version: 66.04
glider: 164
mission: 3
dive: 98
start: 6 2 109 18 10 55
data:
$ID,164
$MISSION,3
$DIVE,98
$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,-35053.766
$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,54
$R_STBD_OVSHOOT,42
$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
$GPS1,180537,2413.710,12258.173,7,1.7,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-68.2
$GPS2,181050,2413.806,12258.179,12,1.7,12,-3.4
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,326.9,72833,-15.7,-10.000
$D_GRID,470
$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,-194.7,0.0,0.0,0,82,0.00,0.00,-68.25,0.000,2,0.000,0.000,114,1446,2900
$GC,84,-0.99,-194.7,3.2,-6.5,10,116,8.32,1.90,-16.73,0.000,4,0.203,0.067,2416,225,3744
$GC,355,-0.54,-194.7,85.4,-28.8,60,362,0.45,1.88,0.00,0.000,6,0.137,0.031,2566,1479,3746
$GC,682,-0.62,-194.7,122.5,-11.5,121,689,0.00,1.92,0.00,0.000,4,0.000,0.043,2566,223,3749
$GC,929,-0.71,-194.7,149.5,-9.3,167,936,0.12,1.80,0.00,0.000,6,0.048,0.032,2497,1438,3750
$GC,1255,-0.64,-194.7,192.4,-12.1,228,1261,0.15,0.00,0.00,0.000,6,0.128,0.000,2541,1438,3750
$GC,1581,-0.72,-194.7,221.7,-9.3,289,1588,0.00,2.12,0.00,0.000,4,0.000,0.037,2541,2892,3750
$GC,1640,-0.86,-194.7,227.3,-9.2,300,1647,0.17,2.12,0.00,0.000,6,0.040,0.031,2447,1451,3750
$GC,1967,-0.68,-194.7,278.9,-15.6,361,1974,0.25,1.85,0.00,0.000,4,0.128,0.043,2525,220,3750
$GC,2128,-0.73,-194.7,299.0,-12.6,391,2134,0.00,1.77,0.00,0.000,6,0.000,0.032,2524,1421,3750
$GC,2449,-0.80,-194.7,331.5,-8.4,423,2453,0.12,2.12,0.00,0.000,4,0.067,0.038,2461,2881,3750
$GC,2513,-0.75,-194.7,337.2,-8.5,429,2517,0.15,2.12,0.00,0.000,6,0.127,0.032,2506,1426,3750
$GC,2833,-0.75,-194.7,367.6,-11.4,460,2834,0.00,0.00,0.00,0.000,6,0.000,0.000,2506,1425,3749
$GC,3145,-0.79,-194.7,403.8,-10.5,490,3148,0.00,2.15,0.00,0.000,4,0.000,0.038,2506,2881,3747
$GC,3255,-0.90,-194.7,413.4,-7.7,500,3263,0.12,2.15,0.00,0.000,6,0.050,0.032,2436,1430,3747
$GC,3571,-0.74,-194.7,454.5,-12.2,531,3573,0.22,0.00,0.00,0.000,6,0.136,0.000,2504,1429,3746
$STATE,3683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3683,begin apogee
$GC,3687,-0.24,0.0,465.1,9.5,542,3847,0.47,0.00,152.70,1.035,6,0.110,0.000,2663,1589,2947
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3849,0.99,194.7,471.1,0.0,558,4010,1.12,0.00,153.30,1.013,6,0.079,0.000,3055,1589,2152
$GC,4318,0.63,194.7,409.7,17.5,603,4322,0.38,2.10,0.00,0.000,4,0.154,0.048,2947,220,2146
$GC,4376,0.56,194.7,402.6,10.6,608,4383,0.00,2.05,0.00,0.000,6,0.000,0.035,2947,1569,2146
$GC,4693,0.51,194.7,374.4,10.5,639,4697,0.12,2.12,0.00,0.000,4,0.148,0.040,2912,2996,2144
$GC,4788,0.59,222.1,365.6,9.1,647,4817,0.00,2.10,21.33,0.938,6,0.000,0.035,2912,1604,2042
$GC,5125,0.71,258.7,335.6,8.7,680,5160,0.17,2.17,30.45,0.940,4,0.064,0.048,2998,210,1891
$GC,5191,0.53,258.7,326.7,14.6,686,5195,0.25,2.12,0.00,0.000,6,0.146,0.035,2920,1592,1888
$GC,5508,0.68,315.4,297.6,8.0,719,5563,0.12,2.22,46.22,0.928,4,0.071,0.049,2985,217,1658
$GC,5604,0.57,315.4,284.0,16.1,736,5611,0.17,2.12,0.00,0.000,6,0.140,0.035,2930,1588,1655
$GC,5932,0.70,356.6,248.6,8.6,797,5970,0.12,2.22,33.90,0.890,4,0.074,0.049,2994,210,1492
$GC,6081,0.58,356.6,229.0,15.3,824,6087,0.17,2.10,0.00,0.000,6,0.140,0.035,2938,1584,1485
$GC,6407,0.66,356.6,191.9,10.4,885,6415,0.00,2.12,0.00,0.000,4,0.000,0.041,2937,2984,1482
$GC,6451,0.74,356.6,186.9,11.4,893,6459,0.10,2.12,0.00,0.000,6,0.054,0.036,2999,1582,1482
$GC,6779,0.69,356.6,140.3,13.1,954,6785,0.12,2.10,0.00,0.000,4,0.150,0.049,2969,214,1480
$GC,6806,0.69,356.6,137.0,12.6,959,6812,0.00,2.05,0.00,0.000,6,0.000,0.037,2968,1573,1480
$GC,7132,0.87,398.3,104.2,8.6,1020,7172,0.15,2.17,33.62,0.789,4,0.057,0.048,3051,213,1321
$GC,7300,0.71,398.3,78.0,17.1,1050,7306,0.22,2.03,0.00,0.000,6,0.127,0.034,2976,1551,1315
$GC,7626,0.93,398.3,46.0,10.6,1111,7632,0.20,2.15,0.00,0.000,4,0.047,0.039,3075,2984,1313
$GC,7658,0.90,398.3,41.3,15.7,1117,7666,0.15,2.15,0.00,0.000,6,0.142,0.036,3032,1556,1313
$GC,7986,1.01,412.3,7.5,9.5,1178,8005,0.10,2.08,11.80,0.649,4,0.075,0.048,3095,212,1264
$STATE,8023,end climb,SURFACE_DEPTH_REACHED
$STATE,8023,begin surface coast
$FINISH,0.1,1.022193
$STATE,8045,end surface coast,CONTROL_FINISHED_OK
$STATE,8045,begin surface
$SM_CCo,8060,1.12,0.074,0,0,1255,415.05
$SM_GC,1.50,0.00,0.00,1.12,0.000,0.000,0.074,108,1475,1255,-8.24,0.11,415.05
$IRIDIUM_FIX,2403.92,12301.43,270898,161650
$TT8_MAMPS,0.050622
$HUMID,1513
$INTERNAL_PRESSURE,9.06531
$TCM_TEMP,26.30
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,425.3,64.2
$24V_AH,24.4,20.709
$10V_AH,10.8,12.553
$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,21.925,66.375,483.325,1.125,0.000,23.906,37.104,166.817,4.750,0.000,0.000,14.643,0.000,4858.927,568.518,2548.389,384.398,0.000,1505.798,0.000,2188.037,0.000,20.494,0.000
$DEVICE_MAMPS,203.255,66.729,1034.683,74.399,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,797.809,896.619,1496.504,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66272,1189
$CAP_FILE_SIZE,104371,0
$CFSIZE,260165632,251043840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.389,322.7,1
$GPS,020609,202624,2416.097,12256.283,30,1.3,48,-3.4