version: 66.04
glider: 164
mission: 3
dive: 132
start: 6 8 109 0 18 44
data:
$ID,164
$MISSION,3
$DIVE,132
$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,-35711.348
$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,37
$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
$GPS1,000907,2523.824,12225.702,28,1.0,28,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-66.4
$GPS2,001838,2524.037,12225.721,13,1.3,13,-3.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,138.0,59242,-15.7,-10.000
$D_GRID,425
$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,10,begin dive
$GC,11,-0.99,-194.7,0.0,0.0,0,84,0.00,0.00,-70.35,0.000,2,0.000,0.000,107,1472,2738
$GC,85,-0.99,-194.7,3.1,-6.6,11,124,8.30,2.15,-21.10,0.000,4,0.199,0.051,2414,2881,3744
$GC,210,-0.56,-194.7,34.4,-25.3,33,216,0.47,2.10,0.00,0.000,6,0.128,0.031,2564,1454,3745
$GC,536,-0.62,-194.7,80.4,-15.8,94,542,0.00,1.88,0.00,0.000,4,0.000,0.041,2564,216,3747
$GC,568,-0.67,-194.7,85.7,-16.6,100,576,0.08,1.90,0.00,0.000,6,0.056,0.032,2512,1490,3747
$GC,896,-0.67,-194.7,133.2,-13.0,161,902,0.00,2.05,0.00,0.000,4,0.000,0.037,2511,2872,3749
$GC,949,-0.67,-194.7,140.2,-13.9,171,956,0.00,2.03,0.00,0.000,6,0.000,0.029,2511,1500,3749
$GC,1276,-0.67,-194.7,178.3,-10.5,232,1283,0.00,2.05,0.00,0.000,4,0.000,0.036,2511,2875,3749
$GC,1427,-0.72,-194.7,190.8,-5.9,260,1434,0.00,2.00,0.00,0.000,6,0.000,0.030,2511,1517,3749
$GC,1754,-0.72,-194.7,215.1,-8.9,321,1760,0.00,1.95,0.00,0.000,4,0.000,0.041,2511,217,3749
$GC,1786,-0.72,-194.7,218.1,-10.0,327,1792,0.00,1.92,0.00,0.000,6,0.000,0.031,2511,1521,3749
$GC,2112,-0.72,-194.7,250.2,-9.8,388,2118,0.00,0.00,0.00,0.000,6,0.000,0.000,2511,1522,3749
$GC,2438,-0.77,-194.7,281.4,-9.5,449,2444,0.00,1.98,0.00,0.000,4,0.000,0.042,2511,217,3747
$GC,2560,-0.77,-194.7,293.4,-9.7,472,2568,0.00,1.90,0.00,0.000,6,0.000,0.031,2511,1504,3747
$GC,2885,-0.83,-194.7,322.7,-9.2,510,2889,0.10,2.03,0.00,0.000,4,0.073,0.038,2455,2869,3745
$GC,3007,-0.83,-194.7,337.8,-12.7,521,3013,0.00,1.98,0.00,0.000,6,0.000,0.031,2455,1535,3745
$GC,3323,-0.78,-194.7,377.6,-12.3,552,3326,0.12,1.95,0.00,0.000,4,0.130,0.044,2491,220,3744
$GC,3402,-0.78,-194.7,385.8,-8.9,559,3408,0.00,1.92,0.00,0.000,6,0.000,0.030,2491,1529,3743
$STATE,3592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3592,begin apogee
$GC,3596,-0.24,0.0,400.4,8.3,578,3750,0.52,0.00,151.80,1.005,6,0.106,0.000,2669,1529,2947
$STATE,3750,end apogee,CONTROL_FINISHED_OK
$STATE,3750,begin climb
$GC,3752,0.99,194.7,402.9,0.0,593,3911,1.10,2.35,152.35,0.982,4,0.068,0.039,3061,2981,2152
$GC,3996,0.58,194.7,371.7,19.4,616,4000,0.43,2.17,0.00,0.000,6,0.164,0.036,2939,1588,2148
$GC,4317,0.54,194.7,331.8,11.7,647,4321,0.00,2.15,0.00,0.000,4,0.000,0.049,2939,210,2145
$GC,4445,0.54,194.7,319.1,10.1,659,4449,0.00,2.03,0.00,0.000,6,0.000,0.036,2939,1543,2144
$GC,4765,0.56,244.1,288.3,8.3,701,4808,0.00,2.22,37.80,0.936,4,0.000,0.041,2939,2997,1952
$GC,4834,0.59,270.3,282.3,9.1,713,4864,0.00,2.25,22.90,0.895,6,0.000,0.038,2938,1549,1843
$GC,5184,0.59,270.3,252.0,10.3,778,5191,0.00,2.08,0.00,0.000,4,0.000,0.048,2939,218,1835
$GC,5430,0.59,270.3,224.3,10.1,824,5437,0.00,1.98,0.00,0.000,6,0.000,0.035,2939,1520,1833
$GC,5757,0.63,270.3,194.4,10.6,885,5764,0.00,2.03,0.00,0.000,4,0.000,0.049,2939,217,1832
$GC,5784,0.68,270.3,191.5,10.7,890,5791,0.00,2.00,0.00,0.000,6,0.000,0.038,2939,1535,1831
$GC,6112,0.79,298.3,156.7,9.0,951,6137,0.17,0.00,21.73,0.834,6,0.056,0.000,3025,1535,1731
$GC,6457,0.65,298.3,115.9,12.5,1015,6464,0.25,2.20,0.00,0.000,4,0.141,0.040,2952,2992,1724
$GC,6623,0.81,339.2,100.4,8.6,1046,6663,0.10,2.20,33.72,0.804,6,0.051,0.034,3025,1533,1562
$GC,6984,0.86,377.8,58.7,8.7,1112,7021,0.00,2.05,32.12,0.760,4,0.000,0.047,3029,216,1404
$GC,7057,0.93,392.1,52.0,9.5,1125,7077,0.00,2.00,12.45,0.694,6,0.000,0.035,3029,1517,1347
$GC,7397,1.11,445.4,22.5,8.2,1188,7448,0.20,2.22,44.42,0.724,4,0.050,0.036,3128,2988,1130
$GC,7489,0.93,445.4,8.8,16.8,1204,7496,0.28,2.28,0.00,0.000,6,0.143,0.035,3041,1514,1126
$STATE,7536,end climb,SURFACE_DEPTH_REACHED
$STATE,7536,begin surface coast
$FINISH,0.2,1.011555
$STATE,7563,end surface coast,CONTROL_FINISHED_OK
$STATE,7563,begin surface
$SM_CCo,7637,0.00,0.000,0,0,1119,448.16
$SM_GC,1.17,7.55,0.00,0.00,0.033,0.000,0.000,119,1511,1119,-8.13,1.13,448.16
$IRIDIUM_FIX,2515.12,12228.64,020998,000024
$TT8_MAMPS,0.049088
$HUMID,1534
$INTERNAL_PRESSURE,9.04578
$TCM_TEMP,26.00
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,325.1,99.9
$24V_AH,24.4,27.538
$10V_AH,10.8,17.063
$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,19.675,65.975,509.300,0.000,0.000,53.091,67.557,293.602,4.500,0.000,0.000,15.453,0.000,4420.265,578.381,2617.282,574.767,0.000,1548.906,0.000,2256.354,0.000,16.973,0.000
$DEVICE_MAMPS,198.653,50.622,1004.770,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,817.823,945.964,1584.852,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66378,1218
$CAP_FILE_SIZE,103747,0
$CFSIZE,260165632,248291328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234,321.8,1
$GPS,080609,022631,2524.056,12225.809,7,1.8,12,-3.7