version: 66.04
glider: 164
mission: 3
dive: 49
start: 5 30 109 11 21 7
data:
$ID,164
$MISSION,3
$DIVE,49
$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,-34064.219
$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,41
$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
$GPS1,111525,2426.425,12314.516,35,1.3,35,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.9
$GPS2,112101,2426.335,12314.554,11,1.3,11,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_2
$TGT_LATLONG,2415.000,12318.000
$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,153.4,21785,-15.7,-10.000
$D_GRID,651
$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,-194.7,0.0,0.0,0,88,0.00,0.00,-75.15,0.000,2,0.000,0.000,114,1447,3052
$GC,90,-0.99,-194.7,3.7,-8.3,12,117,8.40,1.95,-13.27,0.000,4,0.206,0.067,2424,212,3743
$GC,356,-0.60,-194.7,75.6,-24.6,61,363,0.38,1.90,0.00,0.000,6,0.122,0.035,2547,1469,3746
$GC,682,-0.60,-194.7,121.6,-11.7,122,690,0.00,1.92,0.00,0.000,4,0.000,0.046,2548,220,3747
$GC,855,-0.60,-194.7,139.8,-10.4,154,863,0.00,1.88,0.00,0.000,6,0.000,0.035,2548,1469,3748
$GC,1183,-0.66,-194.7,175.9,-12.3,215,1189,0.00,2.10,0.00,0.000,4,0.000,0.041,2548,2874,3749
$GC,1225,-0.79,-194.7,180.9,-11.9,223,1232,0.12,2.08,0.00,0.000,6,0.041,0.035,2474,1481,3749
$GC,1552,-0.64,-194.7,231.4,-13.5,284,1559,0.20,1.92,0.00,0.000,4,0.127,0.046,2535,210,3749
$GC,1579,-0.60,-194.7,234.6,-12.1,289,1585,0.00,1.90,0.00,0.000,6,0.000,0.035,2536,1484,3749
$GC,1905,-0.66,-194.7,268.1,-10.0,350,1912,0.00,2.08,0.00,0.000,4,0.000,0.040,2535,2876,3749
$GC,1965,-0.80,-194.7,273.5,-8.8,361,1971,0.10,2.08,0.00,0.000,6,0.046,0.035,2472,1481,3749
$GC,2286,-0.68,-194.7,319.8,-12.6,408,2290,0.17,1.90,0.00,0.000,4,0.130,0.047,2524,222,3749
$GC,2398,-0.73,-194.7,332.4,-11.5,418,2406,0.00,1.85,0.00,0.000,6,0.000,0.034,2524,1471,3749
$GC,2714,-0.81,-194.7,361.7,-8.0,449,2718,0.12,2.08,0.00,0.000,4,0.067,0.040,2461,2880,3748
$GC,2750,-0.76,-194.7,365.5,-10.6,452,2754,0.10,2.10,0.00,0.000,6,0.121,0.035,2496,1472,3748
$GC,3072,-0.76,-194.7,403.9,-11.8,483,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1472,3748
$GC,3383,-0.80,-194.7,433.5,-8.9,513,3386,0.00,1.88,0.00,0.000,4,0.000,0.048,2497,217,3747
$GC,3408,-0.80,-194.7,436.0,-9.9,515,3415,0.00,1.88,0.00,0.000,6,0.000,0.035,2496,1478,3747
$GC,3724,-0.84,-194.7,465.6,-10.2,546,3725,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1478,3745
$GC,4035,-0.90,-194.7,496.9,-10.0,576,4038,0.12,2.05,0.00,0.000,4,0.068,0.043,2435,2872,3744
$GC,4098,-0.83,-194.7,504.6,-12.6,581,4102,0.10,2.10,0.00,0.000,6,0.130,0.038,2470,1473,3744
$GC,4424,-0.83,-194.7,539.6,-10.9,597,4428,0.00,1.92,0.00,0.000,4,0.000,0.051,2470,214,3742
$GC,4467,-0.83,-194.7,544.5,-11.2,599,4470,0.00,1.90,0.00,0.000,6,0.000,0.035,2470,1485,3742
$GC,4794,-0.83,-194.7,576.6,-9.7,615,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1487,3740
$GC,5098,-0.83,-194.7,609.8,-10.0,630,5102,0.00,1.98,0.00,0.000,4,0.000,0.051,2470,213,3737
$GC,5226,-0.83,-194.7,623.9,-11.1,636,5230,0.00,1.88,0.00,0.000,6,0.000,0.035,2470,1466,3737
$STATE,5531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5531,begin apogee
$GC,5535,-0.24,0.0,652.0,8.5,651,5695,0.57,0.00,156.40,1.199,6,0.114,0.000,2662,1587,2946
$STATE,5695,end apogee,CONTROL_FINISHED_OK
$STATE,5695,begin climb
$GC,5697,0.99,194.7,657.1,0.0,659,5867,1.12,2.30,158.27,1.164,4,0.074,0.044,3056,2982,2150
$GC,5952,0.58,194.7,629.3,16.9,671,5956,0.40,2.22,0.00,0.000,6,0.170,0.041,2929,1585,2147
$GC,6278,0.65,300.6,604.5,6.3,687,6372,0.00,2.30,87.68,1.139,4,0.000,0.057,2929,211,1719
$GC,6399,0.72,352.7,595.1,8.2,692,6448,0.10,2.15,45.20,1.104,6,0.067,0.040,2975,1558,1509
$GC,6752,0.53,352.7,532.7,20.7,710,6755,0.22,2.20,0.00,0.000,4,0.157,0.047,2913,2995,1497
$GC,6793,0.53,352.7,525.0,15.5,712,6797,0.00,2.20,0.00,0.000,6,0.000,0.041,2915,1584,1497
$GC,7112,0.58,352.7,484.1,11.0,734,7115,0.00,2.17,0.00,0.000,4,0.000,0.057,2915,208,1495
$GC,7138,0.66,352.7,481.1,11.4,736,7145,0.08,2.15,0.00,0.000,6,0.071,0.042,2961,1600,1494
$GC,7454,0.50,352.7,431.6,17.9,767,7455,0.20,0.00,0.00,0.000,6,0.148,0.000,2904,1600,1494
$GC,7765,0.64,352.7,396.2,12.0,797,7769,0.15,2.15,0.00,0.000,4,0.067,0.056,2972,204,1492
$GC,7801,0.59,352.7,390.8,16.6,800,7808,0.10,2.10,0.00,0.000,6,0.150,0.041,2939,1578,1492
$GC,8117,0.59,352.7,347.9,12.5,831,8120,0.00,2.17,0.00,0.000,4,0.000,0.046,2939,2995,1491
$GC,8131,0.59,352.7,346.2,12.2,832,8139,0.00,2.17,0.00,0.000,6,0.000,0.043,2939,1577,1491
$GC,8449,0.63,352.7,311.7,10.3,863,8452,0.00,2.10,0.00,0.000,4,0.000,0.056,2939,210,1490
$GC,8534,0.73,369.4,302.8,9.4,871,8550,0.12,2.05,12.45,0.888,6,0.074,0.041,2993,1579,1441
$GC,8871,0.58,369.4,251.3,16.4,931,8878,0.22,2.12,0.00,0.000,4,0.150,0.041,2930,2996,1436
$GC,8914,0.62,369.4,245.5,11.8,939,8922,0.00,2.17,0.00,0.000,6,0.000,0.040,2930,1570,1436
$GC,9241,0.74,369.4,210.8,11.2,1000,9247,0.15,0.00,0.00,0.000,6,0.067,0.000,2999,1570,1436
$GC,9567,0.59,369.4,158.9,17.0,1061,9573,0.22,2.10,0.00,0.000,4,0.148,0.051,2935,208,1436
$GC,9604,0.67,369.4,154.2,10.9,1068,9611,0.00,2.08,0.00,0.000,6,0.000,0.040,2935,1576,1436
$GC,9931,1.05,497.0,129.0,5.6,1129,10044,0.40,2.20,106.97,0.808,4,0.040,0.049,3116,209,917
$GC,10161,0.81,497.0,71.1,25.0,1169,10168,0.32,2.08,0.00,0.000,6,0.143,0.035,3013,1550,911
$GC,10488,1.16,675.2,35.2,3.9,1230,10579,0.25,2.30,85.12,0.721,4,0.050,0.039,3128,2992,489
$GC,10594,0.88,675.2,9.6,29.5,1247,10602,0.32,2.30,0.00,0.000,6,0.146,0.038,3034,1536,486
$STATE,10626,end climb,SURFACE_DEPTH_REACHED
$STATE,10626,begin surface coast
$FINISH,1.0,1.022439
$STATE,10637,end surface coast,CONTROL_FINISHED_OK
$STATE,10637,begin surface
$SM_CCo,10710,0.00,0.000,0,0,482,604.66
$SM_GC,0.79,7.75,0.00,0.00,0.041,0.000,0.000,117,1451,482,-8.15,-0.57,604.66
$IRIDIUM_FIX,2418.11,12311.85,240898,070701
$TT8_MAMPS,0.049855
$HUMID,1480
$INTERNAL_PRESSURE,8.92859
$TCM_TEMP,25.60
$XPDR_PINGS,10
$24V_AH,24.1,14.286
$10V_AH,10.7,8.378
$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,22.550,91.350,652.100,0.000,0.000,30.542,30.354,178.080,7.250,0.000,0.000,14.161,0.000,7059.670,704.084,2846.543,410.926,0.000,1797.276,0.000,2427.040,0.000,32.458,0.000
$DEVICE_MAMPS,206.323,85.137,1198.821,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,844.849,891.165,1490.883,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69492,1255
$CAP_FILE_SIZE,123932,0
$CFSIZE,260165632,253329408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070, 95.0,1
$GPS,300509,142036,2424.914,12316.036,35,1.1,40,-3.5