version: 66.04
glider: 164
mission: 3
dive: 50
start: 5 30 109 14 35 13
data:
$ID,164
$MISSION,3
$DIVE,50
$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,-34078.156
$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,46
$R_STBD_OVSHOOT,41
$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
$GPS1,142036,2424.914,12316.036,35,1.1,40,-3.5
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-63.8
$GPS2,143508,2424.996,12316.207,11,1.1,11,-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,187.4,18758,-15.7,-10.000
$D_GRID,659
$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,-0.99,-194.7,0.0,0.0,0,102,0.00,0.00,-87.97,0.000,2,0.000,0.000,117,1448,2901
$GC,104,-0.99,-194.7,3.2,-6.9,14,136,8.52,1.88,-17.25,0.000,4,0.212,0.062,2418,213,3741
$GC,375,-0.52,-194.7,78.0,-26.2,64,383,0.45,1.90,0.00,0.000,6,0.124,0.034,2568,1474,3744
$GC,702,-0.52,-194.7,119.8,-10.8,125,709,0.00,1.92,0.00,0.000,4,0.000,0.045,2567,224,3744
$GC,906,-0.59,-194.7,141.6,-11.4,163,912,0.00,1.85,0.00,0.000,6,0.000,0.034,2568,1465,3745
$GC,1232,-0.68,-194.7,168.9,-10.7,224,1239,0.15,1.88,0.00,0.000,4,0.060,0.044,2493,227,3745
$GC,1286,-0.54,-194.7,177.0,-16.0,234,1293,0.22,1.85,0.00,0.000,6,0.112,0.034,2567,1468,3745
$GC,1613,-0.65,-194.7,204.8,-9.2,295,1619,0.00,2.08,0.00,0.000,4,0.000,0.040,2566,2888,3745
$GC,1645,-0.82,-194.7,207.7,-9.5,301,1651,0.20,2.10,0.00,0.000,6,0.035,0.034,2457,1474,3745
$GC,1970,-0.63,-194.7,261.4,-16.2,362,1976,0.25,0.00,0.00,0.000,6,0.120,0.000,2536,1473,3745
$GC,2296,-0.69,-194.7,291.6,-7.6,423,2302,0.00,2.10,0.00,0.000,4,0.000,0.039,2536,2879,3745
$GC,2333,-0.81,-194.7,294.2,-6.6,430,2340,0.12,2.05,0.00,0.000,6,0.046,0.034,2461,1494,3745
$GC,2650,-0.67,-194.7,331.5,-12.6,466,2655,0.22,1.92,0.00,0.000,4,0.127,0.046,2533,215,3745
$GC,2693,-0.71,-194.7,335.8,-9.3,470,2697,0.00,1.88,0.00,0.000,6,0.000,0.034,2532,1480,3744
$GC,3014,-0.79,-194.7,363.7,-8.7,501,3015,0.12,0.00,0.00,0.000,6,0.071,0.000,2469,1482,3743
$GC,3325,-0.70,-194.7,397.7,-10.7,531,3326,0.17,0.00,0.00,0.000,6,0.129,0.000,2522,1482,3742
$GC,3635,-0.80,-194.7,426.4,-10.3,561,3639,0.12,2.08,0.00,0.000,4,0.067,0.041,2459,2877,3740
$GC,3764,-0.76,-194.7,443.2,-13.1,573,3767,0.12,2.08,0.00,0.000,6,0.130,0.035,2496,1480,3740
$GC,4083,-0.76,-194.7,480.5,-10.7,604,4087,0.00,1.92,0.00,0.000,4,0.000,0.048,2496,217,3738
$GC,4125,-0.76,-194.7,485.0,-10.6,608,4130,0.00,1.85,0.00,0.000,6,0.000,0.033,2496,1465,3738
$GC,4446,-0.80,-194.7,516.6,-9.3,631,4448,0.00,2.08,0.00,0.000,4,0.000,0.041,2496,2876,3736
$GC,4497,-0.89,-194.7,521.6,-9.3,633,4502,0.08,2.10,0.00,0.000,6,0.060,0.036,2444,1473,3735
$GC,4814,-0.81,-194.7,562.1,-12.9,649,4817,0.12,1.88,0.00,0.000,4,0.138,0.050,2480,217,3734
$GC,4844,-0.81,-194.7,566.1,-12.3,650,4849,0.00,1.85,0.00,0.000,6,0.000,0.035,2480,1466,3734
$GC,5160,-0.81,-194.7,599.7,-10.3,666,5165,0.00,1.92,0.00,0.000,4,0.000,0.051,2480,217,3731
$GC,5182,-0.81,-194.7,602.1,-11.6,667,5186,0.00,1.85,0.00,0.000,6,0.000,0.035,2480,1460,3731
$GC,5508,-0.81,-194.7,636.7,-10.5,683,5512,0.00,1.92,0.00,0.000,4,0.000,0.051,2480,216,3729
$GC,5566,-0.81,-194.7,643.0,-11.1,685,5573,0.00,1.88,0.00,0.000,6,0.000,0.035,2480,1465,3729
$STATE,5732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5732,begin apogee
$GC,5736,-0.24,0.0,660.0,9.8,694,5897,0.55,0.00,154.10,1.192,6,0.113,0.000,2664,1585,2947
$STATE,5897,end apogee,CONTROL_FINISHED_OK
$STATE,5897,begin climb
$GC,5899,0.99,194.7,665.2,0.0,702,6068,1.12,2.28,158.57,1.157,4,0.076,0.043,3058,2980,2151
$GC,6136,0.55,194.7,637.4,20.9,713,6141,0.45,2.20,0.00,0.000,6,0.166,0.041,2925,1591,2146
$GC,6458,0.51,194.7,601.6,10.5,729,6462,0.00,2.17,0.00,0.000,4,0.000,0.054,2925,213,2143
$GC,6537,0.51,194.7,592.2,11.3,732,6544,0.00,2.08,0.00,0.000,6,0.000,0.038,2925,1562,2143
$GC,6848,0.51,201.2,561.2,9.8,748,6857,0.00,2.15,4.95,0.781,4,0.000,0.054,2925,208,2125
$GC,6884,0.56,239.6,557.7,8.7,749,6921,0.00,2.05,33.17,1.101,6,0.000,0.039,2925,1545,1969
$GC,7238,0.56,239.6,516.1,12.5,767,7242,0.00,2.22,0.00,0.000,4,0.000,0.045,2925,2985,1960
$GC,7286,0.56,239.6,510.2,13.0,769,7290,0.00,2.22,0.00,0.000,6,0.000,0.043,2925,1544,1959
$GC,7602,0.56,239.6,473.8,11.9,795,7605,0.00,2.20,0.00,0.000,4,0.000,0.045,2925,2991,1958
$GC,7648,0.56,239.6,467.6,13.4,799,7655,0.00,2.20,0.00,0.000,6,0.000,0.041,2925,1557,1957
$GC,7964,0.56,239.6,429.6,10.9,830,7968,0.00,2.10,0.00,0.000,4,0.000,0.056,2925,215,1956
$GC,8017,0.56,239.6,424.0,10.6,835,8021,0.00,2.05,0.00,0.000,6,0.000,0.041,2925,1555,1956
$GC,8339,0.61,281.9,393.4,8.5,866,8374,0.00,0.00,34.10,1.017,6,0.000,0.000,2925,1555,1797
$GC,8678,0.65,281.9,358.3,11.3,899,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,1555,1788
$GC,8989,0.72,281.9,326.1,10.0,929,8993,0.15,2.08,0.00,0.000,4,0.064,0.053,2998,210,1787
$GC,9058,0.57,281.9,315.7,16.6,935,9064,0.22,2.05,0.00,0.000,6,0.145,0.038,2925,1554,1787
$GC,9379,0.72,329.5,283.7,8.4,983,9424,0.15,2.28,38.78,0.933,4,0.064,0.044,2998,2988,1602
$GC,9450,0.58,329.5,274.5,15.3,995,9456,0.25,2.20,0.00,0.000,6,0.150,0.040,2928,1560,1599
$GC,9775,0.82,427.2,242.1,6.6,1056,9863,0.22,2.22,81.18,0.894,4,0.053,0.051,3031,212,1203
$GC,9916,0.60,427.2,216.4,21.5,1080,9922,0.25,2.10,0.00,0.000,6,0.138,0.037,2943,1556,1197
$GC,10242,0.70,427.2,175.9,11.1,1141,10248,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1556,1191
$GC,10568,0.88,427.2,137.8,11.4,1202,10574,0.25,2.10,0.00,0.000,4,0.048,0.051,3057,210,1190
$GC,10648,0.66,427.2,121.8,21.9,1217,10656,0.30,2.03,0.00,0.000,6,0.139,0.035,2960,1549,1190
$GC,10976,0.87,427.2,90.1,10.4,1278,10982,0.17,0.00,0.00,0.000,6,0.054,0.000,3045,1549,1190
$GC,11302,0.80,427.2,39.7,15.0,1339,11307,0.15,0.00,0.00,0.000,6,0.137,0.000,3002,1549,1189
$GC,11627,1.04,465.7,8.0,8.7,1400,11660,0.20,0.00,30.48,0.698,6,0.048,0.000,3100,1549,1048
$STATE,11668,end climb,SURFACE_DEPTH_REACHED
$STATE,11668,begin surface coast
$FINISH,0.0,1.022266
$STATE,11684,end surface coast,CONTROL_FINISHED_OK
$STATE,11684,begin surface
$SM_CCo,11758,0.00,0.000,0,0,1041,467.54
$SM_GC,0.90,7.75,0.00,0.00,0.037,0.000,0.000,112,1448,1041,-8.16,-0.65,467.54
$IRIDIUM_FIX,2415.74,12313.83,240898,141444
$TT8_MAMPS,0.049088
$HUMID,1474
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,25.90
$XPDR_PINGS,11
$24V_AH,24.2,14.478
$10V_AH,10.8,8.511
$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,23.100,90.050,535.325,0.000,0.000,109.151,154.772,316.662,7.500,0.000,0.000,13.308,0.000,8029.215,649.262,3145.149,785.276,0.000,1808.857,0.000,2687.994,0.000,32.487,0.000
$DEVICE_MAMPS,212.459,72.098,1191.918,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,950.026,1023.145,1711.194,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79024,1410
$CAP_FILE_SIZE,137761,0
$CFSIZE,260165632,253235200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138, 58.4,1
$GPS,300509,175158,2423.677,12317.053,8,4.5,27,-3.5