version: 66.04
glider: 164
mission: 3
dive: 146
start: 6 9 109 12 38 50
data:
$ID,164
$MISSION,3
$DIVE,146
$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,-36076.367
$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,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
$GPS1,123324,2521.571,12234.502,35,1.9,36,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-62.6
$GPS2,123844,2521.677,12234.420,12,1.8,12,-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,150.9,69492,-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,-243.4,0.0,0.0,0,96,0.00,0.00,-82.40,0.000,2,0.000,0.000,111,1444,2745
$GC,98,-1.08,-243.4,3.2,-7.3,12,136,8.40,2.17,-23.67,0.000,4,0.209,0.050,2379,2892,3942
$GC,188,-0.63,-243.4,30.3,-31.8,28,195,0.47,2.12,0.00,0.000,6,0.130,0.032,2534,1482,3944
$GC,515,-0.63,-243.4,83.4,-12.1,89,520,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1482,3946
$GC,840,-0.69,-243.4,117.3,-7.7,150,848,0.00,2.10,0.00,0.000,4,0.000,0.039,2534,2878,3947
$GC,900,-0.84,-243.4,121.7,-7.1,161,907,0.15,2.10,0.00,0.000,6,0.041,0.031,2449,1470,3948
$GC,1226,-0.70,-243.4,169.6,-16.1,222,1234,0.22,1.90,0.00,0.000,4,0.123,0.043,2520,212,3949
$GC,1303,-0.82,-243.4,178.8,-10.7,236,1309,0.08,1.88,0.00,0.000,6,0.058,0.032,2464,1471,3949
$GC,1629,-0.76,-243.4,227.1,-15.6,297,1635,0.12,2.10,0.00,0.000,4,0.137,0.038,2499,2873,3949
$GC,1677,-0.87,-243.4,233.4,-12.5,306,1685,0.08,2.08,0.00,0.000,6,0.058,0.031,2446,1473,3949
$GC,2005,-0.78,-243.4,281.8,-14.1,367,2011,0.15,1.90,0.00,0.000,4,0.132,0.044,2489,210,3949
$GC,2063,-0.78,-243.4,288.5,-10.4,378,2071,0.00,1.90,0.00,0.000,6,0.000,0.031,2489,1491,3949
$GC,2390,-0.84,-243.4,316.0,-8.0,421,2393,0.00,2.05,0.00,0.000,4,0.000,0.038,2490,2868,3948
$GC,2442,-0.96,-243.4,319.9,-7.4,426,2447,0.12,2.05,0.00,0.000,6,0.046,0.031,2417,1483,3948
$GC,2763,-0.83,-243.4,359.5,-12.4,457,2767,0.20,2.08,0.00,0.000,4,0.129,0.040,2474,2868,3947
$GC,2789,-0.83,-243.4,362.1,-9.3,459,2796,0.00,2.05,0.00,0.000,6,0.000,0.032,2474,1495,3947
$GC,3105,-0.87,-243.4,387.6,-8.0,490,3109,0.00,2.08,0.00,0.000,4,0.000,0.040,2474,2872,3945
$GC,3137,-0.95,-243.4,389.9,-7.5,493,3141,0.08,2.05,0.00,0.000,6,0.058,0.033,2422,1500,3945
$GC,3458,-0.85,-243.4,426.1,-10.9,524,3459,0.17,0.00,0.00,0.000,6,0.134,0.000,2473,1500,3942
$GC,3769,-0.89,-243.4,449.8,-8.0,554,3776,0.00,1.95,0.00,0.000,4,0.000,0.047,2473,208,3940
$GC,3899,-0.95,-243.4,461.5,-10.0,566,3902,0.00,1.88,0.00,0.000,6,0.000,0.033,2473,1489,3939
$GC,4220,-1.02,-243.4,491.4,-9.3,597,4223,0.17,2.08,0.00,0.000,4,0.062,0.041,2392,2883,3937
$GC,4250,-0.93,-243.4,495.2,-12.6,600,4255,0.12,2.08,0.00,0.000,6,0.128,0.035,2436,1497,3937
$GC,4577,-0.93,-243.4,534.0,-12.2,618,4581,0.00,2.08,0.00,0.000,4,0.000,0.041,2436,2862,3935
$GC,4651,-0.97,-243.4,542.4,-11.2,621,4655,0.00,2.03,0.00,0.000,6,0.000,0.035,2436,1513,3934
$GC,4967,-0.97,-243.4,579.0,-11.8,637,4971,0.00,2.00,0.00,0.000,4,0.000,0.056,2436,221,3932
$GC,5015,-0.97,-243.4,584.5,-10.5,639,5019,0.00,1.92,0.00,0.000,6,0.000,0.033,2436,1507,3931
$STATE,5070,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5070,begin apogee
$GC,5074,-0.24,0.0,590.7,11.0,642,5273,0.70,0.00,193.62,1.176,6,0.112,0.000,2667,1583,2946
$STATE,5273,end apogee,CONTROL_FINISHED_OK
$STATE,5273,begin climb
$GC,5275,1.08,243.4,599.0,0.0,652,5484,1.23,2.33,197.45,1.142,4,0.065,0.042,3096,2982,1952
$GC,5505,0.57,243.4,567.8,26.8,663,5509,0.55,2.25,0.00,0.000,6,0.176,0.039,2933,1590,1949
$GC,5831,0.57,243.4,521.8,13.6,679,5835,0.00,2.20,0.00,0.000,4,0.000,0.053,2933,183,1943
$GC,5894,0.57,243.4,513.6,13.4,682,5899,0.00,2.15,0.00,0.000,6,0.000,0.038,2933,1576,1943
$GC,6214,0.57,243.4,472.2,12.8,707,6218,0.00,2.17,0.00,0.000,4,0.000,0.044,2933,2988,1941
$GC,6304,0.57,243.4,460.0,13.8,715,6311,0.00,2.15,0.00,0.000,6,0.000,0.040,2933,1589,1939
$GC,6621,0.59,258.1,421.4,11.5,746,6637,0.00,2.17,11.25,0.978,4,0.000,0.054,2933,223,1893
$GC,6772,0.64,300.7,404.5,10.6,760,6816,0.00,2.05,36.62,1.055,6,0.000,0.040,2933,1578,1720
$GC,7125,0.70,347.1,371.2,10.5,794,7170,0.10,2.20,39.17,1.029,4,0.084,0.053,2985,217,1530
$GC,7228,0.60,347.1,356.0,15.5,803,7234,0.15,2.12,0.00,0.000,6,0.145,0.039,2939,1566,1525
$GC,7543,0.70,347.1,317.7,12.4,834,7547,0.00,2.15,0.00,0.000,4,0.000,0.054,2939,221,1520
$GC,7576,0.80,347.1,313.6,13.8,837,7579,0.15,2.05,0.00,0.000,6,0.052,0.041,3014,1545,1519
$GC,7898,0.64,347.1,251.1,17.3,890,7907,0.22,2.20,0.00,0.000,4,0.150,0.044,2951,2982,1518
$GC,7996,0.69,347.1,238.5,12.4,908,8003,0.00,2.17,0.00,0.000,6,0.000,0.039,2951,1566,1517
$GC,8323,0.90,427.7,207.3,9.3,969,8397,0.22,2.17,66.82,0.920,4,0.052,0.052,3057,210,1201
$GC,8476,0.71,427.7,177.9,21.8,996,8482,0.22,2.10,0.00,0.000,6,0.140,0.037,2974,1554,1194
$GC,8802,0.81,427.7,131.4,12.7,1057,8808,0.00,2.20,0.00,0.000,4,0.000,0.043,2973,2980,1189
$GC,8823,0.90,427.7,128.6,13.6,1061,8830,0.12,2.22,0.00,0.000,6,0.051,0.040,3051,1541,1189
$GC,9150,0.97,484.3,76.2,10.1,1122,9201,0.00,2.30,45.72,0.802,4,0.000,0.041,3051,2985,971
$GC,9387,1.04,484.3,46.5,14.0,1165,9393,0.00,2.28,0.00,0.000,6,0.000,0.037,3052,1509,965
$GC,9713,1.24,520.8,9.6,10.8,1226,9748,0.25,2.08,30.25,0.721,4,0.048,0.048,3165,212,823
$STATE,9756,end climb,SURFACE_DEPTH_REACHED
$STATE,9756,begin surface coast
$FINISH,0.0,1.009393
$STATE,9772,end surface coast,CONTROL_FINISHED_OK
$STATE,9772,begin surface
$SM_CCo,9848,0.00,0.000,0,0,818,522.24
$SM_GC,0.76,7.97,0.00,0.00,0.035,0.000,0.000,110,1480,818,-8.15,0.25,522.24
$IRIDIUM_FIX,2512.73,12233.94,030998,101023
$TT8_MAMPS,0.049855
$HUMID,1587
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,25.50
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,550.7,64.0
$24V_AH,24.0,30.123
$10V_AH,10.7,18.684
$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,22.450,96.375,620.925,0.000,0.000,23.798,30.205,172.967,7.500,0.000,0.000,14.520,0.000,6240.185,717.059,2793.363,397.795,0.000,1776.501,0.000,2381.160,0.000,28.784,0.000
$DEVICE_MAMPS,209.391,91.273,1175.811,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,833.468,898.508,1505.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69458,1236
$CAP_FILE_SIZE,120531,0
$CFSIZE,260165632,247332864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.382,315.8,1
$GPS,090609,152354,2521.917,12233.595,37,1.2,38,-3.7