version: 66.04
glider: 164
mission: 3
dive: 127
start: 6 7 109 11 9 24
data:
$ID,164
$MISSION,3
$DIVE,127
$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,-35601.383
$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,43
$R_STBD_OVSHOOT,43
$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
$GPS1,110306,2516.167,12229.444,39,1.2,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-69.1
$GPS2,110919,2516.311,12229.419,11,1.2,11,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,322.1,17709,-15.7,-10.000
$D_GRID,638
$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,-194.7,0.0,0.0,0,78,0.00,0.00,-63.85,0.000,2,0.000,0.000,109,1460,2811
$GC,80,-0.99,-194.7,3.5,-7.8,10,112,8.35,2.15,-18.48,0.000,4,0.201,0.051,2417,2884,3742
$GC,351,-0.62,-194.7,72.3,-24.0,60,359,0.35,2.12,0.00,0.000,6,0.123,0.031,2535,1463,3744
$GC,679,-0.62,-194.7,122.2,-10.6,121,685,0.00,1.90,0.00,0.000,4,0.000,0.042,2535,212,3747
$GC,808,-0.59,-194.7,133.9,-8.1,145,814,0.00,1.88,0.00,0.000,6,0.000,0.032,2535,1470,3747
$GC,1134,-0.59,-194.7,165.1,-8.9,206,1139,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1471,3748
$GC,1459,-0.66,-194.7,194.2,-8.3,267,1465,0.00,2.10,0.00,0.000,4,0.000,0.038,2535,2878,3748
$GC,1571,-0.81,-194.7,203.4,-8.0,288,1579,0.12,2.08,0.00,0.000,6,0.044,0.030,2461,1471,3748
$GC,1899,-0.71,-194.7,247.3,-12.7,349,1905,0.17,1.88,0.00,0.000,4,0.128,0.041,2514,221,3749
$GC,1941,-0.71,-194.7,252.2,-10.8,357,1947,0.00,1.88,0.00,0.000,6,0.000,0.031,2514,1483,3748
$GC,2267,-0.76,-194.7,279.4,-8.4,418,2268,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1485,3748
$GC,2589,-0.84,-194.7,310.0,-9.6,469,2593,0.12,2.08,0.00,0.000,4,0.070,0.040,2448,2899,3747
$GC,2621,-0.80,-194.7,313.6,-11.6,472,2625,0.10,2.10,0.00,0.000,6,0.120,0.031,2483,1481,3747
$GC,2942,-0.80,-194.7,344.7,-8.2,503,2946,0.00,1.90,0.00,0.000,4,0.000,0.044,2484,226,3745
$GC,3075,-0.80,-194.7,356.8,-9.4,515,3081,0.00,1.85,0.00,0.000,6,0.000,0.031,2484,1475,3745
$GC,3391,-0.80,-194.7,385.8,-9.0,546,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1475,3743
$GC,3702,-0.80,-194.7,410.9,-8.1,576,3705,0.00,2.05,0.00,0.000,4,0.000,0.041,2484,2870,3741
$GC,3856,-0.87,-194.7,422.4,-7.2,590,3863,0.00,2.08,0.00,0.000,6,0.000,0.034,2484,1484,3739
$GC,4172,-0.91,-194.7,451.9,-9.8,621,4173,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1484,3738
$GC,4483,-0.97,-194.7,478.0,-8.3,651,4486,0.15,1.92,0.00,0.000,4,0.065,0.048,2416,210,3735
$GC,4540,-0.79,-194.7,486.0,-14.7,656,4548,0.20,1.88,0.00,0.000,6,0.130,0.033,2484,1466,3734
$GC,4864,-0.85,-194.7,517.5,-8.6,679,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1466,3732
$GC,5168,-0.91,-194.7,545.4,-9.6,694,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1466,3730
$GC,5474,-0.97,-194.7,572.5,-9.0,709,5475,0.15,0.00,0.00,0.000,6,0.067,0.000,2417,1466,3728
$GC,5778,-0.85,-194.7,609.9,-12.7,724,5782,0.17,1.92,0.00,0.000,4,0.137,0.050,2468,224,3725
$STATE,5787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5787,begin apogee
$GC,5793,-0.24,0.0,611.3,12.6,724,5950,0.55,0.00,154.60,1.195,6,0.114,0.000,2657,1582,2947
$STATE,5950,end apogee,CONTROL_FINISHED_OK
$STATE,5950,begin climb
$GC,5952,0.99,194.7,617.5,0.0,732,6119,1.15,2.33,159.48,1.160,4,0.075,0.050,3057,217,2152
$GC,6171,0.56,194.7,595.3,17.6,742,6176,0.45,2.15,0.00,0.000,6,0.167,0.036,2926,1566,2148
$GC,6487,0.49,201.5,562.3,9.8,758,6496,0.00,2.12,5.97,0.853,4,0.000,0.053,2929,224,2125
$GC,6621,0.42,201.5,548.0,10.8,764,6624,0.12,2.08,0.00,0.000,6,0.128,0.038,2877,1565,2123
$GC,6941,0.56,252.2,522.5,8.2,780,6988,0.15,2.17,42.97,1.115,4,0.073,0.054,2943,224,1916
$GC,7030,0.47,252.2,510.5,15.5,784,7034,0.12,2.10,0.00,0.000,6,0.140,0.039,2904,1553,1912
$GC,7351,0.48,259.7,474.6,9.7,811,7363,0.00,2.15,6.45,0.873,4,0.000,0.054,2904,224,1887
$GC,7404,0.55,281.7,469.4,9.2,816,7430,0.00,2.05,20.40,1.056,6,0.000,0.040,2904,1543,1797
$GC,7747,0.66,333.6,439.4,8.2,849,7803,0.15,2.22,46.72,1.042,4,0.067,0.056,2972,217,1585
$GC,7823,0.52,333.6,429.7,14.6,856,7827,0.17,2.12,0.00,0.000,6,0.149,0.042,2918,1544,1581
$GC,8144,0.52,333.6,398.8,11.5,887,8148,0.00,2.12,0.00,0.000,4,0.000,0.056,2918,223,1574
$GC,8159,0.56,333.6,397.0,11.5,888,8166,0.00,2.08,0.00,0.000,6,0.000,0.042,2917,1550,1574
$GC,8476,0.60,333.6,363.8,11.9,919,8479,0.00,2.20,0.00,0.000,4,0.000,0.048,2918,2989,1572
$GC,8533,0.65,333.6,356.4,12.0,924,8541,0.08,2.17,0.00,0.000,6,0.069,0.041,2963,1581,1572
$GC,8850,0.56,333.6,315.1,11.6,955,8853,0.15,2.12,0.00,0.000,4,0.154,0.055,2922,204,1570
$GC,8961,0.77,416.3,306.1,7.1,965,9037,0.15,2.05,69.47,1.003,6,0.054,0.041,2999,1540,1248
$GC,9356,0.60,416.3,230.0,19.8,1033,9363,0.22,2.12,0.00,0.000,4,0.152,0.054,2938,208,1237
$GC,9399,0.70,421.1,224.6,9.8,1041,9405,0.00,2.05,0.00,0.000,6,0.000,0.041,2938,1528,1235
$GC,9725,0.85,421.1,190.5,11.1,1102,9731,0.22,2.08,0.00,0.000,4,0.050,0.054,3043,213,1233
$GC,9758,0.76,421.1,185.4,17.6,1108,9764,0.15,2.00,0.00,0.000,6,0.133,0.040,2993,1517,1233
$GC,10083,0.76,421.1,140.6,13.2,1169,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1517,1233
$GC,10408,0.84,421.1,100.8,10.3,1230,10415,0.00,2.05,0.00,0.000,4,0.000,0.052,2993,208,1233
$GC,10462,1.08,493.5,96.4,7.5,1240,10538,0.22,1.98,64.75,0.794,6,0.039,0.038,3126,1507,934
$GC,10858,0.93,493.5,24.1,17.6,1312,10865,0.28,2.05,0.00,0.000,4,0.144,0.050,3045,207,925
$GC,10907,1.06,493.5,18.0,10.9,1321,10913,0.08,2.00,0.00,0.000,6,0.059,0.036,3098,1511,925
$STATE,11023,end climb,SURFACE_DEPTH_REACHED
$STATE,11023,begin surface coast
$FINISH,-0.1,1.021727
$STATE,11045,end surface coast,CONTROL_FINISHED_OK
$STATE,11045,begin surface
$SM_CCo,11118,0.00,0.000,0,0,923,496.24
$SM_GC,0.78,7.72,0.00,0.00,0.038,0.000,0.000,113,1511,923,-8.13,1.13,496.24
$IRIDIUM_FIX,2503.20,12231.38,010998,070714
$TT8_MAMPS,0.049855
$HUMID,1529
$INTERNAL_PRESSURE,8.98718
$TCM_TEMP,25.60
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,551.0,85.1
$24V_AH,24.0,26.715
$10V_AH,10.7,16.496
$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,22.050,86.375,570.825,0.000,0.000,30.385,30.923,205.751,8.500,0.000,0.000,13.216,0.000,7333.718,656.819,3010.216,460.952,0.000,1770.490,0.000,2576.044,0.000,28.819,0.000
$DEVICE_MAMPS,200.954,55.991,1194.986,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,911.456,965.752,1619.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75816,1347
$CAP_FILE_SIZE,129125,0
$CFSIZE,260165632,248594432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.273,346.6,1
$GPS,070609,141536,2519.230,12227.893,35,1.4,35,-3.6