version: 66.04
glider: 164
mission: 3
dive: 2
start: 5 21 109 3 32 3
data:
$ID,164
$MISSION,3
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,167
$T_MISSION,200
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,51863
$NAV_MODE,0
$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,592.70209
$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,-33121.258
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2783
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2043
$C_ROLL_CLIMB,2043
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,5
$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,0.0001158597
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,032813,2518.473,12320.922,7,1.4,12,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-60.2
$GPS2,033158,2518.526,12320.955,10,1.5,12,-3.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12328.200
$TGT_RADIUS,5000.000
$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,19.7,43876,-18.2,-9.980
$D_GRID,1456
$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,-0.85,-146.0,0.0,0.0,0,101,0.00,0.00,-88.38,0.000,2,0.000,0.000,110,2046,3010
$GC,103,-0.85,-146.0,3.2,-7.4,15,128,9.40,2.15,-10.60,0.000,4,0.240,0.057,2494,3456,3547
$GC,367,-0.85,-146.0,54.9,-17.4,64,374,0.00,2.10,0.00,0.000,6,0.000,0.035,2494,2039,3548
$GC,693,-0.85,-146.0,111.4,-15.4,125,700,0.00,2.10,0.00,0.000,4,0.000,0.044,2493,635,3548
$GC,939,-0.85,-146.0,150.1,-14.7,171,946,0.00,2.08,0.00,0.000,6,0.000,0.035,2494,2049,3548
$GC,1266,-0.85,-146.0,194.5,-13.1,232,1272,0.00,2.12,0.00,0.000,4,0.000,0.045,2493,636,3548
$GC,1511,-0.85,-146.0,227.6,-13.0,278,1519,0.00,2.05,0.00,0.000,6,0.000,0.034,2493,2037,3548
$GC,1838,-0.85,-146.0,263.5,-10.6,339,1844,0.00,2.10,0.00,0.000,4,0.000,0.045,2494,638,3548
$GC,2084,-0.85,-146.0,292.1,-11.7,385,2090,0.00,2.05,0.00,0.000,6,0.000,0.035,2493,2034,3547
$GC,2401,-0.85,-146.0,323.6,-9.4,423,2405,0.00,2.10,0.00,0.000,4,0.000,0.046,2493,3439,3545
$GC,2647,-0.85,-146.0,348.0,-10.8,446,2651,0.00,2.08,0.00,0.000,6,0.000,0.035,2494,2040,3543
$GC,2969,-0.85,-146.0,379.0,-9.1,477,2972,0.00,2.10,0.00,0.000,4,0.000,0.048,2494,628,3541
$GC,3213,-0.85,-146.0,403.2,-10.0,500,3218,0.00,2.10,0.00,0.000,6,0.000,0.037,2493,2045,3539
$GC,3536,-0.85,-146.0,431.5,-8.5,531,3539,0.00,2.12,0.00,0.000,4,0.000,0.050,2494,632,3538
$GC,3780,-0.85,-146.0,453.5,-9.2,554,3785,0.00,2.10,0.00,0.000,6,0.000,0.038,2493,2044,3535
$GC,4102,-0.85,-146.0,480.7,-8.6,585,4105,0.00,2.12,0.00,0.000,4,0.000,0.051,2493,632,3533
$STATE,4302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4302,begin apogee
$GC,4308,-0.19,0.0,500.0,9.4,604,4426,0.68,0.00,112.47,1.038,6,0.113,0.000,2719,2042,2947
$STATE,4426,end apogee,CONTROL_FINISHED_OK
$STATE,4426,begin climb
$GC,4427,0.85,146.0,503.6,0.0,610,4553,0.90,2.25,116.95,1.009,4,0.051,0.048,3062,3436,2349
$GC,4595,0.85,146.0,489.5,17.5,621,4599,0.00,2.15,0.00,0.000,6,0.000,0.040,3065,2058,2346
$GC,4916,0.85,146.0,439.4,15.7,652,4920,0.00,2.17,0.00,0.000,4,0.000,0.053,3065,632,2343
$GC,5076,0.85,146.0,415.2,16.9,667,5080,0.00,2.12,0.00,0.000,6,0.000,0.042,3065,2034,2342
$GC,5397,0.85,146.0,375.0,11.4,698,5401,0.00,2.17,0.00,0.000,4,0.000,0.054,3065,629,2338
$GC,5642,0.85,146.0,343.4,13.4,721,5646,0.00,2.15,0.00,0.000,6,0.000,0.044,3065,2047,2337
$GC,5963,0.85,146.0,302.1,12.5,752,5967,0.00,2.17,0.00,0.000,4,0.000,0.054,3065,634,2335
$GC,6112,0.85,146.0,284.1,12.1,778,6119,0.00,2.12,0.00,0.000,6,0.000,0.042,3065,2044,2334
$GC,6438,0.85,146.0,249.0,10.8,839,6445,0.00,2.17,0.00,0.000,4,0.000,0.053,3065,632,2333
$GC,6684,0.85,146.0,220.5,10.7,885,6690,0.00,2.12,0.00,0.000,6,0.000,0.041,3065,2045,2333
$GC,7010,0.91,190.6,188.8,7.9,946,7047,0.00,2.22,32.38,0.830,4,0.000,0.049,3065,3460,2168
$GC,7276,0.91,190.6,158.6,11.5,995,7282,0.00,2.15,0.00,0.000,6,0.000,0.040,3069,2043,2163
$GC,7602,0.91,192.3,125.8,9.9,1056,7608,0.00,2.17,0.00,0.000,4,0.000,0.052,3069,623,2163
$GC,7848,0.91,192.3,102.6,10.4,1102,7855,0.00,2.12,0.00,0.000,6,0.000,0.041,3069,2041,2163
$GC,8174,0.98,249.8,79.0,7.3,1163,8228,0.00,2.22,45.83,0.728,4,0.000,0.051,3068,636,1926
$GC,8468,1.02,279.8,52.0,8.6,1217,8499,0.08,2.12,23.98,0.683,6,0.065,0.039,3114,2041,1805
$GC,8819,1.02,279.8,11.2,10.7,1282,8825,0.00,2.17,0.00,0.000,4,0.000,0.050,3115,630,1799
$STATE,8892,end climb,SURFACE_DEPTH_REACHED
$STATE,8892,begin surface coast
$FINISH,0.5,1.021967
$STATE,8913,end surface coast,CONTROL_FINISHED_OK
$STATE,8913,begin surface
$SM_CCo,8928,250.12,0.641,3,0,529,592.89
$SM_GC,0.49,0.00,0.00,250.12,0.000,0.000,0.641,113,2061,529,-8.34,0.45,592.89
$IRIDIUM_FIX,2510.35,12324.22,150898,030326
$TT8_MAMPS,0.049855
$HUMID,1445
$INTERNAL_PRESSURE,9.03601
$TCM_TEMP,26.80
$XPDR_PINGS,594
$24V_AH,24.4,3.889
$10V_AH,10.8,1.503
$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,18.750,72.575,331.600,250.125,0.000,0.000,0.000,0.000,148.500,0.000,0.000,14.958,0.000,5516.466,704.141,2906.719,110.155,0.000,1746.735,0.000,2540.837,0.000,0.544,0.000
$DEVICE_MAMPS,240.071,56.758,1037.751,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,875.863,981.038,1642.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72609,1300
$CAP_FILE_SIZE,116313,0
$CFSIZE,260165632,257613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,210509,060606,2520.146,12322.980,30,1.2,30,-3.7