version: 66.04
glider: 164
mission: 3
dive: 129
start: 6 7 109 17 10 6
data:
$ID,164
$MISSION,3
$DIVE,129
$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,-35662.941
$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,31
$R_STBD_OVSHOOT,41
$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
$GPS1,170358,2520.762,12227.712,8,99.0,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.3
$GPS2,171000,2521.001,12227.747,41,1.3,41,-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,307.2,8716,-15.7,-10.000
$D_GRID,571
$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,-194.7,0.0,0.0,0,86,0.00,0.00,-72.78,0.000,2,0.000,0.000,107,1499,2703
$GC,88,-0.99,-194.7,3.0,-7.9,11,126,8.38,2.03,-21.85,0.000,4,0.202,0.058,2417,205,3744
$GC,365,-0.55,-194.7,78.8,-28.0,62,372,0.43,1.90,0.00,0.000,6,0.126,0.032,2556,1475,3746
$GC,692,-0.62,-194.7,117.9,-8.4,123,698,0.00,1.95,0.00,0.000,4,0.000,0.044,2556,206,3748
$GC,793,-0.68,-194.7,127.6,-10.4,142,800,0.00,1.95,0.00,0.000,6,0.000,0.034,2556,1508,3749
$GC,1120,-0.79,-194.7,157.7,-7.3,203,1126,0.20,1.98,0.00,0.000,4,0.052,0.043,2460,209,3750
$GC,1365,-0.57,-194.7,190.3,-13.6,249,1373,0.28,1.90,0.00,0.000,6,0.117,0.033,2555,1488,3750
$GC,1693,-0.73,-194.7,220.1,-10.0,310,1700,0.15,1.95,0.00,0.000,4,0.061,0.044,2482,206,3750
$GC,1742,-0.66,-194.7,226.5,-13.7,319,1748,0.12,1.92,0.00,0.000,6,0.120,0.033,2526,1499,3750
$GC,2068,-0.76,-194.7,258.0,-6.8,380,2074,0.00,2.05,0.00,0.000,4,0.000,0.040,2526,2870,3750
$GC,2105,-0.90,-194.7,260.7,-7.2,387,2111,0.15,2.08,0.00,0.000,6,0.032,0.033,2428,1473,3750
$GC,2436,-0.72,-194.7,303.7,-15.2,447,2440,0.28,2.10,0.00,0.000,4,0.127,0.041,2513,2871,3749
$GC,2462,-0.76,-194.7,306.8,-11.2,449,2470,0.00,2.08,0.00,0.000,6,0.000,0.033,2514,1478,3749
$GC,2777,-0.84,-194.7,332.0,-8.6,480,2782,0.12,1.90,0.00,0.000,4,0.067,0.045,2451,219,3748
$GC,2873,-0.73,-194.7,345.6,-15.2,489,2877,0.17,1.88,0.00,0.000,6,0.123,0.033,2508,1477,3747
$GC,3194,-0.82,-194.7,383.4,-9.6,520,3198,0.00,2.10,0.00,0.000,4,0.000,0.041,2508,2873,3745
$GC,3231,-0.96,-194.7,386.4,-7.2,523,3238,0.17,2.08,0.00,0.000,6,0.041,0.035,2415,1487,3745
$GC,3547,-0.80,-194.7,428.9,-16.0,554,3551,0.25,1.92,0.00,0.000,4,0.133,0.048,2491,223,3744
$GC,3664,-0.80,-194.7,445.6,-13.9,565,3668,0.00,1.85,0.00,0.000,6,0.000,0.033,2490,1466,3743
$GC,3986,-0.80,-194.7,478.7,-9.2,596,3989,0.00,2.10,0.00,0.000,4,0.000,0.041,2491,2896,3741
$STATE,4020,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4020,begin apogee
$GC,4026,-0.24,0.0,482.1,8.5,599,4183,0.50,0.00,153.50,1.072,6,0.105,0.000,2665,1574,2947
$STATE,4183,end apogee,CONTROL_FINISHED_OK
$STATE,4183,begin climb
$GC,4185,0.99,194.7,487.3,0.0,615,4347,1.10,2.25,155.00,1.040,4,0.070,0.041,3056,2982,2152
$GC,4447,0.58,194.7,453.9,17.2,638,4455,0.40,2.17,0.00,0.000,6,0.166,0.038,2938,1594,2148
$GC,4763,0.56,235.4,424.9,8.6,669,4800,0.00,2.20,32.83,0.995,4,0.000,0.050,2938,206,1986
$GC,4869,0.51,235.4,414.7,10.3,678,4876,0.08,2.10,0.00,0.000,6,0.136,0.037,2910,1555,1982
$GC,5185,0.62,293.3,390.1,8.0,709,5240,0.00,2.20,47.45,1.000,4,0.000,0.051,2911,213,1749
$GC,5297,0.72,308.1,379.9,9.5,719,5317,0.15,2.12,13.32,0.910,6,0.051,0.038,2985,1572,1690
$GC,5624,0.56,308.1,324.4,17.9,751,5625,0.22,0.00,0.00,0.000,6,0.150,0.000,2922,1573,1682
$GC,5938,0.74,397.7,289.6,6.9,792,6019,0.17,2.28,74.88,0.950,4,0.061,0.051,2999,206,1323
$GC,6135,0.59,397.7,256.3,19.0,827,6141,0.20,2.10,0.00,0.000,6,0.144,0.037,2937,1558,1314
$GC,6461,0.67,397.7,211.6,13.3,888,6469,0.00,2.20,0.00,0.000,4,0.000,0.044,2937,2988,1310
$GC,6500,0.78,397.7,206.4,13.7,895,6506,0.12,2.17,0.00,0.000,6,0.048,0.039,3023,1568,1310
$GC,6826,0.66,397.7,153.7,13.3,956,6834,0.22,2.10,0.00,0.000,4,0.143,0.051,2959,211,1308
$GC,6919,0.83,439.0,144.7,8.6,973,6957,0.10,2.05,33.28,0.836,6,0.052,0.038,3022,1558,1156
$GC,7278,0.83,439.0,90.9,11.0,1039,7283,0.00,2.10,0.00,0.000,4,0.000,0.049,3024,203,1148
$GC,7400,0.92,439.0,77.3,10.7,1062,7406,0.00,1.98,0.00,0.000,6,0.000,0.036,3024,1499,1146
$GC,7726,1.08,478.8,47.3,8.6,1123,7765,0.17,0.00,32.15,0.743,6,0.055,0.000,3111,1500,997
$STATE,7992,end climb,SURFACE_DEPTH_REACHED
$STATE,7993,begin surface coast
$FINISH,0.6,1.021835
$STATE,8009,end surface coast,CONTROL_FINISHED_OK
$STATE,8009,begin surface
$SM_CCo,8082,0.00,0.000,0,0,990,480.30
$SM_GC,0.98,7.65,0.00,0.00,0.030,0.000,0.000,114,1500,990,-8.14,0.82,480.30
$IRIDIUM_FIX,2512.73,12228.64,010998,141400
$TT8_MAMPS,0.049088
$HUMID,1526
$INTERNAL_PRESSURE,9.01648
$TCM_TEMP,25.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,425.4,81.6
$24V_AH,24.2,27.058
$10V_AH,10.7,16.728
$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,21.800,69.725,542.400,0.000,0.000,30.471,32.997,175.406,5.750,0.000,0.000,43.131,0.000,4829.029,599.245,2600.198,394.313,0.000,1566.034,0.000,2202.391,0.000,23.487,0.000
$DEVICE_MAMPS,201.721,58.292,1072.266,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,789.912,879.368,1474.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66488,1175
$CAP_FILE_SIZE,104970,0
$CFSIZE,260165632,248483840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.253, 89.9,1
$GPS,070609,192534,2521.470,12227.854,7,2.2,27,-3.6