version: 66.04
glider: 164
mission: 3
dive: 138
start: 6 8 109 14 59 12
data:
$ID,164
$MISSION,3
$DIVE,138
$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,-35874.898
$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,41
$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
$GPS1,145258,2523.829,12229.879,10,99.0,30,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-60.2
$GPS2,145906,2524.102,12229.860,16,1.1,32,-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,162.0,53037,-15.7,-10.000
$D_GRID,497
$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,-71.85,0.000,2,0.000,0.000,107,1454,2775
$GC,87,-0.99,-194.7,3.3,-7.8,11,120,8.38,2.20,-19.60,0.000,4,0.202,0.051,2426,2890,3743
$GC,151,-0.54,-194.7,20.0,-27.3,22,158,0.40,2.12,0.00,0.000,6,0.127,0.031,2562,1475,3745
$GC,477,-0.54,-194.7,68.5,-13.7,83,484,0.00,2.10,0.00,0.000,4,0.000,0.036,2562,2874,3747
$GC,509,-0.60,-194.7,72.4,-11.5,89,517,0.00,2.10,0.00,0.000,6,0.000,0.030,2562,1468,3746
$GC,837,-0.67,-194.7,110.3,-11.3,150,843,0.00,1.88,0.00,0.000,4,0.000,0.041,2562,225,3749
$GC,864,-0.74,-194.7,113.2,-10.9,155,871,0.12,1.83,0.00,0.000,6,0.044,0.031,2487,1458,3748
$GC,1190,-0.64,-194.7,155.6,-12.5,216,1196,0.17,0.00,0.00,0.000,6,0.124,0.000,2540,1458,3750
$GC,1516,-0.74,-194.7,183.3,-6.8,277,1524,0.12,1.88,0.00,0.000,4,0.066,0.042,2474,216,3750
$GC,1560,-0.61,-194.7,187.7,-11.1,285,1568,0.20,1.80,0.00,0.000,6,0.114,0.031,2544,1436,3750
$GC,1888,-0.74,-194.7,211.3,-7.2,346,1895,0.12,2.15,0.00,0.000,4,0.067,0.038,2481,2885,3750
$GC,1941,-0.74,-194.7,216.7,-10.5,356,1949,0.00,2.15,0.00,0.000,6,0.000,0.031,2481,1435,3750
$GC,2269,-0.69,-194.7,251.5,-9.8,417,2276,0.12,2.12,0.00,0.000,4,0.133,0.038,2518,2877,3750
$GC,2345,-0.81,-194.7,257.8,-8.5,431,2351,0.08,2.10,0.00,0.000,6,0.055,0.031,2462,1457,3750
$GC,2671,-0.74,-194.7,299.7,-13.4,492,2678,0.15,2.12,0.00,0.000,4,0.130,0.038,2507,2875,3748
$GC,2758,-0.85,-194.7,308.7,-9.2,501,2762,0.10,2.08,0.00,0.000,6,0.078,0.033,2454,1456,3748
$GC,3078,-0.78,-194.7,346.8,-11.4,532,3082,0.15,2.10,0.00,0.000,4,0.131,0.039,2498,2857,3746
$GC,3110,-0.89,-194.7,349.4,-7.6,535,3114,0.08,2.05,0.00,0.000,6,0.057,0.033,2445,1481,3746
$GC,3431,-0.80,-194.7,377.7,-8.2,566,3435,0.15,1.92,0.00,0.000,4,0.133,0.045,2489,213,3745
$GC,3484,-0.80,-194.7,381.9,-8.1,571,3488,0.00,1.88,0.00,0.000,6,0.000,0.032,2489,1478,3745
$GC,3804,-0.85,-194.7,406.4,-8.4,602,3805,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1479,3742
$GC,4116,-0.90,-194.7,432.3,-8.8,632,4117,0.12,0.00,0.00,0.000,6,0.069,0.000,2430,1479,3740
$STATE,4414,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4414,begin apogee
$GC,4417,-0.24,0.0,469.6,13.1,661,4578,0.73,0.00,152.77,1.071,6,0.118,0.000,2668,1585,2947
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4579,begin climb
$GC,4580,0.99,194.7,476.3,0.0,677,4747,1.10,2.28,154.88,1.045,4,0.068,0.051,3059,227,2151
$GC,4847,0.57,194.7,444.3,18.8,701,4854,0.43,2.10,0.00,0.000,6,0.160,0.035,2932,1575,2147
$GC,5162,0.52,194.7,407.8,10.6,732,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1575,2144
$GC,5474,0.47,194.7,375.9,11.1,762,5478,0.12,2.08,0.00,0.000,4,0.156,0.052,2897,217,2142
$GC,5670,0.60,240.3,358.4,8.4,780,5711,0.08,2.03,35.78,0.996,6,0.063,0.038,2947,1553,1966
$GC,6018,0.55,240.3,315.1,12.0,814,6022,0.00,2.20,0.00,0.000,4,0.000,0.044,2946,2980,1958
$GC,6039,0.51,240.3,312.6,12.3,816,6043,0.10,2.15,0.00,0.000,6,0.148,0.039,2914,1586,1957
$GC,6361,0.65,296.6,284.4,8.1,864,6411,0.12,2.25,45.65,0.961,4,0.072,0.051,2972,209,1735
$GC,6453,0.57,296.6,273.6,12.8,880,6460,0.12,2.15,0.00,0.000,6,0.145,0.038,2933,1580,1731
$GC,6780,0.66,329.9,242.7,8.9,941,6816,0.00,2.25,27.55,0.913,4,0.000,0.044,2933,2994,1600
$GC,6826,0.72,329.9,238.2,10.1,949,6832,0.10,2.22,0.00,0.000,6,0.061,0.039,2990,1578,1598
$GC,7152,0.60,329.9,189.7,14.0,1010,7157,0.20,0.00,0.00,0.000,6,0.150,0.000,2935,1577,1592
$GC,7477,0.91,459.6,163.2,5.5,1071,7592,0.28,2.28,106.82,0.864,4,0.048,0.042,3059,2986,1071
$GC,7767,0.72,459.6,107.2,21.9,1122,7774,0.22,2.17,0.00,0.000,6,0.143,0.038,2974,1586,1063
$GC,8094,1.08,532.7,77.1,7.5,1183,8159,0.32,2.25,59.70,0.782,4,0.041,0.049,3125,206,774
$GC,8281,0.84,532.7,36.5,23.0,1216,8287,0.32,2.10,0.00,0.000,6,0.143,0.034,3022,1569,768
$GC,8607,1.27,610.3,6.2,7.3,1277,8634,0.35,0.00,25.25,0.700,2,0.039,0.000,3186,1570,651
$STATE,8635,end climb,SURFACE_DEPTH_REACHED
$STATE,8635,begin surface coast
$FINISH,0.1,1.021602
$STATE,8654,end surface coast,CONTROL_FINISHED_OK
$STATE,8654,begin surface
$SM_CCo,8728,0.00,0.000,0,0,646,564.44
$SM_GC,0.90,7.97,0.00,0.00,0.033,0.000,0.000,100,1449,646,-8.16,-0.62,564.44
$IRIDIUM_FIX,2515.12,12228.64,020998,121232
$TT8_MAMPS,0.049855
$HUMID,1569
$INTERNAL_PRESSURE,8.98718
$TCM_TEMP,25.60
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,450.9,43.4
$24V_AH,24.3,28.600
$10V_AH,10.7,17.756
$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,23.050,67.350,608.400,0.000,0.000,30.473,32.816,190.689,7.250,0.000,0.000,34.435,0.000,5213.544,647.594,2795.356,418.935,0.000,1691.765,0.000,2380.932,0.000,26.168,0.000
$DEVICE_MAMPS,201.721,69.797,1071.499,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,864.036,966.542,1619.458,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72670,1285
$CAP_FILE_SIZE,112863,0
$CFSIZE,260165632,247877632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164, 13.3,1
$GPS,080609,172528,2523.618,12230.252,9,99.0,29,-3.7