version: 66.04
glider: 164
mission: 3
dive: 88
start: 6 1 109 22 7 38
data:
$ID,164
$MISSION,3
$DIVE,88
$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,-34813.25
$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,31
$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
$GPS1,220237,2412.558,12303.000,34,1.3,34,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-68.5
$GPS2,220732,2412.571,12303.035,12,1.5,12,-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,185.5,6997,-15.7,-10.000
$D_GRID,381
$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,-65.97,0.000,2,0.000,0.000,108,1512,2737
$GC,81,-0.99,-194.7,3.0,-6.8,10,120,8.45,2.03,-21.85,0.000,4,0.209,0.059,2422,209,3745
$GC,173,-0.54,-194.7,25.6,-25.3,26,179,0.43,1.90,0.00,0.000,6,0.127,0.033,2563,1471,3746
$GC,499,-0.49,-194.7,69.4,-14.1,87,506,0.00,2.10,0.00,0.000,4,0.000,0.038,2563,2883,3747
$GC,591,-0.54,-194.7,81.3,-12.9,104,597,0.00,2.10,0.00,0.000,6,0.000,0.033,2563,1470,3747
$GC,917,-0.60,-194.7,120.3,-11.4,165,923,0.00,2.10,0.00,0.000,4,0.000,0.037,2563,2878,3749
$GC,949,-0.74,-194.7,123.7,-10.7,171,957,0.12,2.08,0.00,0.000,6,0.042,0.032,2486,1479,3749
$GC,1277,-0.63,-194.7,172.0,-13.3,232,1283,0.17,0.00,0.00,0.000,6,0.125,0.000,2540,1479,3750
$GC,1603,-0.72,-194.7,199.6,-6.7,293,1610,0.00,2.08,0.00,0.000,4,0.000,0.038,2540,2874,3751
$GC,1635,-0.86,-194.7,201.8,-7.0,299,1643,0.17,2.05,0.00,0.000,6,0.041,0.033,2446,1489,3751
$GC,1962,-0.67,-194.7,254.5,-17.3,360,1969,0.25,1.92,0.00,0.000,4,0.130,0.044,2523,209,3751
$GC,2022,-0.72,-194.7,262.5,-11.8,371,2029,0.00,1.88,0.00,0.000,6,0.000,0.031,2523,1481,3751
$GC,2348,-0.78,-194.7,294.5,-8.4,432,2355,0.00,1.92,0.00,0.000,4,0.000,0.044,2523,212,3751
$GC,2444,-0.84,-194.7,304.5,-10.0,446,2448,0.10,1.85,0.00,0.000,6,0.053,0.031,2461,1466,3751
$GC,2765,-0.73,-194.7,348.2,-14.0,477,2769,0.17,2.08,0.00,0.000,4,0.132,0.038,2513,2871,3750
$GC,2866,-0.83,-194.7,357.4,-7.2,486,2873,0.08,2.05,0.00,0.000,6,0.057,0.034,2460,1491,3749
$GC,3182,-0.74,-194.7,367.9,1.5,517,3186,0.15,2.08,0.00,0.000,4,0.133,0.040,2504,2877,3748
$GC,3235,-0.83,-194.7,366.8,2.1,522,3239,0.00,2.08,0.00,0.000,6,0.000,0.034,2504,1477,3748
$STATE,3544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3545,begin apogee
$GC,3548,-0.24,0.0,381.2,10.8,552,3702,0.50,0.00,151.23,0.976,6,0.108,0.000,2671,1600,2947
$STATE,3702,end apogee,CONTROL_FINISHED_OK
$STATE,3702,begin climb
$GC,3704,0.99,194.7,396.6,0.0,567,3865,1.08,2.20,151.73,0.956,4,0.074,0.038,3053,2979,2151
$GC,3998,0.60,194.7,375.2,20.4,593,4005,0.38,2.15,0.00,0.000,6,0.161,0.037,2943,1590,2147
$GC,4313,0.62,210.2,341.2,9.5,624,4329,0.00,2.10,12.55,0.846,4,0.000,0.038,2943,2986,2089
$GC,4366,0.62,210.2,334.9,13.1,628,4374,0.00,2.15,0.00,0.000,6,0.000,0.036,2943,1576,2088
$GC,4684,0.62,210.2,297.4,14.1,660,4689,0.00,2.10,0.00,0.000,4,0.000,0.051,2942,200,2086
$GC,4784,0.62,210.2,281.4,14.4,679,4792,0.00,2.03,0.00,0.000,6,0.000,0.036,2942,1540,2085
$GC,5111,0.62,210.2,247.3,13.5,740,5112,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1540,2083
$GC,5432,0.73,303.4,212.3,6.8,800,5511,0.10,2.10,73.43,0.866,4,0.086,0.048,2994,210,1709
$GC,5638,0.62,303.4,185.7,13.4,837,5644,0.15,2.03,0.00,0.000,6,0.141,0.035,2948,1532,1701
$GC,5964,0.67,303.4,160.7,11.2,898,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,1532,1698
$GC,6289,0.75,310.9,129.5,9.7,959,6298,0.12,2.08,5.68,0.615,4,0.070,0.050,3011,216,1678
$GC,6400,0.70,310.9,116.5,11.0,979,6407,0.10,2.00,0.00,0.000,6,0.137,0.036,2967,1542,1676
$GC,6727,0.84,329.2,88.3,9.4,1040,6746,0.15,0.00,16.30,0.736,6,0.060,0.000,3048,1542,1604
$GC,7066,0.74,329.2,51.1,11.1,1103,7073,0.22,0.00,0.00,0.000,6,0.133,0.000,2980,1542,1599
$GC,7393,1.10,464.3,34.0,5.3,1164,7506,0.32,2.30,108.50,0.717,4,0.040,0.038,3128,2994,1053
$GC,7543,0.88,464.3,8.9,20.0,1189,7550,0.35,2.25,0.00,0.000,6,0.147,0.037,3027,1524,1049
$STATE,7584,end climb,SURFACE_DEPTH_REACHED
$STATE,7584,begin surface coast
$FINISH,0.2,1.022124
$STATE,7606,end surface coast,CONTROL_FINISHED_OK
$STATE,7606,begin surface
$SM_CCo,7680,0.00,0.000,0,0,1045,466.56
$SM_GC,1.02,7.57,0.00,0.00,0.036,0.000,0.000,108,1474,1045,-8.15,0.08,466.56
$IRIDIUM_FIX,2406.29,12304.70,260898,202007
$TT8_MAMPS,0.048321
$HUMID,1489
$INTERNAL_PRESSURE,9.05555
$TCM_TEMP,26.30
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,300.0,123.6
$24V_AH,24.5,19.210
$10V_AH,10.8,11.538
$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,21.150,57.950,519.400,0.000,0.000,28.273,33.154,147.230,3.250,0.000,0.000,14.001,0.000,4435.463,575.009,2596.344,351.313,0.000,1530.636,0.000,2236.724,0.000,12.379,0.000
$DEVICE_MAMPS,208.624,116.584,975.624,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,804.526,960.161,1605.889,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66357,1201
$CAP_FILE_SIZE,100091,0
$CFSIZE,260165632,251617280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.238,317.5,1
$GPS,020609,001628,2412.249,12302.181,12,99.0,31,-3.4