version: 66.04
glider: 164
mission: 3
dive: 8
start: 5 22 109 6 50 7
data:
$ID,164
$MISSION,3
$DIVE,8
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$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,166
$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,175
$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,425
$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,-33237.98
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23.6
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1559
$C_ROLL_CLIMB,1804
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,34
$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,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
$GPS1,062236,2529.353,12328.455,36,1.2,36,-3.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-70.6
$GPS2,065002,2529.861,12328.448,12,1.3,12,-3.8
$SPEED_LIMITS,0.174,0.279
$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,317.7,21189,-16.9,-10.040
$D_GRID,916
$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,10,begin dive
$GC,12,-0.93,-170.3,0.0,0.0,0,72,0.00,0.00,-57.88,0.000,2,0.000,0.000,115,1675,2887
$GC,73,-0.93,-170.3,3.1,-8.3,9,105,9.10,2.30,-15.30,0.000,4,0.232,0.062,2444,218,3644
$GC,345,-0.33,-170.3,79.8,-27.6,59,353,0.57,2.03,0.00,0.000,6,0.157,0.037,2629,1560,3646
$GC,672,-0.57,-170.3,110.9,-8.4,120,679,0.20,2.08,0.00,0.000,4,0.054,0.049,2541,213,3646
$GC,918,-0.57,-170.3,147.6,-14.9,166,925,0.00,2.03,0.00,0.000,6,0.000,0.037,2541,1563,3646
$GC,1245,-0.57,-170.3,188.6,-11.5,227,1252,0.00,2.05,0.00,0.000,4,0.000,0.048,2541,224,3646
$GC,1492,-0.63,-170.3,220.0,-12.9,273,1498,0.00,1.98,0.00,0.000,6,0.000,0.036,2541,1555,3646
$GC,1817,-0.74,-170.3,253.7,-8.2,334,1824,0.00,2.05,0.00,0.000,4,0.000,0.048,2541,211,3646
$GC,1903,-0.82,-170.3,261.2,-9.6,350,1910,0.12,2.00,0.00,0.000,6,0.051,0.036,2471,1559,3646
$GC,2230,-0.76,-170.3,300.6,-13.2,411,2234,0.12,2.00,0.00,0.000,4,0.143,0.048,2506,215,3645
$GC,2319,-0.76,-170.3,311.2,-10.9,419,2327,0.00,2.00,0.00,0.000,6,0.000,0.035,2506,1562,3645
$GC,2636,-0.83,-170.3,339.3,-9.0,450,2639,0.00,2.03,0.00,0.000,4,0.000,0.050,2506,213,3645
$GC,2747,-0.88,-170.3,351.0,-10.4,460,2754,0.10,2.00,0.00,0.000,6,0.057,0.035,2449,1561,3644
$GC,3063,-0.79,-170.3,389.2,-10.9,491,3067,0.15,2.05,0.00,0.000,4,0.143,0.051,2491,217,3641
$GC,3121,-0.79,-170.3,395.1,-8.8,496,3128,0.00,2.00,0.00,0.000,6,0.000,0.037,2491,1560,3641
$GC,3438,-0.86,-170.3,424.1,-10.4,527,3441,0.00,2.03,0.00,0.000,4,0.000,0.051,2491,213,3639
$GC,3543,-0.86,-170.3,435.8,-10.6,537,3547,0.00,2.00,0.00,0.000,6,0.000,0.037,2491,1556,3638
$GC,3864,-0.93,-170.3,463.5,-7.2,568,3868,0.12,2.05,0.00,0.000,4,0.074,0.052,2436,220,3636
$GC,4040,-0.77,-170.3,485.6,-11.5,584,4047,0.17,2.00,0.00,0.000,6,0.135,0.038,2494,1557,3634
$STATE,4200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4200,begin apogee
$GC,4203,-0.21,0.0,500.4,9.2,600,4343,0.55,0.00,132.68,1.042,6,0.114,0.000,2679,1813,2946
$STATE,4343,end apogee,CONTROL_FINISHED_OK
$STATE,4343,begin climb
$GC,4345,0.93,170.3,504.7,0.0,607,4488,1.02,2.22,136.82,1.014,4,0.071,0.046,3043,3199,2251
$GC,4562,0.52,170.3,483.6,15.9,621,4566,0.40,2.20,0.00,0.000,6,0.163,0.042,2913,1807,2246
$GC,4882,0.56,205.2,455.4,8.7,652,4916,0.00,2.25,27.90,0.978,4,0.000,0.055,2916,390,2109
$GC,5112,0.74,288.0,435.8,6.8,673,5187,0.15,2.15,68.68,0.994,6,0.056,0.042,2986,1787,1771
$GC,5493,0.58,288.0,378.3,17.1,710,5498,0.20,2.20,0.00,0.000,4,0.163,0.056,2933,394,1759
$GC,5552,0.68,288.0,370.1,13.0,715,5560,0.00,2.17,0.00,0.000,6,0.000,0.045,2933,1798,1759
$GC,5868,0.75,288.0,332.1,12.1,746,5872,0.15,2.17,0.00,0.000,4,0.067,0.058,2999,391,1756
$GC,5979,0.60,288.0,312.4,18.9,756,5986,0.17,2.15,0.00,0.000,6,0.157,0.043,2946,1798,1755
$GC,6303,0.72,336.4,273.1,8.1,809,6346,0.00,2.30,38.10,0.907,4,0.000,0.057,2946,389,1573
$GC,6494,0.85,336.4,252.8,12.0,844,6501,0.17,2.20,0.00,0.000,6,0.051,0.043,3031,1803,1567
$GC,6821,0.68,336.4,196.3,17.6,905,6828,0.22,2.20,0.00,0.000,4,0.146,0.054,2972,401,1563
$GC,6848,0.68,336.4,192.4,14.1,910,6855,0.00,2.15,0.00,0.000,6,0.000,0.044,2972,1804,1563
$GC,7174,0.81,350.2,158.3,9.5,971,7190,0.10,2.25,10.88,0.742,4,0.081,0.055,3025,390,1518
$GC,7290,0.81,350.2,144.3,13.4,992,7297,0.00,2.15,0.00,0.000,6,0.000,0.041,3025,1802,1516
$GC,7616,0.83,366.0,101.0,9.4,1053,7636,0.00,2.15,13.80,0.713,4,0.000,0.054,3025,401,1454
$GC,7715,1.00,436.7,94.0,7.2,1071,7780,0.10,2.12,59.33,0.747,6,0.058,0.041,3083,1800,1165
$GC,8101,0.91,436.7,34.2,16.6,1141,8107,0.15,2.15,0.00,0.000,4,0.157,0.052,3043,401,1156
$GC,8143,1.02,436.7,28.0,13.9,1149,8150,0.00,2.15,0.00,0.000,6,0.000,0.040,3043,1808,1155
$STATE,8345,end climb,SURFACE_DEPTH_REACHED
$STATE,8345,begin surface coast
$FINISH,0.1,1.021828
$STATE,8372,end surface coast,CONTROL_FINISHED_OK
$STATE,8372,begin surface
$SM_CCo,8445,0.00,0.000,0,0,1153,440.07
$SM_GC,1.07,7.57,0.00,0.00,0.041,0.000,0.000,115,1539,1153,-8.16,-0.57,440.07
$IRIDIUM_FIX,2519.89,12326.84,160898,060618
$TT8_MAMPS,0.049855
$HUMID,1424
$INTERNAL_PRESSURE,9.03601
$TCM_TEMP,26.60
$XPDR_PINGS,18
$24V_AH,24.3,5.011
$10V_AH,10.8,2.390
$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,21.650,76.700,488.175,0.000,0.000,112.470,139.322,1096.299,7.750,0.000,0.000,14.539,0.000,5308.981,563.378,2676.713,1514.832,0.000,1548.705,0.000,2300.695,0.000,22.538,0.000
$DEVICE_MAMPS,231.634,62.127,1041.586,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,800.938,883.504,1478.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66423,1192
$CAP_FILE_SIZE,131105,0
$CFSIZE,260165632,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.446, 57.4,1
$GPS,220509,091136,2531.606,12329.321,9,1.1,26,-3.8