version: 66.04
glider: 164
mission: 3
dive: 136
start: 6 8 109 9 46 25
data:
$ID,164
$MISSION,3
$DIVE,136
$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,-35824.902
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,094030,2522.919,12230.561,33,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-66.5
$GPS2,094619,2523.028,12230.632,11,1.1,28,-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,147.0,50992,-15.7,-10.000
$D_GRID,530
$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,-194.7,0.0,0.0,0,86,0.00,0.00,-72.07,0.000,2,0.000,0.000,108,1465,2897
$GC,88,-0.99,-194.7,3.8,-7.6,11,120,8.52,2.15,-15.93,0.000,4,0.212,0.052,2417,2876,3745
$GC,172,-0.59,-194.7,28.6,-26.1,26,179,0.40,2.10,0.00,0.000,6,0.130,0.030,2548,1473,3746
$GC,498,-0.59,-194.7,80.0,-15.0,87,505,0.00,1.90,0.00,0.000,4,0.000,0.042,2548,222,3748
$GC,530,-0.59,-194.7,85.0,-16.0,93,538,0.00,1.85,0.00,0.000,6,0.000,0.031,2548,1462,3748
$GC,858,-0.59,-194.7,130.9,-13.4,154,864,0.00,2.10,0.00,0.000,4,0.000,0.038,2549,2874,3750
$GC,901,-0.72,-194.7,135.8,-11.0,162,907,0.08,2.10,0.00,0.000,6,0.054,0.031,2493,1456,3750
$GC,1227,-0.63,-194.7,179.7,-13.3,223,1234,0.15,2.10,0.00,0.000,4,0.130,0.036,2537,2872,3751
$GC,1297,-0.76,-194.7,186.0,-7.9,236,1303,0.08,2.08,0.00,0.000,6,0.054,0.030,2483,1463,3751
$GC,1623,-0.67,-194.7,221.8,-10.3,297,1630,0.15,1.88,0.00,0.000,4,0.132,0.041,2527,210,3751
$GC,1810,-0.71,-194.7,241.4,-11.4,332,1817,0.00,1.80,0.00,0.000,6,0.000,0.030,2527,1433,3751
$GC,2137,-0.80,-194.7,276.6,-9.4,393,2144,0.12,2.12,0.00,0.000,4,0.067,0.036,2461,2876,3750
$GC,2212,-0.80,-194.7,285.2,-11.2,407,2219,0.00,2.12,0.00,0.000,6,0.000,0.030,2461,1434,3751
$GC,2532,-0.70,-194.7,319.8,-10.5,451,2537,0.17,2.15,0.00,0.000,4,0.130,0.037,2514,2877,3750
$GC,2633,-0.84,-194.7,326.7,-5.1,460,2640,0.08,2.10,0.00,0.000,6,0.057,0.030,2460,1451,3750
$GC,2950,-0.77,-194.7,358.2,-12.0,491,2953,0.12,1.85,0.00,0.000,4,0.136,0.043,2495,221,3749
$GC,3056,-0.77,-194.7,369.6,-11.0,501,3060,0.00,1.80,0.00,0.000,6,0.000,0.030,2495,1440,3748
$GC,3378,-0.81,-194.7,400.4,-8.9,532,3381,0.00,2.10,0.00,0.000,4,0.000,0.039,2495,2872,3746
$GC,3517,-0.92,-194.7,411.2,-8.2,545,3521,0.15,2.10,0.00,0.000,6,0.060,0.031,2426,1434,3746
$GC,3837,-0.79,-194.7,450.4,-12.6,576,3841,0.20,1.85,0.00,0.000,4,0.137,0.044,2485,212,3744
$GC,4044,-0.79,-194.7,471.6,-9.5,595,4051,0.00,1.83,0.00,0.000,6,0.000,0.031,2485,1440,3743
$STATE,4360,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4360,begin apogee
$GC,4364,-0.24,0.0,497.5,8.0,626,4523,0.52,0.00,153.35,1.084,6,0.107,0.000,2662,1586,2947
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4525,0.99,194.7,502.0,0.0,639,4688,1.10,2.28,154.77,1.055,4,0.067,0.040,3057,2982,2151
$GC,4832,0.60,194.7,455.4,18.5,664,4840,0.38,2.15,0.00,0.000,6,0.160,0.036,2944,1594,2147
$GC,5148,0.55,201.2,421.2,9.8,695,5159,0.00,2.12,5.47,0.751,4,0.000,0.048,2944,214,2126
$GC,5329,0.48,201.2,401.8,11.3,712,5333,0.12,2.05,0.00,0.000,6,0.130,0.036,2901,1558,2124
$GC,5650,0.64,279.4,375.3,7.3,743,5720,0.15,2.28,63.67,1.011,4,0.065,0.043,2966,2979,1805
$GC,5769,0.54,279.4,362.1,12.6,754,5773,0.17,2.17,0.00,0.000,6,0.158,0.038,2922,1571,1800
$GC,6090,0.66,340.9,333.1,7.9,785,6146,0.10,2.17,50.38,0.976,4,0.081,0.050,2968,210,1555
$GC,6235,0.59,340.9,316.8,11.8,798,6243,0.10,2.10,0.00,0.000,6,0.142,0.036,2937,1563,1548
$GC,6556,0.59,340.9,283.2,10.6,843,6562,0.00,2.15,0.00,0.000,4,0.000,0.041,2937,2988,1544
$GC,6635,0.64,340.9,274.5,11.0,858,6643,0.00,2.15,0.00,0.000,6,0.000,0.035,2937,1578,1543
$GC,6963,0.70,340.9,236.6,12.2,919,6970,0.00,2.12,0.00,0.000,4,0.000,0.050,2937,210,1541
$GC,6989,0.78,340.9,233.2,12.5,924,6997,0.12,2.10,0.00,0.000,6,0.051,0.038,3009,1586,1541
$GC,7316,0.67,340.9,177.3,15.9,985,7323,0.17,2.12,0.00,0.000,4,0.145,0.048,2962,216,1540
$GC,7462,0.73,340.9,158.3,12.9,1012,7468,0.00,2.03,0.00,0.000,6,0.000,0.036,2961,1559,1540
$GC,7788,0.83,359.7,124.7,9.4,1073,7808,0.15,2.15,13.90,0.784,4,0.062,0.039,3037,2991,1481
$GC,7839,0.66,359.7,117.6,15.5,1082,7847,0.22,2.17,0.00,0.000,6,0.149,0.036,2966,1566,1479
$GC,8167,0.91,428.1,87.1,7.6,1143,8231,0.20,2.12,57.62,0.793,4,0.051,0.047,3065,206,1199
$GC,8279,0.81,428.1,72.2,13.8,1162,8286,0.17,2.08,0.00,0.000,6,0.131,0.034,3006,1553,1194
$GC,8606,1.07,485.2,38.9,8.0,1223,8658,0.22,0.00,46.50,0.739,6,0.045,0.000,3117,1553,968
$STATE,8837,end climb,SURFACE_DEPTH_REACHED
$STATE,8837,begin surface coast
$FINISH,0.1,1.021646
$STATE,8853,end surface coast,CONTROL_FINISHED_OK
$STATE,8853,begin surface
$SM_CCo,8926,0.00,0.000,0,0,957,488.15
$SM_GC,0.99,7.72,0.00,0.00,0.031,0.000,0.000,116,1445,957,-8.14,-0.74,488.15
$IRIDIUM_FIX,2515.12,12228.64,020998,070725
$TT8_MAMPS,0.050622
$HUMID,1538
$INTERNAL_PRESSURE,9.02625
$TCM_TEMP,25.80
$XPDR_PINGS,9
$ALTIM_BOTTOM_PING,425.8,96.1
$24V_AH,24.3,28.245
$10V_AH,10.8,17.520
$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,21.875,78.900,545.675,0.000,0.000,25.504,35.422,180.027,5.000,0.000,0.000,30.243,0.000,5371.479,619.681,2849.350,415.281,0.000,1680.786,0.000,2437.353,0.000,20.576,0.000
$DEVICE_MAMPS,211.692,66.729,1083.771,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,853.715,941.027,1575.460,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72561,1268
$CAP_FILE_SIZE,115075,0
$CFSIZE,260165632,248012800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.352,326.7,1
$GPS,080609,121606,2523.414,12230.317,36,1.2,37,-3.7