version: 66.04
glider: 164
mission: 3
dive: 91
start: 6 2 109 4 11 15
data:
$ID,164
$MISSION,3
$DIVE,91
$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,-34900.535
$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,50
$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
$GPS1,040552,2411.797,12300.115,6,5.7,25,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.8
$GPS2,041110,2411.826,12300.063,11,2.5,30,-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,140.2,3384,-15.7,-10.000
$D_GRID,451
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.99,-194.7,0.0,0.0,0,86,0.00,0.00,-71.07,0.000,2,0.000,0.000,109,1448,2842
$GC,87,-0.99,-194.7,3.1,-6.9,11,119,8.32,2.12,-18.27,0.000,4,0.202,0.051,2428,2882,3743
$GC,172,-0.59,-194.7,26.1,-29.0,26,179,0.32,2.10,0.00,0.000,6,0.123,0.034,2550,1491,3744
$GC,499,-0.54,-194.7,80.9,-12.1,87,506,0.00,1.95,0.00,0.000,4,0.000,0.044,2551,210,3746
$GC,542,-0.48,-194.7,86.6,-14.0,95,549,0.10,1.88,0.00,0.000,6,0.116,0.034,2586,1466,3746
$GC,868,-0.59,-194.7,123.1,-14.3,156,875,0.00,1.92,0.00,0.000,4,0.000,0.044,2587,205,3748
$GC,954,-0.76,-194.7,135.2,-12.4,172,961,0.22,1.85,0.00,0.000,6,0.037,0.033,2474,1449,3748
$GC,1281,-0.63,-194.7,194.0,-16.2,233,1288,0.22,1.85,0.00,0.000,4,0.123,0.041,2546,213,3749
$GC,1324,-0.67,-194.7,199.4,-11.5,241,1331,0.00,1.83,0.00,0.000,6,0.000,0.032,2545,1449,3749
$GC,1650,-0.75,-194.7,234.8,-12.5,302,1658,0.12,1.88,0.00,0.000,4,0.068,0.044,2483,210,3750
$GC,1678,-0.69,-194.7,238.9,-15.6,307,1685,0.10,1.83,0.00,0.000,6,0.125,0.032,2517,1443,3749
$GC,2005,-0.74,-194.7,293.1,-16.6,368,2010,0.00,2.12,0.00,0.000,4,0.000,0.038,2517,2876,3750
$GC,2089,-0.85,-194.7,305.1,-12.5,381,2094,0.10,2.12,0.00,0.000,6,0.051,0.032,2455,1438,3750
$GC,2410,-0.73,-194.7,352.6,-11.3,412,2411,0.17,0.00,0.00,0.000,6,0.131,0.000,2508,1438,3749
$STATE,2668,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2668,begin apogee
$GC,2672,-0.24,0.0,373.9,15.9,437,2825,0.47,0.00,151.12,0.956,6,0.103,0.000,2670,1596,2947
$STATE,2826,end apogee,CONTROL_FINISHED_OK
$STATE,2826,begin climb
$GC,2827,0.99,194.7,385.9,0.0,452,2985,1.10,2.25,151.43,0.936,4,0.075,0.049,3063,226,2152
$GC,3093,0.58,194.7,358.1,18.0,477,3100,0.40,2.05,0.00,0.000,6,0.156,0.034,2941,1562,2149
$GC,3408,0.65,279.5,325.5,7.1,508,3479,0.00,2.12,66.60,0.908,4,0.000,0.049,2942,222,1807
$GC,3505,0.84,432.1,320.0,4.7,516,3636,0.17,2.10,126.12,0.898,6,0.051,0.036,3027,1569,1185
$GC,3953,0.55,432.1,237.3,17.3,587,3960,0.35,2.12,0.00,0.000,4,0.151,0.041,2925,2989,1173
$GC,3970,0.35,432.1,234.9,15.2,590,3976,0.17,2.15,0.00,0.000,6,0.133,0.038,2866,1581,1172
$GC,4296,1.07,432.1,210.6,14.0,651,4305,0.62,2.10,0.00,0.000,4,0.071,0.050,3095,200,1169
$GC,4336,1.07,432.1,204.8,14.7,658,4345,0.00,2.08,0.00,0.000,6,0.000,0.035,3096,1575,1169
$GC,4665,0.71,432.1,107.9,20.9,719,4671,0.40,2.10,0.00,0.000,4,0.153,0.040,2975,2979,1168
$GC,4676,0.40,432.1,105.8,20.0,721,4683,0.30,2.10,0.00,0.000,6,0.130,0.038,2873,1588,1168
$GC,5003,1.04,432.1,67.9,12.4,782,5010,0.55,2.08,0.00,0.000,4,0.064,0.049,3080,211,1167
$GC,5062,1.05,443.0,61.8,9.6,793,5076,0.00,2.05,7.82,0.634,6,0.000,0.036,3081,1580,1139
$GC,5396,0.91,443.0,20.9,10.3,855,5402,0.15,2.10,0.00,0.000,4,0.147,0.041,3038,2986,1136
$GC,5412,0.82,443.9,19.3,10.0,858,5419,0.08,2.12,0.00,0.000,6,0.137,0.038,3011,1582,1137
$STATE,5683,end climb,SURFACE_DEPTH_REACHED
$STATE,5683,begin surface coast
$FINISH,0.1,1.022111
$STATE,5726,end surface coast,CONTROL_FINISHED_OK
$STATE,5727,begin surface
$SM_CCo,5800,0.00,0.000,0,0,1133,444.97
$SM_GC,1.07,7.40,0.00,0.00,0.039,0.000,0.000,109,1448,1133,-8.14,-0.65,444.97
$IRIDIUM_FIX,2403.92,12303.41,270898,020218
$TT8_MAMPS,0.049855
$HUMID,1533
$INTERNAL_PRESSURE,9.06531
$TCM_TEMP,25.90
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,250.3,147.9
$24V_AH,24.5,19.659
$10V_AH,10.8,11.816
$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,21.875,53.350,503.100,0.000,0.000,27.861,37.761,149.541,3.500,0.000,0.000,32.746,0.000,3185.060,556.370,2023.875,336.968,0.000,1315.786,0.000,1714.447,0.000,9.129,0.000
$DEVICE_MAMPS,202.488,64.428,955.682,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,612.896,723.568,1209.315,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,50696,917
$CAP_FILE_SIZE,81262,0
$CFSIZE,260165632,251478016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.545,331.1,1
$GPS,020609,054846,2412.396,12259.855,13,2.9,32,-3.4