version: 66.04
glider: 164
mission: 3
dive: 84
start: 6 1 109 14 28 7
data:
$ID,164
$MISSION,3
$DIVE,84
$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,-34717.566
$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,36
$R_STBD_OVSHOOT,40
$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
$GPS1,142354,2412.433,12305.885,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.3
$GPS2,142801,2412.535,12305.834,9,1.4,14,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_4
$TGT_LATLONG,2410.000,12300.000
$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,215.9,10919,-15.7,-10.000
$D_GRID,299
$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,-194.7,0.0,0.0,0,80,0.00,0.00,-66.62,0.000,2,0.000,0.000,109,1476,2727
$GC,82,-0.99,-194.7,3.5,-7.7,10,120,8.10,1.95,-21.48,0.000,4,0.194,0.057,2418,205,3744
$GC,210,-0.54,-194.7,35.2,-25.9,33,216,0.40,1.88,0.00,0.000,6,0.156,0.033,2566,1467,3745
$GC,536,-0.54,-194.7,76.6,-13.1,94,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1469,3746
$GC,861,-0.60,-194.7,107.1,-9.9,155,867,0.00,1.90,0.00,0.000,4,0.000,0.043,2566,210,3746
$GC,989,-0.68,-194.7,120.7,-10.4,179,996,0.10,1.83,0.00,0.000,6,0.048,0.033,2500,1450,3747
$GC,1316,-0.60,-194.7,165.5,-13.2,240,1324,0.15,1.88,0.00,0.000,4,0.122,0.046,2546,209,3747
$GC,1453,-0.64,-194.7,181.7,-11.9,265,1458,0.00,1.80,0.00,0.000,6,0.000,0.033,2545,1431,3747
$GC,1778,-0.70,-194.7,211.9,-9.8,326,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,2545,1433,3747
$GC,2098,-0.81,-194.7,240.8,-6.8,386,2105,0.17,1.85,0.00,0.000,4,0.056,0.044,2460,203,3747
$GC,2147,-0.63,-194.7,246.9,-14.4,395,2153,0.22,1.77,0.00,0.000,6,0.122,0.031,2538,1413,3747
$GC,2473,-0.73,-194.7,275.9,-8.8,456,2480,0.00,2.15,0.00,0.000,4,0.000,0.038,2537,2873,3747
$GC,2608,-0.89,-194.7,286.5,-8.4,481,2614,0.22,2.10,0.00,0.000,6,0.050,0.033,2432,1430,3746
$STATE,2692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2692,begin apogee
$GC,2695,-0.24,0.0,299.4,16.0,497,2853,0.68,0.00,148.43,0.890,6,0.123,0.000,2657,1588,2947
$STATE,2854,end apogee,CONTROL_FINISHED_OK
$STATE,2854,begin climb
$GC,2855,0.99,194.7,306.7,0.0,513,3011,1.12,2.20,148.45,0.871,4,0.078,0.038,3057,2975,2151
$GC,3155,0.61,194.7,273.8,15.8,555,3161,0.35,2.10,0.00,0.000,6,0.156,0.036,2939,1591,2148
$GC,3481,0.65,222.0,248.6,9.1,616,3505,0.00,0.00,21.08,0.811,6,0.000,0.000,2939,1591,2041
$GC,3825,0.69,261.9,215.0,8.6,680,3863,0.00,2.17,31.92,0.821,4,0.000,0.050,2939,216,1878
$GC,4102,0.76,261.9,184.7,11.7,731,4109,0.10,2.03,0.00,0.000,6,0.057,0.035,2993,1560,1872
$GC,4429,0.69,263.4,157.8,9.9,792,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1560,1870
$GC,4756,0.63,263.4,123.7,11.8,853,4762,0.17,2.05,0.00,0.000,4,0.142,0.048,2946,218,1868
$GC,4836,0.83,351.6,117.1,7.0,868,4912,0.15,2.05,70.18,0.777,6,0.046,0.036,3029,1592,1513
$GC,5232,0.76,351.6,68.0,12.5,940,5240,0.15,2.12,0.00,0.000,4,0.133,0.049,2987,218,1503
$GC,5368,0.88,351.6,52.8,11.6,965,5374,0.08,2.03,0.00,0.000,6,0.054,0.036,3044,1568,1502
$GC,5694,0.88,351.6,11.9,10.5,1026,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1568,1500
$STATE,5783,end climb,SURFACE_DEPTH_REACHED
$STATE,5783,begin surface coast
$FINISH,0.2,1.021468
$STATE,5815,end surface coast,CONTROL_FINISHED_OK
$STATE,5815,begin surface
$SM_CCo,5829,49.35,0.690,0,0,1254,415.05
$SM_GC,0.77,0.00,0.00,49.35,0.000,0.000,0.690,110,1453,1254,-8.23,-0.51,415.05
$IRIDIUM_FIX,2401.56,12309.95,260898,131346
$TT8_MAMPS,0.049855
$HUMID,1548
$INTERNAL_PRESSURE,9.09461
$TCM_TEMP,25.70
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,275.4,77.8
$24V_AH,24.4,18.644
$10V_AH,10.8,11.119
$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,19.550,36.200,420.050,49.350,0.000,28.820,40.377,104.504,2.500,0.000,0.000,16.481,0.000,3079.754,522.349,2224.259,293.506,0.000,1323.527,0.000,1916.343,0.000,11.569,0.000
$DEVICE_MAMPS,194.051,70.564,890.487,689.533,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,702.431,863.896,1445.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,57000,1049
$CAP_FILE_SIZE,80289,0
$CFSIZE,260165632,251875328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,311.9,1
$GPS,010609,160652,2412.383,12304.849,8,99.0,27,-3.4