version: 66.04
glider: 164
mission: 3
dive: 139
start: 6 8 109 17 31 28
data:
$ID,164
$MISSION,3
$DIVE,139
$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,-35910.449
$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,53
$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
$GPS1,172528,2523.618,12230.252,9,99.0,29,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-61.2
$GPS2,173122,2523.885,12230.299,13,3.3,32,-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,153.6,52200,-15.7,-10.000
$D_GRID,508
$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,-194.7,0.0,0.0,0,90,0.00,0.00,-76.62,0.000,2,0.000,0.000,100,1447,2759
$GC,92,-0.99,-194.7,3.1,-6.4,12,125,8.25,2.22,-20.12,0.000,4,0.196,0.051,2415,2890,3744
$GC,145,-0.47,-194.7,17.5,-28.4,21,153,0.52,2.12,0.00,0.000,6,0.135,0.031,2584,1480,3746
$GC,473,-0.47,-194.7,64.2,-13.1,82,479,0.00,2.12,0.00,0.000,4,0.000,0.038,2582,2885,3747
$GC,516,-0.57,-194.7,69.0,-10.4,90,522,0.00,2.10,0.00,0.000,6,0.000,0.031,2582,1482,3747
$GC,842,-0.65,-194.7,103.4,-10.2,151,849,0.15,2.10,0.00,0.000,4,0.061,0.038,2504,2884,3749
$GC,869,-0.60,-194.7,106.8,-13.7,156,876,0.12,2.10,0.00,0.000,6,0.116,0.031,2548,1472,3749
$GC,1196,-0.60,-194.7,143.3,-10.9,217,1203,0.00,2.10,0.00,0.000,4,0.000,0.038,2548,2874,3750
$GC,1282,-0.74,-194.7,152.9,-11.3,233,1290,0.08,2.05,0.00,0.000,6,0.052,0.031,2492,1492,3750
$GC,1610,-0.67,-194.7,194.0,-11.0,294,1616,0.12,0.00,0.00,0.000,6,0.133,0.000,2528,1492,3751
$GC,1936,-0.73,-194.7,225.3,-9.5,355,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1492,3751
$GC,2261,-0.84,-194.7,259.6,-10.1,416,2268,0.17,2.08,0.00,0.000,4,0.057,0.038,2445,2882,3751
$GC,2342,-0.76,-194.7,269.7,-13.0,431,2348,0.15,2.08,0.00,0.000,6,0.120,0.031,2497,1477,3751
$GC,2668,-0.76,-194.7,299.1,-6.4,492,2674,0.00,2.10,0.00,0.000,4,0.000,0.037,2497,2879,3751
$GC,2758,-0.85,-194.7,304.7,-6.5,502,2765,0.00,2.05,0.00,0.000,6,0.000,0.030,2497,1495,3751
$GC,3074,-0.90,-194.7,329.5,-9.5,533,3076,0.12,0.00,0.00,0.000,6,0.067,0.000,2436,1496,3750
$GC,3385,-0.77,-194.7,373.1,-13.5,563,3387,0.20,0.00,0.00,0.000,6,0.133,0.000,2495,1496,3747
$GC,3695,-0.82,-194.7,403.0,-8.8,593,3699,0.00,2.08,0.00,0.000,4,0.000,0.038,2495,2877,3746
$GC,3726,-0.90,-194.7,405.9,-8.6,596,3731,0.10,2.05,0.00,0.000,6,0.051,0.031,2435,1500,3746
$GC,4048,-0.80,-194.7,447.3,-12.6,627,4052,0.17,2.05,0.00,0.000,4,0.131,0.039,2486,2881,3743
$GC,4084,-0.89,-194.7,451.1,-9.3,630,4091,0.00,2.08,0.00,0.000,6,0.000,0.032,2486,1494,3743
$GC,4401,-0.94,-194.7,480.9,-9.7,661,4405,0.15,2.08,0.00,0.000,4,0.064,0.039,2415,2887,3741
$STATE,4468,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4468,begin apogee
$GC,4474,-0.24,0.0,489.3,12.8,667,4632,0.75,0.00,153.38,1.085,6,0.118,0.000,2661,1580,2947
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4634,0.99,194.7,495.4,0.0,683,4801,1.12,2.28,155.23,1.055,4,0.072,0.048,3058,212,2152
$GC,4912,0.59,194.7,459.8,17.3,708,4919,0.40,2.12,0.00,0.000,6,0.160,0.033,2939,1585,2147
$GC,5228,0.51,194.7,427.5,10.4,739,5232,0.12,2.10,0.00,0.000,4,0.156,0.041,2904,2985,2144
$GC,5254,0.51,200.0,424.9,9.8,741,5263,0.00,2.15,4.50,0.673,6,0.000,0.036,2904,1574,2131
$GC,5580,0.53,213.5,397.0,9.5,773,5596,0.00,2.15,12.18,0.936,4,0.000,0.038,2904,2992,2075
$GC,5675,0.65,264.3,387.4,8.2,781,5726,0.10,2.15,42.45,1.008,6,0.062,0.035,2961,1587,1868
$GC,6035,0.54,264.3,344.2,11.8,816,6039,0.15,2.15,0.00,0.000,4,0.155,0.049,2921,209,1859
$GC,6050,0.47,264.3,342.5,10.8,817,6057,0.00,2.12,0.00,0.000,6,0.000,0.038,2921,1594,1859
$GC,6367,0.51,264.3,312.4,10.2,848,6370,0.00,2.12,0.00,0.000,4,0.000,0.050,2921,213,1856
$GC,6473,0.56,264.3,301.1,10.8,858,6477,0.00,2.08,0.00,0.000,6,0.000,0.037,2921,1581,1855
$GC,6799,0.64,268.3,269.5,9.9,918,6805,0.00,2.12,0.00,0.000,4,0.000,0.041,2921,2986,1853
$GC,6820,0.70,268.3,267.3,10.6,922,6827,0.10,2.12,0.00,0.000,6,0.058,0.037,2982,1587,1853
$GC,7147,0.60,268.3,227.0,12.6,983,7154,0.17,2.10,0.00,0.000,4,0.151,0.049,2934,200,1852
$GC,7217,0.69,297.2,220.1,9.0,996,7248,0.00,2.08,25.45,0.900,6,0.000,0.036,2934,1575,1734
$GC,7569,0.78,307.1,188.0,9.7,1061,7582,0.17,2.17,9.02,0.779,4,0.058,0.049,3017,209,1693
$GC,7730,0.61,307.1,164.1,13.9,1091,7738,0.22,2.03,0.00,0.000,6,0.137,0.034,2945,1544,1690
$GC,8059,0.83,373.0,139.6,7.7,1152,8116,0.20,0.00,54.55,0.841,6,0.055,0.000,3043,1544,1425
$GC,8437,0.76,373.0,88.0,12.5,1221,8443,0.17,2.17,0.00,0.000,4,0.130,0.038,2986,2991,1415
$GC,8528,0.95,396.1,78.7,9.2,1238,8553,0.15,2.17,18.95,0.751,6,0.043,0.035,3072,1563,1331
$GC,8874,0.89,396.1,33.6,13.1,1302,8880,0.15,2.08,0.00,0.000,4,0.143,0.046,3031,206,1326
$GC,8906,0.94,396.1,30.2,10.2,1308,8912,0.00,2.05,0.00,0.000,6,0.000,0.034,3031,1563,1325
$GC,9232,1.06,396.1,4.5,10.7,1369,9238,0.15,2.12,0.00,0.000,4,0.054,0.038,3112,2986,1325
$STATE,9246,end climb,SURFACE_DEPTH_REACHED
$STATE,9246,begin surface coast
$FINISH,1.4,1.021852
$STATE,9257,end surface coast,CONTROL_FINISHED_OK
$STATE,9257,begin surface
$SM_CCo,9273,15.60,0.677,0,0,1255,415.05
$SM_GC,2.00,0.00,0.00,15.60,0.000,0.000,0.677,110,1451,1255,-8.23,-0.59,415.05
$IRIDIUM_FIX,2512.73,12228.64,020998,151523
$TT8_MAMPS,0.049855
$HUMID,1540
$INTERNAL_PRESSURE,9.05555
$TCM_TEMP,26.40
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,425.6,88.6
$24V_AH,24.3,28.752
$10V_AH,10.7,17.880
$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,22.425,84.500,475.700,15.600,0.000,25.292,30.657,184.499,8.000,0.000,0.000,34.924,0.000,5616.157,591.352,2998.903,418.070,0.000,1681.030,0.000,2554.175,0.000,20.553,0.000
$DEVICE_MAMPS,195.585,51.389,1084.538,677.261,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,925.105,1030.454,1726.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75936,1374
$CAP_FILE_SIZE,122145,0
$CFSIZE,260165632,247799808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.185, 43.2,1
$GPS,080609,200707,2523.239,12231.492,30,1.2,31,-3.7