version: 66.04
glider: 164
mission: 3
dive: 130
start: 6 7 109 19 31 26
data:
$ID,164
$MISSION,3
$DIVE,130
$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,-35680.426
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,192534,2521.470,12227.854,7,2.2,27,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.3
$GPS2,193120,2521.579,12227.977,15,1.3,15,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,283.2,8059,-15.7,-10.000
$D_GRID,501
$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,-194.7,0.0,0.0,0,75,0.00,0.00,-61.47,0.000,2,0.000,0.000,113,1501,2662
$GC,77,-0.99,-194.7,3.0,-7.3,9,117,8.25,2.03,-23.38,0.000,4,0.196,0.059,2423,208,3744
$GC,313,-0.59,-194.7,65.3,-24.8,52,320,0.43,1.90,0.00,0.000,6,0.128,0.032,2557,1475,3746
$GC,640,-0.59,-194.7,105.7,-10.9,113,647,0.00,1.92,0.00,0.000,4,0.000,0.043,2557,213,3748
$GC,769,-0.59,-194.7,121.5,-11.9,137,776,0.00,1.85,0.00,0.000,6,0.000,0.032,2556,1455,3748
$GC,1096,-0.68,-194.7,150.4,-8.4,198,1103,0.00,2.12,0.00,0.000,4,0.000,0.039,2557,2885,3750
$GC,1171,-0.84,-194.7,156.3,-7.4,212,1178,0.20,2.15,0.00,0.000,6,0.038,0.031,2451,1434,3750
$GC,1498,-0.66,-194.7,205.0,-14.8,273,1505,0.25,1.83,0.00,0.000,4,0.126,0.044,2529,222,3750
$GC,1573,-0.71,-194.7,213.2,-10.2,287,1579,0.00,1.88,0.00,0.000,6,0.000,0.032,2529,1483,3751
$GC,1899,-0.80,-194.7,243.7,-9.8,348,1906,0.12,2.08,0.00,0.000,4,0.069,0.038,2461,2880,3751
$GC,1952,-0.80,-194.7,249.8,-11.3,358,1963,0.00,2.08,0.00,0.000,6,0.000,0.032,2461,1477,3751
$GC,2283,-0.72,-194.7,293.0,-11.4,419,2289,0.17,2.10,0.00,0.000,4,0.127,0.040,2514,2879,3751
$GC,2320,-0.84,-194.7,296.4,-7.9,426,2327,0.08,2.08,0.00,0.000,6,0.058,0.031,2460,1478,3751
$GC,2637,-0.75,-194.7,329.1,-9.3,460,2641,0.15,1.90,0.00,0.000,4,0.130,0.044,2505,216,3750
$GC,2798,-0.75,-194.7,341.9,-5.4,475,2802,0.00,1.85,0.00,0.000,6,0.000,0.033,2505,1465,3749
$GC,3118,-0.82,-194.7,358.5,-6.0,506,3122,0.00,2.10,0.00,0.000,4,0.000,0.040,2505,2872,3747
$GC,3187,-0.95,-194.7,363.0,-6.4,512,3194,0.15,2.10,0.00,0.000,6,0.045,0.033,2422,1458,3747
$GC,3503,-0.80,-194.7,402.0,-13.3,543,3504,0.20,0.00,0.00,0.000,6,0.133,0.000,2481,1458,3745
$GC,3813,-0.80,-194.7,434.0,-10.6,573,3817,0.00,2.12,0.00,0.000,4,0.000,0.040,2481,2870,3743
$GC,3856,-0.87,-194.7,438.2,-9.4,577,3860,0.00,2.08,0.00,0.000,6,0.000,0.034,2482,1478,3743
$STATE,4166,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4166,begin apogee
$GC,4169,-0.24,0.0,470.7,9.7,607,4328,0.55,0.00,153.27,1.065,6,0.110,0.000,2666,1586,2946
$STATE,4329,end apogee,CONTROL_FINISHED_OK
$STATE,4329,begin climb
$GC,4331,0.99,194.7,475.9,0.0,623,4492,1.10,2.22,154.35,1.035,4,0.072,0.048,3055,217,2152
$GC,4560,0.58,194.7,447.5,20.2,643,4568,0.40,2.10,0.00,0.000,6,0.165,0.034,2937,1565,2148
$GC,4876,0.51,194.7,408.6,11.7,674,4880,0.00,2.17,0.00,0.000,4,0.000,0.041,2937,2982,2144
$GC,4950,0.44,194.7,399.9,11.4,681,4955,0.15,2.12,0.00,0.000,6,0.139,0.035,2887,1588,2143
$GC,5271,0.75,362.5,383.8,4.2,712,5416,0.28,2.25,135.60,1.004,4,0.055,0.049,3004,223,1467
$GC,5474,0.58,362.5,355.4,18.4,730,5481,0.22,2.12,0.00,0.000,6,0.143,0.035,2935,1581,1460
$GC,5790,0.62,362.5,305.4,13.7,761,5794,0.00,2.15,0.00,0.000,4,0.000,0.049,2935,211,1455
$GC,5886,0.68,362.5,293.9,12.0,774,5893,0.00,2.05,0.00,0.000,6,0.000,0.036,2936,1554,1453
$GC,6213,0.75,362.5,262.0,10.4,835,6220,0.15,2.05,0.00,0.000,4,0.066,0.050,3004,216,1451
$GC,6235,0.71,362.5,258.6,14.5,839,6242,0.10,2.03,0.00,0.000,6,0.146,0.038,2973,1553,1451
$GC,6562,0.71,362.5,211.9,11.2,900,6568,0.00,2.17,0.00,0.000,4,0.000,0.041,2973,2989,1450
$GC,6604,0.71,362.5,206.6,12.5,908,6611,0.00,2.12,0.00,0.000,6,0.000,0.037,2973,1587,1449
$GC,6931,0.71,362.5,162.4,12.5,969,6937,0.00,2.12,0.00,0.000,4,0.000,0.049,2973,210,1448
$GC,7091,0.71,362.5,142.9,12.0,999,7099,0.00,2.05,0.00,0.000,6,0.000,0.035,2973,1577,1448
$GC,7419,0.75,362.5,98.9,11.3,1060,7425,0.00,2.10,0.00,0.000,4,0.000,0.048,2973,214,1448
$GC,7445,0.84,365.8,96.4,9.9,1065,7452,0.08,2.08,0.00,0.000,6,0.060,0.036,3025,1595,1447
$GC,7772,0.84,370.5,64.9,9.8,1126,7786,0.00,2.17,4.40,0.529,4,0.000,0.048,3029,201,1435
$GC,8009,0.89,370.5,40.5,10.9,1170,8016,0.00,2.05,0.00,0.000,6,0.000,0.032,3028,1576,1434
$GC,8336,1.17,491.1,12.6,5.8,1231,8413,0.25,0.00,74.80,0.724,2,0.045,0.000,3146,1576,1068
$STATE,8413,end climb,SURFACE_DEPTH_REACHED
$STATE,8413,begin surface coast
$FINISH,0.1,1.009018
$STATE,8427,end surface coast,CONTROL_FINISHED_OK
$STATE,8427,begin surface
$SM_CCo,8501,0.00,0.000,0,0,1062,462.39
$SM_GC,1.05,8.02,0.00,0.00,0.038,0.000,0.000,106,1449,1062,-8.16,-0.62,462.39
$IRIDIUM_FIX,2510.35,12227.36,010998,171724
$TT8_MAMPS,0.049855
$HUMID,1524
$INTERNAL_PRESSURE,9.02625
$TCM_TEMP,26.00
$XPDR_PINGS,35
$ALTIM_BOTTOM_PING,425.4,69.9
$24V_AH,24.3,27.218
$10V_AH,10.8,16.842
$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,21.300,74.600,522.425,0.000,0.000,29.585,42.695,180.271,11.500,0.000,0.000,16.858,0.000,5091.414,599.855,2716.409,421.511,0.000,1614.205,0.000,2335.333,0.000,20.528,0.000
$DEVICE_MAMPS,195.585,61.360,1065.363,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,838.622,944.170,1578.678,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69495,1246
$CAP_FILE_SIZE,108683,0
$CFSIZE,260165632,248414208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112, 48.5,1
$GPS,070609,215406,2522.417,12227.250,40,1.0,41,-3.6