version: 66.04
glider: 164
mission: 3
dive: 128
start: 6 7 109 14 21 26
data:
$ID,164
$MISSION,3
$DIVE,128
$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,-35619.184
$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,30
$R_STBD_OVSHOOT,35
$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
$GPS1,141536,2519.230,12227.893,35,1.4,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-68.4
$GPS2,142120,2519.476,12227.821,14,1.8,14,-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,328.3,11267,-15.7,-10.000
$D_GRID,563
$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,-64.68,0.000,2,0.000,0.000,113,1512,2694
$GC,80,-0.99,-194.7,3.2,-8.4,10,118,8.38,2.05,-21.73,0.000,4,0.202,0.058,2424,207,3744
$GC,358,-0.58,-194.7,76.5,-22.2,61,364,0.40,1.90,0.00,0.000,6,0.133,0.032,2551,1475,3747
$GC,684,-0.61,-194.7,115.9,-12.5,122,690,0.00,1.95,0.00,0.000,4,0.000,0.044,2551,208,3749
$GC,930,-0.70,-194.7,144.2,-8.9,168,938,0.00,1.92,0.00,0.000,6,0.000,0.033,2551,1495,3751
$GC,1258,-0.80,-194.7,170.7,-7.7,229,1264,0.20,2.05,0.00,0.000,4,0.051,0.038,2458,2874,3751
$GC,1375,-0.73,-194.7,184.9,-12.4,251,1382,0.12,2.03,0.00,0.000,6,0.117,0.032,2502,1503,3751
$GC,1701,-0.73,-194.7,214.9,-3.4,312,1710,0.00,1.95,0.00,0.000,4,0.000,0.043,2502,210,3751
$GC,1820,-0.73,-194.7,226.6,-10.3,334,1828,0.00,1.90,0.00,0.000,6,0.000,0.032,2502,1492,3751
$GC,2147,-0.73,-194.7,259.3,-10.9,395,2153,0.00,1.95,0.00,0.000,4,0.000,0.043,2502,210,3751
$GC,2211,-0.73,-194.7,267.1,-12.3,407,2217,0.00,1.90,0.00,0.000,6,0.000,0.033,2502,1489,3752
$GC,2541,-0.73,-194.7,304.7,-10.5,465,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1490,3750
$GC,2852,-0.78,-194.7,335.0,-9.2,495,2855,0.00,2.05,0.00,0.000,4,0.000,0.041,2502,2883,3749
$GC,2888,-0.89,-194.7,338.2,-8.0,498,2895,0.10,2.08,0.00,0.000,6,0.052,0.032,2443,1485,3749
$GC,3204,-0.80,-194.7,369.6,-11.3,529,3208,0.15,1.92,0.00,0.000,4,0.133,0.045,2485,209,3747
$GC,3278,-0.80,-194.7,377.4,-10.5,536,3282,0.00,1.88,0.00,0.000,6,0.000,0.032,2485,1474,3747
$GC,3599,-0.80,-194.7,411.4,-10.7,567,3603,0.00,2.08,0.00,0.000,4,0.000,0.041,2486,2861,3745
$GC,3744,-0.88,-194.7,426.6,-10.7,580,3751,0.00,2.05,0.00,0.000,6,0.000,0.035,2485,1489,3745
$GC,4059,-0.93,-194.7,456.4,-8.2,611,4062,0.12,1.92,0.00,0.000,4,0.072,0.048,2429,221,3743
$GC,4123,-0.80,-194.7,463.6,-12.3,617,4126,0.15,1.88,0.00,0.000,6,0.131,0.033,2480,1485,3744
$GC,4443,-0.80,-194.7,488.5,-8.4,648,4444,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1486,3741
$GC,4750,-0.80,-194.7,515.5,-9.7,670,4755,0.00,1.95,0.00,0.000,4,0.000,0.048,2480,222,3739
$STATE,4771,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4771,begin apogee
$GC,4777,-0.24,0.0,517.6,9.9,671,4935,0.55,0.00,154.82,1.111,6,0.114,0.000,2662,1583,2946
$STATE,4935,end apogee,CONTROL_FINISHED_OK
$STATE,4935,begin climb
$GC,4937,0.99,194.7,523.8,0.0,679,5100,1.12,2.25,156.12,1.081,4,0.073,0.041,3057,2982,2152
$GC,5207,0.57,194.7,490.6,18.6,693,5211,0.40,2.20,0.00,0.000,6,0.170,0.038,2929,1589,2147
$GC,5527,0.51,194.7,456.4,10.8,724,5531,0.00,2.17,0.00,0.000,4,0.000,0.051,2929,209,2145
$GC,5645,0.45,194.7,444.5,10.1,735,5649,0.10,2.08,0.00,0.000,6,0.137,0.038,2895,1560,2144
$GC,5965,0.59,275.4,418.6,7.2,766,6035,0.12,2.25,65.07,1.043,4,0.072,0.051,2949,207,1823
$GC,6093,0.52,275.4,404.3,11.7,777,6099,0.12,2.10,0.00,0.000,6,0.147,0.038,2917,1563,1817
$GC,6408,0.57,275.4,372.0,11.3,808,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1563,1811
$GC,6719,0.62,275.4,340.1,10.4,838,6722,0.00,2.12,0.00,0.000,4,0.000,0.052,2917,179,1809
$GC,6782,0.68,275.4,332.8,11.7,844,6787,0.10,2.10,0.00,0.000,6,0.065,0.038,2972,1549,1809
$GC,7101,0.56,275.4,282.7,16.2,884,7108,0.17,2.10,0.00,0.000,4,0.149,0.053,2923,209,1807
$GC,7150,0.61,275.4,276.1,12.9,893,7156,0.00,2.03,0.00,0.000,6,0.000,0.038,2922,1540,1807
$GC,7475,0.68,287.0,242.8,9.6,954,7490,0.12,2.12,8.30,0.815,4,0.071,0.051,2985,201,1776
$GC,7537,0.55,287.0,234.2,15.0,965,7543,0.17,2.03,0.00,0.000,6,0.145,0.037,2928,1534,1775
$GC,7863,0.61,287.0,198.0,10.4,1026,7869,0.00,2.20,0.00,0.000,4,0.000,0.044,2928,2981,1773
$GC,7884,0.67,287.0,195.7,10.8,1030,7891,0.00,2.20,0.00,0.000,6,0.000,0.040,2929,1537,1773
$GC,8211,0.84,342.5,167.5,8.1,1091,8263,0.22,2.15,46.70,0.876,4,0.058,0.050,3038,209,1548
$GC,8283,0.64,342.5,157.8,15.8,1103,8291,0.25,2.05,0.00,0.000,6,0.140,0.038,2958,1525,1545
$GC,8611,0.74,342.5,123.3,12.0,1164,8617,0.00,2.08,0.00,0.000,4,0.000,0.051,2959,209,1539
$GC,8669,0.86,342.5,116.7,11.4,1175,8677,0.12,1.98,0.00,0.000,6,0.051,0.037,3031,1504,1538
$GC,8997,1.00,454.8,83.5,6.1,1236,9097,0.10,2.12,91.70,0.799,4,0.071,0.049,3095,209,1089
$GC,9160,0.84,454.8,59.7,18.5,1264,9167,0.25,2.00,0.00,0.000,6,0.139,0.035,3016,1497,1084
$GC,9487,1.15,542.7,28.3,7.0,1325,9563,0.28,0.00,71.70,0.732,6,0.042,0.000,3141,1497,733
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.2,1.021857
$STATE,9631,end surface coast,CONTROL_FINISHED_OK
$STATE,9631,begin surface
$SM_CCo,9705,0.00,0.000,0,0,725,544.81
$SM_GC,0.77,7.90,0.00,0.00,0.031,0.000,0.000,107,1499,725,-8.16,0.76,544.81
$IRIDIUM_FIX,2507.97,12226.08,010998,111144
$TT8_MAMPS,0.050622
$HUMID,1508
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,25.70
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,475.6,66.5
$24V_AH,24.1,26.892
$10V_AH,10.7,16.619
$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,21.750,81.775,594.425,0.000,0.000,25.552,33.323,185.147,7.500,0.000,0.000,17.172,0.000,5982.348,655.095,2965.203,423.444,0.000,1757.991,0.000,2543.841,0.000,26.800,0.000
$DEVICE_MAMPS,202.488,58.292,1111.383,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,910.834,1001.309,1679.546,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75908,1350
$CAP_FILE_SIZE,119783,0
$CFSIZE,260165632,248528896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 67.5,1
$GPS,070609,170358,2520.762,12227.712,8,99.0,28,-3.6