version: 66.04
glider: 164
mission: 3
dive: 150
start: 6 9 109 23 19 49
data:
$ID,164
$MISSION,3
$DIVE,150
$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,-36166.172
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,231437,2520.362,12235.012,32,0.9,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-68.2
$GPS2,231944,2520.476,12234.975,12,1.2,12,-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,131.3,67327,-16.4,-12.000
$D_GRID,647
$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,11,begin dive
$GC,13,-1.08,-243.4,0.0,0.0,0,86,0.00,0.00,-71.25,0.000,2,0.000,0.000,112,1445,2744
$GC,88,-1.08,-243.4,3.4,-9.1,11,125,8.27,2.17,-23.15,0.000,4,0.201,0.052,2380,2886,3942
$GC,221,-0.71,-243.4,42.9,-28.7,35,227,0.43,2.10,0.00,0.000,6,0.129,0.034,2512,1476,3945
$GC,547,-0.71,-243.4,90.1,-12.4,96,552,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1475,3947
$GC,872,-0.77,-243.4,122.2,-10.3,157,880,0.00,2.12,0.00,0.000,4,0.000,0.039,2511,2881,3950
$GC,932,-0.89,-243.4,128.1,-10.9,168,939,0.12,2.12,0.00,0.000,6,0.045,0.032,2440,1458,3950
$GC,1259,-0.76,-243.4,188.1,-17.5,229,1266,0.20,0.00,0.00,0.000,6,0.129,0.000,2499,1458,3950
$GC,1586,-0.83,-243.4,227.6,-11.1,290,1592,0.00,2.15,0.00,0.000,4,0.000,0.040,2499,2881,3951
$GC,1639,-0.96,-243.4,232.8,-9.4,300,1646,0.15,2.12,0.00,0.000,6,0.044,0.032,2416,1453,3951
$GC,1966,-0.81,-243.4,279.4,-15.1,361,1973,0.22,2.12,0.00,0.000,4,0.125,0.041,2485,2883,3951
$GC,2010,-0.94,-243.4,283.3,-6.8,369,2018,0.12,2.10,0.00,0.000,6,0.066,0.033,2420,1452,3951
$GC,2331,-0.82,-243.4,330.4,-15.1,411,2335,0.20,1.88,0.00,0.000,4,0.129,0.044,2480,216,3950
$GC,2442,-0.85,-243.4,344.7,-12.5,421,2450,0.00,1.83,0.00,0.000,6,0.000,0.032,2480,1445,3950
$GC,2758,-0.92,-243.4,381.5,-11.5,452,2762,0.00,2.12,0.00,0.000,4,0.000,0.041,2480,2865,3949
$GC,2812,-1.05,-243.4,387.3,-10.2,457,2816,0.17,2.12,0.00,0.000,6,0.043,0.035,2390,1447,3949
$GC,3132,-0.88,-243.4,438.4,-15.2,488,3136,0.22,2.15,0.00,0.000,4,0.133,0.041,2457,2872,3947
$GC,3164,-0.88,-243.4,442.0,-10.4,491,3168,0.00,2.12,0.00,0.000,6,0.000,0.035,2458,1452,3947
$GC,3485,-0.88,-243.4,475.3,-10.8,522,3488,0.00,2.12,0.00,0.000,4,0.000,0.041,2457,2875,3945
$GC,3603,-0.96,-243.4,487.4,-10.3,533,3606,0.00,2.10,0.00,0.000,6,0.000,0.035,2457,1456,3944
$GC,3931,-1.01,-243.4,521.3,-9.7,555,3932,0.12,0.00,0.00,0.000,6,0.069,0.000,2398,1456,3943
$GC,4235,-0.90,-243.4,561.9,-13.3,570,4236,0.20,0.00,0.00,0.000,6,0.134,0.000,2457,1456,3940
$GC,4540,-0.96,-243.4,591.2,-9.2,585,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1456,3938
$GC,4845,-1.02,-243.4,619.8,-9.9,600,4849,0.12,2.15,0.00,0.000,4,0.074,0.046,2402,2863,3936
$GC,4887,-0.97,-243.4,625.0,-12.7,602,4892,0.00,2.10,0.00,0.000,6,0.000,0.038,2402,1476,3936
$STATE,4968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4968,begin apogee
$GC,4972,-0.24,0.0,635.4,12.6,606,5172,0.80,0.00,196.75,1.216,6,0.122,0.000,2660,1587,2946
$STATE,5172,end apogee,CONTROL_FINISHED_OK
$STATE,5173,begin climb
$GC,5174,1.08,243.4,641.8,0.0,616,5385,1.23,2.33,200.57,1.175,4,0.067,0.054,3095,210,1953
$GC,5539,0.57,243.4,574.3,25.7,633,5543,0.57,2.15,0.00,0.000,6,0.184,0.038,2932,1579,1947
$GC,5860,0.52,243.4,530.6,13.3,649,5864,0.00,2.17,0.00,0.000,4,0.000,0.054,2932,218,1943
$GC,5902,0.52,243.4,524.8,13.4,651,5906,0.00,2.10,0.00,0.000,6,0.000,0.041,2932,1571,1943
$GC,6221,0.52,243.4,480.4,13.7,673,6224,0.00,2.12,0.00,0.000,4,0.000,0.055,2932,216,1941
$GC,6268,0.52,243.4,473.9,13.5,677,6274,0.00,2.08,0.00,0.000,6,0.000,0.041,2932,1558,1941
$GC,6585,0.54,256.9,435.2,11.6,708,6600,0.00,2.22,10.32,0.986,4,0.000,0.046,2932,2985,1898
$GC,6670,0.57,279.0,425.6,11.3,716,6693,0.00,2.20,20.10,1.048,6,0.000,0.041,2932,1568,1809
$GC,7001,0.67,361.5,393.4,9.3,748,7080,0.00,2.25,70.18,1.062,4,0.000,0.055,2932,219,1471
$GC,7116,0.84,424.0,382.5,9.9,758,7179,0.20,2.12,54.67,1.027,6,0.052,0.041,3023,1551,1217
$GC,7487,0.66,424.0,306.8,17.6,794,7492,0.22,2.15,0.00,0.000,4,0.149,0.054,2961,210,1205
$GC,7568,0.70,424.0,293.9,14.0,805,7574,0.00,2.05,0.00,0.000,6,0.000,0.041,2961,1528,1204
$GC,7893,0.70,424.0,250.1,14.1,866,7901,0.00,2.25,0.00,0.000,4,0.000,0.045,2961,2983,1201
$GC,7943,0.77,424.0,243.6,12.2,875,7949,0.00,2.25,0.00,0.000,6,0.000,0.041,2961,1523,1202
$GC,8268,0.83,425.7,203.1,11.9,936,8275,0.15,2.05,0.00,0.000,4,0.068,0.054,3031,210,1201
$GC,8295,0.75,425.7,199.0,16.1,941,8301,0.12,2.03,0.00,0.000,6,0.137,0.040,2990,1534,1200
$GC,8621,0.75,425.7,153.0,15.9,1002,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1534,1200
$GC,8947,0.75,425.7,108.6,13.1,1063,8954,0.00,2.20,0.00,0.000,4,0.000,0.043,2990,2978,1200
$GC,8985,0.88,462.2,104.3,10.8,1070,9020,0.08,2.17,30.55,0.824,6,0.058,0.039,3047,1549,1061
$GC,9340,0.88,462.2,49.9,15.7,1135,9346,0.00,2.20,0.00,0.000,4,0.000,0.041,3048,2978,1054
$GC,9361,0.88,462.2,46.7,15.6,1139,9367,0.00,2.17,0.00,0.000,6,0.000,0.038,3051,1565,1054
$GC,9687,1.14,543.7,11.1,9.3,1200,9751,0.17,0.00,61.60,0.740,2,0.058,0.000,3137,1564,758
$STATE,9751,end climb,SURFACE_DEPTH_REACHED
$STATE,9752,begin surface coast
$FINISH,0.1,1.021743
$STATE,9765,end surface coast,CONTROL_FINISHED_OK
$STATE,9765,begin surface
$SM_CCo,9839,0.00,0.000,0,0,753,537.94
$SM_GC,0.77,8.02,0.00,0.00,0.038,0.000,0.000,107,1436,753,-8.15,-0.99,537.94
$IRIDIUM_FIX,2515.12,12233.94,030998,202019
$TT8_MAMPS,0.049855
$HUMID,1555
$INTERNAL_PRESSURE,8.94812
$TCM_TEMP,25.30
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,526.2,133.9
$24V_AH,23.8,30.963
$10V_AH,10.7,19.114
$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,22.150,81.300,644.750,0.000,0.000,22.470,42.445,152.643,7.500,0.000,0.000,14.679,0.000,6285.801,714.462,2736.215,390.551,0.000,1750.210,0.000,2339.964,0.000,28.267,0.000
$DEVICE_MAMPS,200.954,61.360,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,818.732,885.540,1481.732,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69506,1213
$CAP_FILE_SIZE,115221,0
$CFSIZE,260165632,247078912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.311,304.8,1
$GPS,100609,020436,2520.128,12234.778,29,1.2,30,-3.6