version: 66.04
glider: 164
mission: 3
dive: 151
start: 6 10 109 2 10 8
data:
$ID,164
$MISSION,3
$DIVE,151
$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,-36181.328
$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,55
$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
$GPS1,020436,2520.128,12234.778,29,1.2,30,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.2
$GPS2,021002,2520.251,12234.632,12,1.2,12,-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,129.0,67496,-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,10,begin dive
$GC,12,-1.08,-243.4,0.0,0.0,0,85,0.00,0.00,-71.53,0.000,2,0.000,0.000,107,1432,2707
$GC,87,-1.08,-243.4,3.1,-8.2,11,127,8.40,2.25,-25.17,0.000,4,0.206,0.052,2388,2882,3944
$GC,217,-0.69,-243.4,40.0,-27.9,34,223,0.38,2.10,0.00,0.000,6,0.130,0.032,2521,1492,3946
$GC,543,-0.69,-243.4,88.0,-12.6,95,549,0.00,2.10,0.00,0.000,4,0.000,0.039,2520,2877,3948
$GC,602,-0.76,-243.4,95.0,-12.0,106,608,0.00,2.10,0.00,0.000,6,0.000,0.032,2520,1478,3949
$GC,928,-0.81,-243.4,137.8,-13.0,167,935,0.10,2.12,0.00,0.000,4,0.078,0.039,2465,2888,3950
$GC,971,-0.76,-243.4,144.0,-15.1,175,978,0.08,2.08,0.00,0.000,6,0.126,0.032,2493,1501,3950
$GC,1298,-0.76,-243.4,190.2,-12.1,236,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1500,3951
$GC,1625,-0.76,-243.4,226.1,-9.2,297,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1501,3951
$GC,1949,-0.82,-243.4,255.4,-9.3,358,1956,0.00,2.08,0.00,0.000,4,0.000,0.039,2493,2875,3951
$GC,2040,-0.93,-243.4,262.5,-7.5,375,2047,0.10,2.03,0.00,0.000,6,0.053,0.032,2431,1514,3951
$GC,2370,-0.84,-243.4,306.7,-9.8,431,2373,0.15,1.98,0.00,0.000,4,0.132,0.044,2474,212,3950
$GC,2492,-0.84,-243.4,318.8,-10.7,442,2499,0.00,1.92,0.00,0.000,6,0.000,0.032,2474,1498,3950
$GC,2808,-0.89,-243.4,355.9,-12.2,473,2811,0.00,1.98,0.00,0.000,4,0.000,0.045,2474,213,3949
$GC,2844,-0.89,-243.4,360.6,-12.3,476,2853,0.00,1.90,0.00,0.000,6,0.000,0.032,2474,1485,3949
$GC,3161,-0.95,-243.4,392.3,-9.0,507,3164,0.00,2.05,0.00,0.000,4,0.000,0.041,2474,2878,3948
$GC,3187,-1.04,-243.4,394.5,-8.3,509,3193,0.15,2.10,0.00,0.000,6,0.047,0.034,2392,1476,3948
$GC,3502,-0.88,-243.4,437.9,-13.6,540,3506,0.22,2.12,0.00,0.000,4,0.134,0.042,2459,2875,3946
$GC,3535,-0.93,-243.4,441.1,-8.7,543,3538,0.00,2.05,0.00,0.000,6,0.000,0.035,2459,1486,3945
$GC,3854,-0.98,-243.4,473.5,-10.9,574,3858,0.00,1.95,0.00,0.000,4,0.000,0.048,2459,219,3943
$GC,3923,-0.98,-243.4,481.7,-11.1,580,3931,0.00,1.90,0.00,0.000,6,0.000,0.034,2460,1486,3942
$GC,4238,-1.03,-243.4,516.7,-10.8,604,4241,0.15,2.08,0.00,0.000,4,0.066,0.044,2391,2879,3940
$GC,4311,-0.96,-243.4,527.0,-14.8,607,4315,0.10,2.10,0.00,0.000,6,0.130,0.036,2426,1488,3939
$GC,4627,-0.96,-243.4,564.6,-11.6,623,4628,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1488,3937
$GC,4935,-0.96,-243.4,600.3,-11.5,638,4936,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1488,3935
$GC,5237,-0.96,-243.4,634.5,-11.3,653,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,1488,3932
$STATE,5358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5358,begin apogee
$GC,5362,-0.24,0.0,648.5,11.6,659,5563,0.73,0.00,196.68,1.232,6,0.114,0.000,2666,1584,2946
$STATE,5563,end apogee,CONTROL_FINISHED_OK
$STATE,5563,begin climb
$GC,5565,1.08,243.4,656.9,0.0,669,5771,1.20,0.00,202.35,1.190,6,0.066,0.000,3087,1584,1953
$GC,6070,0.61,243.4,558.6,24.2,694,6074,0.52,2.20,0.00,0.000,4,0.175,0.053,2942,213,1944
$GC,6144,0.53,243.4,546.1,14.8,697,6148,0.00,2.10,0.00,0.000,6,0.000,0.040,2942,1558,1944
$GC,6460,0.47,243.4,502.0,13.9,713,6464,0.17,2.10,0.00,0.000,4,0.151,0.054,2894,217,1941
$GC,6481,0.47,243.4,499.2,13.3,714,6485,0.00,2.08,0.00,0.000,6,0.000,0.041,2893,1555,1941
$GC,6803,0.65,302.4,467.1,10.0,745,6858,0.17,2.20,48.47,1.109,4,0.061,0.055,2969,210,1712
$GC,6922,0.53,302.4,448.3,16.9,756,6926,0.20,2.10,0.00,0.000,6,0.152,0.041,2915,1555,1707
$GC,7242,0.69,365.3,413.7,9.9,787,7301,0.15,2.22,53.70,1.076,4,0.068,0.055,2981,224,1456
$GC,7334,0.56,365.3,399.4,18.3,795,7340,0.17,2.08,0.00,0.000,6,0.147,0.041,2929,1524,1451
$GC,7649,0.60,365.3,354.7,14.6,826,7653,0.00,2.28,0.00,0.000,4,0.000,0.048,2929,2979,1444
$GC,7724,0.71,370.2,345.3,11.8,833,7728,0.08,2.22,0.00,0.000,6,0.069,0.041,2975,1549,1443
$GC,8040,0.65,370.2,297.6,14.6,865,8046,0.00,2.10,0.00,0.000,4,0.000,0.054,2978,213,1441
$GC,8141,0.60,370.2,281.6,16.7,884,8149,0.12,2.00,0.00,0.000,6,0.144,0.041,2939,1512,1440
$GC,8469,0.69,370.2,242.4,12.6,945,8475,0.00,2.05,0.00,0.000,4,0.000,0.054,2939,213,1439
$GC,8506,0.80,370.2,237.7,12.9,952,8513,0.15,2.00,0.00,0.000,6,0.052,0.042,3014,1512,1438
$GC,8833,0.61,370.2,177.4,20.2,1013,8840,0.25,2.22,0.00,0.000,4,0.150,0.044,2944,2995,1438
$GC,8882,0.71,374.4,170.3,11.9,1022,8894,0.00,2.25,6.22,0.728,6,0.000,0.041,2944,1524,1419
$GC,9214,1.07,526.5,141.9,7.0,1084,9347,0.40,0.00,128.23,0.865,6,0.044,0.000,3115,1525,799
$GC,9667,0.95,526.5,35.5,17.1,1165,9674,0.22,2.28,0.00,0.000,4,0.145,0.041,3050,2992,789
$GC,9753,1.16,555.6,25.1,11.0,1181,9785,0.15,2.30,23.40,0.744,6,0.045,0.038,3134,1500,682
$STATE,9885,end climb,SURFACE_DEPTH_REACHED
$STATE,9885,begin surface coast
$FINISH,-0.3,1.021553
$STATE,9900,end surface coast,CONTROL_FINISHED_OK
$STATE,9900,begin surface
$SM_CCo,9974,0.00,0.000,0,0,676,557.08
$SM_GC,0.61,7.93,0.00,0.00,0.037,0.000,0.000,105,1499,676,-8.16,0.82,557.08
$IRIDIUM_FIX,2507.97,12246.55,030998,232357
$TT8_MAMPS,0.049855
$HUMID,1621
$INTERNAL_PRESSURE,8.91882
$TCM_TEMP,24.40
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,600.3,72.9
$24V_AH,23.8,31.181
$10V_AH,10.7,19.224
$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,22.450,79.875,659.050,0.000,0.000,24.122,33.332,174.456,9.250,0.000,0.000,14.529,0.000,6467.806,750.417,2652.494,410.019,0.000,1747.177,0.000,2261.145,0.000,35.035,0.000
$DEVICE_MAMPS,205.556,72.098,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,815.363,859.901,1438.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69496,1208
$CAP_FILE_SIZE,114754,0
$CFSIZE,260165632,247013376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.216,293.2,1
$GPS,100609,045710,2519.578,12235.001,9,2.2,29,-3.6