version: 66.04
glider: 164
mission: 3
dive: 51
start: 5 30 109 17 58 4
data:
$ID,164
$MISSION,3
$DIVE,51
$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,-34113.738
$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,49
$R_STBD_OVSHOOT,42
$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
$GPS1,175158,2423.677,12317.053,8,4.5,27,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.4
$GPS2,175758,2423.737,12317.141,12,4.0,31,-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,203.0,16245,-15.7,-10.000
$D_GRID,674
$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,-194.7,0.0,0.0,0,78,0.00,0.00,-64.30,0.000,2,0.000,0.000,112,1445,2811
$GC,80,-0.99,-194.7,3.1,-7.1,10,112,8.30,2.20,-19.70,0.000,4,0.203,0.051,2415,2879,3744
$GC,293,-0.56,-194.7,58.7,-27.0,49,300,0.43,2.10,0.00,0.000,6,0.122,0.033,2557,1481,3745
$GC,620,-0.56,-194.7,102.8,-11.3,110,626,0.00,1.92,0.00,0.000,4,0.000,0.045,2558,218,3747
$GC,668,-0.56,-194.7,108.4,-12.2,119,675,0.00,1.85,0.00,0.000,6,0.000,0.035,2558,1458,3748
$GC,995,-0.61,-194.7,144.8,-10.5,180,1001,0.00,2.12,0.00,0.000,4,0.000,0.039,2558,2882,3749
$GC,1038,-0.75,-194.7,148.9,-9.3,188,1044,0.12,2.10,0.00,0.000,6,0.044,0.033,2481,1468,3749
$GC,1364,-0.61,-194.7,194.6,-15.9,249,1371,0.22,1.88,0.00,0.000,4,0.124,0.044,2551,221,3749
$GC,1391,-0.61,-194.7,198.5,-14.5,254,1397,0.00,1.88,0.00,0.000,6,0.000,0.035,2551,1477,3749
$GC,1717,-0.69,-194.7,232.3,-9.2,315,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1478,3749
$GC,2043,-0.79,-194.7,258.3,-8.0,376,2050,0.17,2.08,0.00,0.000,4,0.057,0.039,2468,2880,3749
$GC,2102,-0.72,-194.7,265.1,-12.8,387,2109,0.10,2.08,0.00,0.000,6,0.121,0.033,2506,1474,3749
$GC,2434,-0.72,-194.7,302.3,-9.5,447,2437,0.00,1.90,0.00,0.000,4,0.000,0.044,2506,214,3749
$GC,2502,-0.72,-194.7,308.7,-9.1,453,2509,0.00,1.85,0.00,0.000,6,0.000,0.032,2506,1464,3749
$GC,2819,-0.72,-194.7,333.5,-7.8,484,2822,0.00,2.08,0.00,0.000,4,0.000,0.040,2506,2879,3748
$GC,2904,-0.80,-194.7,339.7,-7.0,492,2907,0.00,2.08,0.00,0.000,6,0.000,0.034,2506,1478,3748
$GC,3224,-0.84,-194.7,369.0,-10.3,523,3228,0.00,2.10,0.00,0.000,4,0.000,0.040,2506,2879,3747
$GC,3272,-0.94,-194.7,373.6,-9.3,527,3280,0.15,2.08,0.00,0.000,6,0.045,0.034,2425,1479,3746
$GC,3588,-0.75,-194.7,425.0,-17.4,558,3592,0.25,1.90,0.00,0.000,4,0.130,0.047,2502,204,3746
$GC,3619,-0.75,-194.7,429.5,-12.7,561,3623,0.00,1.88,0.00,0.000,6,0.000,0.033,2502,1474,3745
$GC,3940,-0.80,-194.7,462.0,-9.9,592,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1476,3744
$GC,4251,-0.87,-194.7,486.6,-7.5,622,4255,0.12,2.05,0.00,0.000,4,0.071,0.042,2443,2872,3742
$GC,4309,-0.81,-194.7,492.3,-10.2,627,4317,0.10,2.08,0.00,0.000,6,0.126,0.035,2478,1486,3742
$GC,4631,-0.81,-194.7,519.7,-8.3,648,4632,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1486,3740
$GC,4937,-0.81,-194.7,543.8,-8.1,663,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1486,3738
$GC,5241,-0.81,-194.7,570.3,-9.9,678,5245,0.00,1.95,0.00,0.000,4,0.000,0.050,2478,211,3737
$GC,5358,-0.81,-194.7,583.6,-11.7,683,5363,0.00,1.90,0.00,0.000,6,0.000,0.034,2478,1484,3736
$GC,5675,-0.81,-194.7,612.2,-7.8,699,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1485,3733
$GC,5979,-0.81,-194.7,633.4,-6.6,714,5983,0.00,2.10,0.00,0.000,4,0.000,0.045,2479,2872,3731
$GC,6017,-0.89,-194.7,636.0,-7.0,715,6025,0.00,2.08,0.00,0.000,6,0.000,0.038,2478,1493,3731
$GC,6328,-0.89,-194.7,661.2,-8.4,731,6331,0.00,1.98,0.00,0.000,4,0.000,0.051,2479,210,3729
$GC,6396,-0.89,-194.7,667.2,-8.7,734,6400,0.00,1.90,0.00,0.000,6,0.000,0.035,2479,1480,3729
$STATE,6493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6493,begin apogee
$GC,6497,-0.24,0.0,675.1,8.1,739,6656,0.55,0.00,155.95,1.217,6,0.110,0.000,2664,1584,2947
$STATE,6656,end apogee,CONTROL_FINISHED_OK
$STATE,6656,begin climb
$GC,6658,0.99,194.7,677.8,0.0,747,6826,1.12,2.30,159.32,1.180,4,0.073,0.054,3058,222,2152
$GC,6927,0.57,194.7,638.9,19.9,759,6935,0.43,2.12,0.00,0.000,6,0.166,0.038,2933,1574,2148
$GC,7238,0.48,194.7,601.2,12.4,775,7242,0.12,2.17,0.00,0.000,4,0.155,0.044,2898,2985,2145
$GC,7296,0.48,194.7,594.2,12.1,777,7302,0.00,2.12,0.00,0.000,6,0.000,0.040,2898,1608,2144
$GC,7607,0.58,277.7,565.2,7.1,793,7679,0.10,2.28,68.18,1.127,4,0.088,0.054,2942,214,1814
$GC,7706,0.53,277.7,552.7,12.8,797,7713,0.00,2.17,0.00,0.000,6,0.000,0.040,2942,1582,1810
$GC,8017,0.44,277.7,504.3,16.2,813,8021,0.20,2.15,0.00,0.000,4,0.144,0.054,2884,204,1804
$GC,8086,0.59,277.7,495.6,11.2,817,8093,0.10,2.12,0.00,0.000,6,0.058,0.041,2942,1579,1804
$GC,8401,0.52,277.7,453.4,12.4,848,8406,0.00,2.15,0.00,0.000,4,0.000,0.045,2942,2981,1801
$GC,8455,0.46,277.7,446.7,12.3,853,8459,0.12,2.15,0.00,0.000,6,0.141,0.041,2890,1584,1800
$GC,8776,0.72,366.3,421.5,6.9,884,8854,0.25,2.30,73.60,1.049,4,0.057,0.054,2998,204,1451
$GC,8918,0.57,366.3,398.0,17.9,897,8922,0.25,2.15,0.00,0.000,6,0.150,0.040,2928,1587,1444
$GC,9232,0.57,366.3,359.6,10.2,927,9233,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1588,1438
$GC,9544,0.62,366.3,325.7,10.6,957,9547,0.00,2.15,0.00,0.000,4,0.000,0.054,2929,203,1437
$GC,9612,0.74,380.2,319.0,9.5,963,9631,0.10,2.08,10.60,0.878,6,0.063,0.041,2985,1555,1396
$GC,9946,0.59,380.2,263.7,17.0,1014,9953,0.20,2.17,0.00,0.000,4,0.153,0.044,2930,2987,1393
$GC,9967,0.52,380.2,260.6,14.8,1018,9974,0.00,2.20,0.00,0.000,6,0.000,0.041,2930,1554,1393
$GC,10294,0.73,455.8,231.9,7.4,1079,10362,0.15,0.00,64.57,0.901,6,0.069,0.000,2999,1554,1088
$GC,10682,0.57,455.8,155.7,19.3,1150,10688,0.25,2.22,0.00,0.000,4,0.148,0.043,2927,2991,1078
$GC,10730,0.71,455.8,149.0,11.1,1159,10738,0.08,2.20,0.00,0.000,6,0.064,0.039,2981,1560,1078
$GC,11058,0.71,455.8,101.8,15.6,1220,11064,0.00,2.10,0.00,0.000,4,0.000,0.051,2985,212,1077
$GC,11101,0.71,455.8,94.6,16.7,1228,11107,0.00,2.05,0.00,0.000,6,0.000,0.039,2985,1557,1076
$GC,11427,0.90,487.0,54.5,8.9,1289,11459,0.12,2.15,25.33,0.743,4,0.065,0.051,3056,208,960
$GC,11517,0.90,487.0,41.4,15.7,1305,11524,0.00,2.08,0.00,0.000,6,0.000,0.037,3056,1562,957
$STATE,11756,end climb,SURFACE_DEPTH_REACHED
$STATE,11756,begin surface coast
$FINISH,0.5,1.022247
$STATE,11773,end surface coast,CONTROL_FINISHED_OK
$STATE,11773,begin surface
$SM_CCo,11846,0.00,0.000,0,0,952,489.37
$SM_GC,0.73,7.50,0.00,0.00,0.031,0.000,0.000,112,1447,952,-8.16,-0.68,489.37
$IRIDIUM_FIX,2415.74,12315.81,240898,141411
$TT8_MAMPS,0.050622
$HUMID,1514
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,25.30
$XPDR_PINGS,7
$24V_AH,24.1,14.665
$10V_AH,10.7,8.634
$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,21.625,99.950,557.550,0.000,0.000,30.778,32.992,179.628,6.750,0.000,0.000,34.951,0.000,8006.283,672.666,3077.991,425.749,0.000,1808.698,0.000,2603.222,0.000,34.114,0.000
$DEVICE_MAMPS,203.255,72.865,1217.229,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,913.118,947.201,1583.158,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75779,1353
$CAP_FILE_SIZE,134029,0
$CFSIZE,260165632,253165568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,124.7,1
$GPS,300509,211636,2421.776,12316.687,35,0.8,47,-3.5