version: 66.04
glider: 164
mission: 3
dive: 144
start: 6 9 109 7 25 11
data:
$ID,164
$MISSION,3
$DIVE,144
$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,275
$T_MISSION,330
$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,250
$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,-36022.781
$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,56
$R_STBD_OVSHOOT,41
$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
$GPS1,071856,2522.109,12233.942,12,2.0,13,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-67.3
$GPS2,072506,2522.302,12234.018,11,1.4,28,-3.7
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,149.3,70766,-16.4,-12.000
$D_GRID,607
$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,-1.08,-243.4,0.0,0.0,0,72,0.00,0.00,-58.47,0.000,2,0.000,0.000,109,1443,2776
$GC,74,-1.08,-243.4,3.6,-9.8,9,109,8.25,2.22,-22.35,0.000,4,0.198,0.050,2384,2887,3944
$GC,166,-0.68,-243.4,30.7,-28.1,25,175,0.40,2.10,0.00,0.000,6,0.126,0.031,2517,1492,3946
$GC,494,-0.61,-243.4,90.6,-15.9,86,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1493,3948
$GC,819,-0.61,-243.4,138.8,-13.9,147,826,0.00,2.08,0.00,0.000,4,0.000,0.038,2517,2874,3950
$GC,862,-0.68,-243.4,144.0,-11.8,155,868,0.00,2.10,0.00,0.000,6,0.000,0.031,2517,1462,3950
$GC,1188,-0.74,-243.4,183.2,-10.9,216,1195,0.00,2.12,0.00,0.000,4,0.000,0.037,2517,2880,3951
$GC,1215,-0.83,-243.4,186.1,-10.7,221,1223,0.10,2.08,0.00,0.000,6,0.049,0.031,2454,1475,3951
$GC,1543,-0.73,-243.4,238.8,-15.2,282,1550,0.17,2.10,0.00,0.000,4,0.126,0.036,2505,2884,3951
$GC,1624,-0.86,-243.4,247.8,-10.9,297,1631,0.08,2.08,0.00,0.000,6,0.054,0.030,2448,1480,3952
$GC,1950,-0.77,-243.4,290.1,-12.8,358,1956,0.17,0.00,0.00,0.000,6,0.126,0.000,2501,1480,3952
$GC,2273,-0.86,-243.4,322.1,-10.4,398,2277,0.00,2.10,0.00,0.000,4,0.000,0.038,2501,2880,3951
$GC,2337,-1.01,-243.4,328.2,-9.0,404,2341,0.20,2.08,0.00,0.000,6,0.040,0.031,2398,1480,3951
$GC,2658,-0.81,-243.4,384.2,-19.9,435,2660,0.28,0.00,0.00,0.000,6,0.130,0.000,2482,1477,3950
$GC,2970,-0.91,-243.4,422.8,-15.0,465,2973,0.00,2.08,0.00,0.000,4,0.000,0.038,2482,2878,3949
$GC,3033,-1.04,-243.4,430.8,-11.5,471,3037,0.17,2.10,0.00,0.000,6,0.040,0.033,2391,1467,3948
$GC,3353,-0.87,-243.4,485.2,-15.4,502,3354,0.25,0.00,0.00,0.000,6,0.133,0.000,2466,1468,3946
$GC,3662,-0.92,-243.4,515.0,-9.3,524,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1467,3944
$GC,3966,-0.97,-243.4,542.8,-8.7,539,3971,0.12,2.12,0.00,0.000,4,0.071,0.041,2405,2874,3941
$GC,3998,-0.91,-243.4,546.3,-11.8,540,4002,0.12,2.10,0.00,0.000,6,0.125,0.034,2448,1474,3941
$GC,4313,-0.91,-243.4,580.0,-10.7,556,4317,0.00,2.12,0.00,0.000,4,0.000,0.041,2448,2875,3938
$GC,4378,-0.96,-243.4,586.4,-10.0,559,4381,0.00,2.05,0.00,0.000,6,0.000,0.035,2448,1491,3938
$STATE,4458,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4458,begin apogee
$GC,4463,-0.24,0.0,595.2,10.8,563,4662,0.65,0.00,195.20,1.169,6,0.110,0.000,2665,1594,2946
$STATE,4662,end apogee,CONTROL_FINISHED_OK
$STATE,4662,begin climb
$GC,4664,1.08,243.4,603.1,0.0,573,4872,1.23,2.30,197.43,1.134,4,0.064,0.051,3096,229,1953
$GC,4918,0.57,243.4,564.5,24.7,585,4923,0.57,2.12,0.00,0.000,6,0.179,0.034,2933,1572,1950
$GC,5240,0.51,243.4,521.4,13.5,601,5243,0.00,2.17,0.00,0.000,4,0.000,0.042,2933,2983,1945
$GC,5276,0.46,243.4,516.6,13.3,602,5284,0.10,2.15,0.00,0.000,6,0.151,0.037,2898,1587,1944
$GC,5591,0.65,347.6,484.8,8.6,626,5682,0.17,2.25,86.72,1.084,4,0.067,0.052,2973,203,1528
$GC,5763,0.53,347.6,461.1,15.0,642,5767,0.17,2.12,0.00,0.000,6,0.145,0.035,2919,1560,1521
$GC,6084,0.66,391.3,426.6,10.6,673,6129,0.12,2.20,37.08,1.040,4,0.077,0.051,2975,214,1348
$GC,6150,0.55,391.3,417.2,15.6,679,6153,0.17,2.10,0.00,0.000,6,0.143,0.038,2921,1551,1346
$GC,6470,0.62,391.3,377.8,12.2,710,6474,0.00,2.22,0.00,0.000,4,0.000,0.043,2920,2990,1340
$GC,6539,0.80,425.2,369.5,10.9,716,6573,0.17,2.20,29.42,1.004,6,0.048,0.038,3010,1562,1213
$GC,6884,0.58,425.2,294.2,22.9,751,6891,0.28,2.17,0.00,0.000,4,0.156,0.042,2932,2991,1204
$GC,6975,0.72,425.2,279.9,13.5,768,6982,0.10,2.15,0.00,0.000,6,0.058,0.037,2993,1592,1203
$GC,7302,0.65,425.2,219.0,17.3,829,7308,0.15,0.00,0.00,0.000,6,0.151,0.000,2953,1592,1201
$GC,7629,0.75,433.5,176.7,11.7,890,7641,0.00,2.10,6.45,0.716,4,0.000,0.050,2955,213,1179
$GC,7731,1.08,548.3,167.6,8.2,909,7839,0.32,2.10,98.05,0.867,6,0.038,0.037,3108,1596,709
$GC,8159,0.90,548.3,65.8,20.5,986,8165,0.25,2.17,0.00,0.000,4,0.152,0.049,3043,214,699
$GC,8213,1.00,548.3,57.3,14.1,996,8219,0.00,2.10,0.00,0.000,6,0.000,0.036,3043,1586,699
$GC,8539,1.38,663.8,19.5,8.2,1057,8585,0.38,0.00,43.70,0.728,6,0.040,0.000,3204,1586,489
$STATE,8614,end climb,SURFACE_DEPTH_REACHED
$STATE,8614,begin surface coast
$FINISH,0.1,1.021629
$STATE,8625,end surface coast,CONTROL_FINISHED_OK
$STATE,8625,begin surface
$SM_CCo,8699,0.00,0.000,0,0,483,604.17
$SM_GC,0.63,8.02,0.00,0.00,0.032,0.000,0.000,113,1448,483,-8.14,-0.65,604.17
$IRIDIUM_FIX,2512.73,12230.65,030998,040405
$TT8_MAMPS,0.049088
$HUMID,1590
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,25.30
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,551.5,67.3
$24V_AH,24.0,29.701
$10V_AH,10.7,18.461
$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,23.200,68.575,694.050,0.000,0.000,24.613,35.960,195.138,7.000,0.000,0.000,30.088,0.000,5496.848,716.472,2424.438,408.173,0.000,1648.596,0.000,2047.673,0.000,28.777,0.000
$DEVICE_MAMPS,197.886,65.195,1168.908,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,721.005,779.934,1307.493,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,60155,1072
$CAP_FILE_SIZE,106187,0
$CFSIZE,260165632,247488512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.128,356.0,1
$GPS,090609,095058,2521.488,12234.818,9,99.0,29,-3.7