0.000,4,0.000,0.044,2550,217,3747
$GC,942,-0.53,-194.7,128.1,-9.9,170,950,0.00,1.90,0.00,0.000,6,0.000,0.032,2550,1500,3748
$GC,1270,-0.61,-194.7,158.7,-8.5,231,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,1501,3749
$GC,1596,-0.70,-194.7,183.1,-6.2,292,1602,0.00,1.95,0.00,0.000,4,0.000,0.043,2550,213,3749
$GC,1660,-0.77,-194.7,188.1,-7.6,304,1666,0.12,1.90,0.00,0.000,6,0.047,0.033,2477,1502,3749
$GC,1986,-0.67,-194.7,235.2,-16.8,365,1992,0.17,1.92,0.00,0.000,4,0.127,0.044,2531,207,3749
$GC,2082,-0.71,-194.7,247.1,-10.8,383,2088,0.00,1.90,0.00,0.000,6,0.000,0.031,2531,1495,3749
$GC,2407,-0.78,-194.7,267.9,-3.2,444,2414,0.12,2.03,0.00,0.000,4,0.067,0.038,2466,2874,3749
$GC,2493,-0.69,-194.7,274.8,-8.7,460,2504,0.12,2.03,0.00,0.000,6,0.120,0.033,2510,1508,3749
$GC,2820,-0.69,-194.7,310.2,-10.5,512,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1508,3748
$GC,3132,-0.73,-194.7,339.0,-8.6,542,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1508,3747
$GC,3442,-0.78,-194.7,367.6,-9.6,572,3443,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,1508,3746
$STATE,3584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3584,begin apogee
$GC,3588,-0.24,0.0,381.6,10.5,586,3741,0.45,0.00,150.75,0.973,6,0.103,0.000,2664,1580,2947
$STATE,3742,end apogee,CONTROL_FINISHED_OK
$STATE,3742,begin climb
$GC,3743,0.99,194.7,385.8,0.0,601,3902,1.10,2.22,151.02,0.951,4,0.074,0.038,3055,2976,2152
$GC,4015,0.63,194.7,357.8,15.8,626,4019,0.32,2.15,0.00,0.000,6,0.156,0.035,2955,1586,2149
$GC,4336,0.56,194.7,321.8,10.8,657,4339,0.00,2.12,0.00,0.000,4,0.000,0.049,2955,214,2147
$GC,4442,0.48,194.7,310.1,13.6,667,4446,0.15,2.03,0.00,0.000,6,0.123,0.035,2904,1559,2146
$GC,4765,0.53,194.7,286.8,10.1,718,4773,0.00,2.08,0.00,0.000,4,0.000,0.048,2904,218,2144
$GC,4836,0.78,256.3,278.6,7.9,731,4891,0.20,2.03,47.97,0.910,6,0.048,0.037,3001,1561,1901
$GC,5211,0.60,256.3,222.7,11.8,800,5217,0.22,2.12,0.00,0.000,4,0.148,0.041,2938,2985,1892
$GC,5248,0.68,317.3,219.5,7.9,807,5302,0.00,2.15,48.95,0.871,6,0.000,0.037,2937,1570,1652
$GC,5623,0.78,317.3,187.6,10.3,876,5629,0.17,2.08,0.00,0.000,4,0.058,0.048,3024,217,1642
$GC,5702,0.56,317.3,175.6,15.9,891,5709,0.30,2.05,0.00,0.000,6,0.143,0.035,2928,1573,1641
$GC,6029,0.85,394.6,149.0,7.3,952,6100,0.25,2.15,62.28,0.821,4,0.048,0.049,3045,209,1336
$GC,6136,0.65,394.6,133.0,18.4,970,6144,0.28,2.10,0.00,0.000,6,0.135,0.035,2957,1572,1331
$GC,6464,0.93,486.9,100.5,6.8,1031,6546,0.22,2.15,75.20,0.779,4,0.048,0.048,3068,219,960
$GC,6673,0.76,486.9,53.5,21.2,1068,6680,0.22,2.00,0.00,0.000,6,0.133,0.034,2993,1532,954
$GC,7000,1.20,609.9,28.0,5.8,1129,7101,0.38,2.12,93.00,0.715,4,0.038,0.045,3172,217,488
$STATE,7109,end climb,SURFACE_DEPTH_REACHED
$STATE,7109,begin surface coast
$FINISH,0.0,1.022134
$STATE,7120,end surface coast,CONTROL_FINISHED_OK
$STATE,7120,begin surface
$SM_CCo,7196,0.00,0.000,0,0,482,604.66
$SM_GC,0.63,8.05,0.00,0.00,0.034,0.000,0.000,107,1466,482,-8.15,-0.14,604.66
$IRIDIUM_FIX,2403.92,12258.16,270898,121211
$TT8_MAMPS,0.049855
$HUMID,1507
$INTERNAL_PRESSURE,8.98718
$TCM_TEMP,25.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,375.3,90.3
$24V_AH,24.5,20.408
$10V_AH,10.8,12.344
$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,21.575,53.425,629.175,0.000,0.000,28.370,31.281,153.887,3.750,0.000,0.000,15.699,0.000,4034.010,631.856,2456.113,357.773,0.000,1563.506,0.000,2116.125,0.000,20.239,0.000
$DEVICE_MAMPS,200.954,87.438,973.323,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,768.414,905.628,1513.608,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63092,1149
$CAP_FILE_SIZE,94758,0
$CFSIZE,260165632,251174912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.393,305.7,1
$GPS,020609,160501,2413.087,12258.740,41,1.1,41,-3.4