version: 66.04
glider: 164
mission: 3
dive: 70
start: 6 1 109 3 17 57
data:
$ID,164
$MISSION,3
$DIVE,70
$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,-34498.793
$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,35
$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
$GPS1,031255,2413.520,12313.388,6,1.9,12,-3.4
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.6
$GPS2,031752,2413.615,12313.357,11,2.8,30,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_4
$TGT_LATLONG,2400.000,12300.000
$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,180.3,33861,-15.7,-10.000
$D_GRID,280
$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,-194.7,0.0,0.0,0,72,0.00,0.00,-57.95,0.000,2,0.000,0.000,110,1476,2791
$GC,73,-0.99,-194.7,3.4,-8.2,9,105,8.20,0.00,-20.15,0.000,6,0.199,0.000,2423,1476,3745
$GC,425,-0.61,-194.7,88.4,-20.6,74,432,0.38,1.90,0.00,0.000,4,0.151,0.043,2542,215,3747
$GC,566,-0.57,-194.7,107.8,-11.6,100,572,0.00,1.88,0.00,0.000,6,0.000,0.034,2542,1479,3748
$GC,891,-0.57,-194.7,145.8,-12.7,161,892,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1480,3749
$GC,1212,-0.62,-194.7,176.0,-7.8,221,1217,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1480,3749
$GC,1536,-0.68,-194.7,203.0,-8.2,282,1544,0.00,1.92,0.00,0.000,4,0.000,0.044,2542,210,3749
$GC,1586,-0.74,-194.7,207.5,-10.1,291,1592,0.08,1.88,0.00,0.000,6,0.054,0.033,2487,1481,3749
$STATE,1750,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1750,begin apogee
$GC,1753,-0.24,0.0,229.2,13.9,322,1906,0.50,0.00,147.52,0.834,6,0.109,0.000,2659,1596,2947
$STATE,1906,end apogee,CONTROL_FINISHED_OK
$STATE,1906,begin climb
$GC,1908,0.99,194.7,236.0,0.0,347,2065,1.12,2.15,147.93,0.818,4,0.079,0.038,3056,2963,2151
$GC,2086,0.68,194.7,222.7,14.8,377,2092,0.30,2.15,0.00,0.000,6,0.150,0.037,2965,1585,2150
$GC,2412,0.62,194.7,188.0,10.9,438,2419,0.00,2.12,0.00,0.000,4,0.000,0.048,2969,207,2148
$GC,2547,0.54,194.7,173.9,10.7,463,2553,0.15,2.03,0.00,0.000,6,0.133,0.035,2919,1553,2147
$GC,2873,0.78,303.6,150.1,6.2,524,2962,0.22,2.17,83.75,0.779,4,0.051,0.048,3030,211,1707
$GC,3016,0.60,303.6,131.4,16.7,548,3022,0.25,2.08,0.00,0.000,6,0.131,0.035,2940,1561,1702
$GC,3342,0.85,367.0,104.5,7.8,609,3399,0.22,2.15,50.25,0.745,4,0.047,0.048,3052,214,1448
$GC,3414,0.68,367.0,94.1,16.6,621,3421,0.25,2.05,0.00,0.000,6,0.131,0.036,2970,1539,1445
$GC,3741,0.89,409.0,60.3,8.6,682,3780,0.17,0.00,34.05,0.709,6,0.053,0.000,3059,1539,1278
$GC,4100,0.83,409.0,9.1,13.5,748,4106,0.17,2.05,0.00,0.000,4,0.130,0.048,3011,211,1269
$GC,4158,1.07,455.8,3.6,8.4,759,4173,0.17,2.03,10.27,0.604,2,0.038,0.036,3111,1556,1228
$STATE,4173,end climb,SURFACE_DEPTH_REACHED
$STATE,4173,begin surface coast
$FINISH,0.3,1.022005
$STATE,4202,end surface coast,CONTROL_FINISHED_OK
$STATE,4203,begin surface
$SM_CCo,4276,0.00,0.000,0,0,1222,422.90
$SM_GC,1.09,7.60,0.00,0.00,0.028,0.000,0.000,103,1452,1222,-8.16,-0.54,422.90
$IRIDIUM_FIX,2403.92,12313.22,260898,010105
$TT8_MAMPS,0.049088
$HUMID,1499
$INTERNAL_PRESSURE,9.09461
$TCM_TEMP,25.90
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,200.3,53.4
$24V_AH,24.7,17.171
$10V_AH,10.8,10.377
$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,19.800,28.800,473.775,0.000,0.000,29.090,31.552,139.928,4.000,0.000,0.000,33.605,0.000,2131.309,464.300,1661.312,304.384,0.000,1097.668,0.000,1422.294,0.000,5.562,0.000
$DEVICE_MAMPS,198.653,72.098,833.729,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,508.271,713.238,1191.476,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41065,767
$CAP_FILE_SIZE,62780,0
$CFSIZE,260165632,252309504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.342,332.7,1
$GPS,010609,043007,2413.715,12312.938,36,0.9,36,-3.4