version: 66.04
glider: 164
mission: 3
dive: 131
start: 6 7 109 21 59 43
data:
$ID,164
$MISSION,3
$DIVE,131
$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,-35695.27
$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,45
$R_STBD_OVSHOOT,44
$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
$GPS1,215406,2522.417,12227.250,40,1.0,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.1
$GPS2,215937,2522.525,12227.311,12,1.1,12,-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,301.3,5996,-15.7,-10.000
$D_GRID,492
$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,-194.7,0.0,0.0,0,72,0.00,0.00,-58.47,0.000,2,0.000,0.000,107,1446,2661
$GC,74,-0.99,-194.7,3.0,-7.2,9,114,8.40,1.90,-23.60,0.000,4,0.200,0.057,2422,220,3744
$GC,353,-0.52,-194.7,77.8,-28.5,60,360,0.45,1.88,0.00,0.000,6,0.125,0.031,2570,1474,3746
$GC,680,-0.62,-194.7,118.0,-9.9,121,687,0.00,1.90,0.00,0.000,4,0.000,0.041,2570,225,3748
$GC,729,-0.76,-194.7,122.7,-8.8,130,735,0.17,1.85,0.00,0.000,6,0.041,0.031,2475,1470,3749
$GC,1055,-0.64,-194.7,163.9,-12.5,191,1062,0.20,1.90,0.00,0.000,4,0.120,0.041,2537,212,3750
$GC,1169,-0.68,-194.7,174.4,-8.5,212,1174,0.00,1.83,0.00,0.000,6,0.000,0.032,2538,1445,3750
$GC,1495,-0.77,-194.7,206.0,-8.9,273,1502,0.12,1.85,0.00,0.000,4,0.066,0.042,2473,195,3750
$GC,1511,-0.77,-194.7,207.9,-10.5,276,1518,0.00,1.85,0.00,0.000,6,0.000,0.032,2473,1445,3750
$GC,1838,-0.69,-194.7,249.7,-10.5,337,1849,0.17,2.12,0.00,0.000,4,0.126,0.037,2526,2880,3750
$GC,1918,-0.82,-194.7,254.7,-5.0,351,1924,0.15,2.08,0.00,0.000,6,0.060,0.030,2454,1448,3750
$GC,2243,-0.72,-194.7,291.3,-13.6,412,2250,0.20,2.12,0.00,0.000,4,0.126,0.037,2515,2875,3750
$GC,2340,-0.86,-194.7,300.6,-8.7,430,2344,0.10,2.05,0.00,0.000,6,0.048,0.030,2453,1484,3750
$GC,2662,-0.76,-194.7,340.5,-13.8,461,2665,0.15,1.88,0.00,0.000,4,0.132,0.043,2497,216,3748
$GC,2757,-0.76,-194.7,352.4,-12.3,470,2761,0.00,1.85,0.00,0.000,6,0.000,0.031,2497,1468,3748
$GC,3078,-0.82,-194.7,385.1,-9.8,501,3082,0.00,2.10,0.00,0.000,4,0.000,0.038,2497,2874,3746
$GC,3185,-0.93,-194.7,394.1,-7.6,511,3188,0.12,2.08,0.00,0.000,6,0.049,0.031,2427,1475,3746
$GC,3505,-0.79,-194.7,432.9,-13.4,542,3509,0.20,2.10,0.00,0.000,4,0.133,0.041,2485,2871,3744
$STATE,3514,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3515,begin apogee
$GC,3520,-0.24,0.0,434.3,13.0,543,3678,0.52,0.00,152.27,1.032,6,0.107,0.000,2663,1571,2949
$STATE,3678,end apogee,CONTROL_FINISHED_OK
$STATE,3678,begin climb
$GC,3680,0.99,194.7,439.5,0.0,559,3841,1.10,2.22,153.98,1.006,4,0.071,0.047,3055,217,2152
$GC,3889,0.58,194.7,416.9,19.2,579,3893,0.40,2.12,0.00,0.000,6,0.164,0.034,2938,1578,2150
$GC,4210,0.59,254.2,382.9,7.9,610,4266,0.00,2.25,47.60,0.977,4,0.000,0.040,2938,2988,1907
$GC,4308,0.56,265.1,374.7,9.6,619,4321,0.00,2.15,10.05,0.848,6,0.000,0.035,2938,1584,1866
$GC,4627,0.56,265.1,342.0,10.9,650,4632,0.00,2.12,0.00,0.000,4,0.000,0.048,2939,215,1859
$GC,4724,0.56,265.1,332.1,10.4,659,4728,0.00,2.05,0.00,0.000,6,0.000,0.035,2938,1568,1858
$GC,5041,0.56,265.1,297.2,10.7,691,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1567,1854
$GC,5366,0.57,276.0,263.7,9.6,752,5379,0.00,2.20,8.50,0.808,4,0.000,0.041,2938,2993,1820
$GC,5426,0.59,284.9,258.0,9.7,763,5440,0.00,2.15,9.10,0.811,6,0.000,0.035,2938,1574,1784
$GC,5760,0.62,309.0,226.0,9.2,825,5785,0.00,2.17,20.70,0.878,4,0.000,0.049,2938,208,1686
$GC,5806,0.72,348.9,222.1,8.6,833,5849,0.08,2.12,34.78,0.884,6,0.066,0.038,2982,1585,1521
$GC,6170,0.64,348.9,166.8,17.7,900,6175,0.12,2.12,0.00,0.000,4,0.153,0.048,2951,210,1512
$GC,6271,0.74,348.9,151.9,12.1,919,6278,0.00,2.05,0.00,0.000,6,0.000,0.035,2951,1557,1511
$GC,6598,0.87,348.9,119.0,12.3,980,6605,0.20,2.08,0.00,0.000,4,0.051,0.048,3052,218,1510
$GC,6684,0.70,348.9,103.7,17.6,996,6691,0.22,1.98,0.00,0.000,6,0.133,0.034,2977,1538,1510
$GC,7010,0.91,415.9,77.2,7.7,1057,7073,0.17,2.12,54.20,0.788,4,0.054,0.048,3069,215,1248
$GC,7159,0.80,415.9,51.2,15.8,1083,7166,0.22,2.00,0.00,0.000,6,0.134,0.034,3002,1523,1242
$GC,7486,1.16,524.7,27.4,6.2,1144,7580,0.30,2.15,88.20,0.735,4,0.039,0.046,3145,207,808
$STATE,7632,end climb,SURFACE_DEPTH_REACHED
$STATE,7632,begin surface coast
$FINISH,1.0,1.021914
$STATE,7642,end surface coast,CONTROL_FINISHED_OK
$STATE,7642,begin surface
$SM_CCo,7718,0.00,0.000,0,0,800,526.66
$SM_GC,1.02,7.95,0.00,0.00,0.036,0.000,0.000,107,1469,800,-8.16,-0.06,526.66
$IRIDIUM_FIX,2510.35,12227.36,010998,191901
$TT8_MAMPS,0.050622
$HUMID,1523
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,25.50
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,375.1,83.9
$24V_AH,24.4,27.383
$10V_AH,10.8,16.949
$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,21.750,73.325,579.375,0.000,0.000,27.718,36.749,174.578,6.750,0.000,0.000,14.220,0.000,4478.361,633.933,2524.750,392.607,0.000,1579.984,0.000,2164.174,0.000,20.251,0.000
$DEVICE_MAMPS,200.187,56.758,1032.382,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,785.882,891.063,1492.677,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66460,1171
$CAP_FILE_SIZE,103086,0
$CFSIZE,260165632,248352768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.205,324.0,1
$GPS,080609,000907,2523.824,12225.702,28,1.0,28,-3.6