version: 66.04
glider: 164
mission: 3
dive: 92
start: 6 2 109 5 54 1
data:
$ID,164
$MISSION,3
$DIVE,92
$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,-34941.047
$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,43
$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
$GPS1,054846,2412.396,12259.855,13,2.9,32,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.7
$GPS2,055355,2412.470,12259.835,37,1.4,37,-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,134.9,4584,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.99,-194.7,0.0,0.0,0,76,0.00,0.00,-62.65,0.000,2,0.000,0.000,109,1444,2877
$GC,77,-0.99,-194.7,3.6,-9.7,10,109,8.25,2.15,-17.17,0.000,4,0.201,0.050,2417,2891,3742
$GC,140,-0.54,-194.7,21.0,-28.5,21,147,0.45,2.12,0.00,0.000,6,0.134,0.035,2566,1476,3743
$GC,466,-0.54,-194.7,67.5,-9.5,82,473,0.00,1.92,0.00,0.000,4,0.000,0.044,2566,209,3744
$GC,499,-0.50,-194.7,70.6,-10.0,88,505,0.00,1.88,0.00,0.000,6,0.000,0.034,2566,1470,3745
$GC,825,-0.50,-194.7,100.6,-8.6,149,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1472,3746
$GC,1150,-0.56,-194.7,138.0,-11.9,210,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,1472,3746
$GC,1475,-0.71,-194.7,166.0,-7.6,271,1483,0.15,2.08,0.00,0.000,4,0.061,0.037,2495,2882,3748
$GC,1541,-0.67,-194.7,172.5,-9.6,283,1549,0.08,2.08,0.00,0.000,6,0.123,0.031,2522,1474,3748
$GC,1868,-0.67,-194.7,208.0,-13.4,344,1875,0.00,2.08,0.00,0.000,4,0.000,0.035,2522,2874,3748
$GC,1959,-0.75,-194.7,219.0,-10.7,361,1965,0.00,2.03,0.00,0.000,6,0.000,0.031,2523,1497,3748
$GC,2284,-0.75,-194.7,252.6,-10.4,422,2291,0.00,1.92,0.00,0.000,4,0.000,0.042,2523,210,3748
$GC,2498,-0.75,-194.7,280.8,-12.0,462,2505,0.00,1.88,0.00,0.000,6,0.000,0.030,2523,1486,3747
$GC,2827,-0.80,-194.7,307.7,-8.3,514,2831,0.12,2.05,0.00,0.000,4,0.067,0.037,2461,2877,3747
$GC,2880,-0.73,-194.7,312.8,-10.5,519,2884,0.12,2.05,0.00,0.000,6,0.120,0.031,2505,1488,3747
$GC,3200,-0.73,-194.7,343.1,-9.8,550,3205,0.00,1.92,0.00,0.000,4,0.000,0.044,2505,211,3746
$GC,3243,-0.73,-194.7,348.2,-12.5,554,3247,0.00,1.90,0.00,0.000,6,0.000,0.030,2506,1501,3746
$STATE,3563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3564,begin apogee
$GC,3567,-0.24,0.0,381.5,9.0,585,3721,0.47,0.00,150.80,0.963,6,0.110,0.000,2664,1581,2947
$STATE,3721,end apogee,CONTROL_FINISHED_OK
$STATE,3721,begin climb
$GC,3723,0.99,194.7,388.3,0.0,600,3882,1.10,2.25,151.32,0.943,4,0.077,0.039,3053,2981,2152
$GC,3968,0.61,194.7,363.8,17.2,622,3975,0.35,2.15,0.00,0.000,6,0.157,0.035,2948,1588,2149
$GC,4284,0.63,258.8,334.0,7.8,653,4340,0.00,2.22,50.95,0.914,4,0.000,0.049,2949,216,1889
$GC,4414,0.60,258.8,320.8,14.3,665,4418,0.00,2.08,0.00,0.000,6,0.000,0.035,2949,1584,1886
$GC,4734,0.60,263.6,281.7,9.8,710,4742,0.00,2.17,3.80,0.527,4,0.000,0.049,2948,208,1872
$GC,4810,0.61,267.0,274.3,9.9,724,4818,0.00,2.08,4.75,0.614,6,0.000,0.036,2948,1578,1858
$GC,5138,0.61,267.0,238.6,13.2,785,5144,0.00,2.08,0.00,0.000,4,0.000,0.050,2948,214,1854
$GC,5234,0.65,267.0,226.7,11.5,803,5241,0.00,2.05,0.00,0.000,6,0.000,0.036,2948,1574,1853
$GC,5560,0.77,328.5,196.0,7.9,864,5618,0.12,2.20,50.15,0.851,4,0.067,0.042,3010,2984,1605
$GC,5665,0.66,328.5,183.5,11.8,882,5671,0.15,2.17,0.00,0.000,6,0.146,0.038,2964,1580,1601
$GC,5991,0.66,328.5,144.9,12.9,943,5998,0.00,2.12,0.00,0.000,4,0.000,0.049,2963,209,1596
$GC,6051,0.73,328.5,138.4,10.2,954,6057,0.00,2.05,0.00,0.000,6,0.000,0.035,2963,1563,1596
$GC,6378,0.93,388.4,111.7,7.9,1015,6435,0.22,2.17,48.22,0.785,4,0.048,0.048,3068,208,1361
$GC,6499,0.70,388.4,91.9,20.2,1036,6506,0.30,2.05,0.00,0.000,6,0.136,0.035,2972,1551,1356
$GC,6826,1.05,506.4,65.0,5.9,1097,6927,0.30,2.20,95.90,0.743,4,0.044,0.038,3109,2985,880
$GC,6985,0.87,506.4,36.2,19.8,1124,6992,0.25,2.22,0.00,0.000,6,0.143,0.036,3030,1545,875
$STATE,7272,end climb,SURFACE_DEPTH_REACHED
$STATE,7273,begin surface coast
$FINISH,0.2,1.022162
$STATE,7300,end surface coast,CONTROL_FINISHED_OK
$STATE,7300,begin surface
$SM_CCo,7373,0.00,0.000,0,0,869,509.73
$SM_GC,0.90,7.43,0.00,0.00,0.030,0.000,0.000,105,1458,869,-8.15,-0.37,509.73
$IRIDIUM_FIX,2403.92,12301.43,270898,040410
$TT8_MAMPS,0.049855
$HUMID,1507
$INTERNAL_PRESSURE,9.04578
$TCM_TEMP,26.00
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,325.6,133.8
$24V_AH,24.5,19.808
$10V_AH,10.8,11.926
$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,19.875,62.500,555.900,0.000,0.000,25.087,37.385,140.864,3.500,0.000,0.000,39.884,0.000,4168.287,588.970,2570.896,341.932,0.000,1537.968,0.000,2193.963,0.000,14.926,0.000
$DEVICE_MAMPS,200.954,87.438,962.585,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,791.657,942.787,1576.938,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,63212,1183
$CAP_FILE_SIZE,96912,0
$CFSIZE,260165632,251400192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.395,330.9,1
$GPS,020609,075737,2413.083,12259.883,25,1.5,25,-3.4