version: 66.04
glider: 164
mission: 3
dive: 59
start: 5 31 109 9 35 25
data:
$ID,164
$MISSION,3
$DIVE,59
$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,-34260.57
$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,47
$R_STBD_OVSHOOT,39
$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
$GPS1,093050,2416.223,12317.356,11,1.6,11,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.7
$GPS2,093520,2416.187,12317.299,14,1.9,14,-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,126.9,2496,-15.7,-10.000
$D_GRID,333
$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,-194.7,0.0,0.0,0,66,0.00,0.00,-52.45,0.000,2,0.000,0.000,103,1457,2681
$GC,68,-0.99,-194.7,3.0,-6.8,8,106,8.40,1.88,-24.52,0.000,4,0.206,0.059,2425,220,3743
$GC,286,-0.60,-194.7,57.7,-23.6,48,293,0.38,1.88,0.00,0.000,6,0.133,0.034,2545,1471,3746
$GC,613,-0.60,-194.7,97.3,-10.7,109,618,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1473,3747
$GC,938,-0.60,-194.7,132.4,-9.7,170,946,0.00,2.08,0.00,0.000,4,0.000,0.038,2545,2877,3747
$GC,955,-0.60,-194.7,133.9,-8.8,173,962,0.00,2.05,0.00,0.000,6,0.000,0.034,2545,1492,3748
$GC,1281,-0.60,-194.7,164.5,-11.0,234,1289,0.00,1.92,0.00,0.000,4,0.000,0.044,2545,210,3748
$GC,1342,-0.60,-194.7,171.4,-11.1,245,1348,0.00,1.90,0.00,0.000,6,0.000,0.033,2545,1494,3748
$GC,1668,-0.60,-194.7,201.7,-10.0,306,1676,0.00,1.95,0.00,0.000,4,0.000,0.044,2545,207,3748
$GC,1701,-0.60,-194.7,205.0,-10.3,312,1708,0.00,1.88,0.00,0.000,6,0.000,0.034,2545,1471,3748
$GC,2028,-0.67,-194.7,235.5,-8.8,373,2033,0.00,2.08,0.00,0.000,4,0.000,0.038,2545,2879,3748
$GC,2075,-0.80,-194.7,239.3,-8.0,382,2083,0.12,2.08,0.00,0.000,6,0.046,0.033,2470,1473,3748
$GC,2403,-0.67,-194.7,284.8,-14.9,443,2408,0.20,0.00,0.00,0.000,6,0.127,0.000,2532,1473,3748
$GC,2726,-0.74,-194.7,318.7,-8.6,486,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,1473,3748
$STATE,2808,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2808,begin apogee
$GC,2811,-0.24,0.0,325.5,7.8,494,2964,0.40,0.00,149.82,0.901,6,0.104,0.000,2667,1598,2947
$STATE,2964,end apogee,CONTROL_FINISHED_OK
$STATE,2964,begin climb
$GC,2966,0.99,194.7,329.1,0.0,509,3122,1.10,2.20,149.57,0.884,4,0.077,0.039,3057,2978,2152
$GC,3277,0.64,194.7,290.8,16.3,542,3285,0.32,2.12,0.00,0.000,6,0.157,0.036,2957,1587,2149
$GC,3605,0.62,218.9,257.8,9.2,603,3629,0.00,0.00,19.50,0.811,6,0.000,0.000,2957,1587,2053
$GC,3949,0.65,247.5,228.8,9.0,667,3978,0.00,2.15,22.92,0.813,4,0.000,0.050,2957,220,1937
$GC,4111,0.65,247.5,214.7,10.5,697,4117,0.00,2.05,0.00,0.000,6,0.000,0.036,2957,1573,1933
$GC,4437,0.65,247.5,180.6,10.6,758,4444,0.00,2.12,0.00,0.000,4,0.000,0.041,2957,2991,1931
$GC,4475,0.65,247.5,176.1,11.3,765,4482,0.00,2.10,0.00,0.000,6,0.000,0.038,2957,1593,1931
$GC,4802,0.81,331.7,145.1,7.1,826,4873,0.15,2.22,66.85,0.793,4,0.061,0.050,3031,211,1593
$GC,4952,0.61,331.7,123.8,16.2,852,4959,0.28,2.10,0.00,0.000,6,0.135,0.035,2944,1585,1586
$GC,5279,0.92,447.9,103.3,6.0,913,5382,0.28,2.20,93.05,0.755,4,0.044,0.048,3072,225,1118
$GC,5445,0.73,447.9,71.9,18.6,941,5451,0.28,2.08,0.00,0.000,6,0.142,0.035,2984,1575,1112
$GC,5771,0.98,488.6,34.7,8.6,1002,5810,0.20,2.12,32.60,0.697,4,0.048,0.049,3083,210,953
$GC,5857,0.88,488.6,19.1,20.9,1017,5864,0.17,2.05,0.00,0.000,6,0.133,0.035,3026,1557,949
$STATE,5968,end climb,SURFACE_DEPTH_REACHED
$STATE,5968,begin surface coast
$FINISH,0.3,1.006501
$STATE,5990,end surface coast,CONTROL_FINISHED_OK
$STATE,5990,begin surface
$SM_CCo,6063,0.00,0.000,0,0,944,491.09
$SM_GC,1.00,7.47,0.00,0.00,0.035,0.000,0.000,109,1456,944,-8.15,-0.42,491.09
$IRIDIUM_FIX,2408.65,12316.49,250898,080808
$TT8_MAMPS,0.049088
$HUMID,1494
$INTERNAL_PRESSURE,9.03601
$TCM_TEMP,25.70
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,200.6,149.4
$24V_AH,24.6,15.738
$10V_AH,10.8,9.385
$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,19.750,45.475,534.325,0.000,0.000,23.250,35.240,131.086,1.500,0.000,0.000,15.982,0.000,3225.433,561.355,2220.051,313.683,0.000,1393.538,0.000,1917.520,0.000,5.822,0.000
$DEVICE_MAMPS,206.323,72.865,901.225,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.436,851.167,1423.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57016,1042
$CAP_FILE_SIZE,82169,0
$CFSIZE,260165632,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.199,231.2,1
$GPS,310509,111716,2415.268,12317.570,11,99.0,30,-3.5