version: 66.04
glider: 164
mission: 3
dive: 133
start: 6 8 109 2 35 40
data:
$ID,164
$MISSION,3
$DIVE,133
$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,-35748.168
$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,36
$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
$GPS1,022631,2524.056,12225.809,7,1.8,12,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.8
$GPS2,023534,2524.318,12225.847,14,99.0,33,-3.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,139.5,59264,-15.7,-10.000
$D_GRID,425
$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,-194.7,0.0,0.0,0,71,0.00,0.00,-57.20,0.000,2,0.000,0.000,120,1511,2709
$GC,73,-0.99,-194.7,3.2,-7.8,9,111,8.43,2.10,-22.05,0.000,4,0.208,0.051,2415,2887,3743
$GC,142,-0.55,-194.7,20.0,-26.6,21,149,0.43,2.12,0.00,0.000,6,0.127,0.031,2556,1470,3744
$GC,469,-0.51,-194.7,68.7,-12.0,82,476,0.00,2.12,0.00,0.000,4,0.000,0.037,2556,2884,3746
$GC,496,-0.51,-194.7,71.8,-11.7,87,503,0.00,2.10,0.00,0.000,6,0.000,0.031,2556,1474,3746
$GC,823,-0.56,-194.7,108.9,-8.9,148,829,0.00,2.10,0.00,0.000,4,0.000,0.037,2556,2878,3748
$GC,881,-0.67,-194.7,113.8,-8.4,159,888,0.00,2.05,0.00,0.000,6,0.000,0.030,2556,1491,3748
$GC,1208,-0.76,-194.7,140.6,-8.3,220,1214,0.17,1.90,0.00,0.000,4,0.055,0.041,2472,217,3748
$GC,1224,-0.76,-194.7,142.4,-10.2,223,1230,0.00,1.90,0.00,0.000,6,0.000,0.031,2472,1501,3748
$GC,1550,-0.66,-194.7,188.9,-13.1,284,1557,0.20,2.03,0.00,0.000,4,0.126,0.036,2531,2874,3749
$GC,1727,-0.80,-194.7,199.6,-4.6,317,1733,0.10,2.00,0.00,0.000,6,0.048,0.029,2463,1508,3749
$GC,2053,-0.71,-194.7,233.6,-10.6,378,2060,0.17,0.00,0.00,0.000,6,0.127,0.000,2517,1507,3749
$GC,2380,-0.78,-194.7,258.8,-6.8,439,2386,0.00,1.92,0.00,0.000,4,0.000,0.043,2517,208,3749
$GC,2406,-0.82,-194.7,261.0,-8.7,444,2413,0.08,1.92,0.00,0.000,6,0.060,0.031,2466,1511,3749
$GC,2733,-0.76,-194.7,297.8,-11.3,505,2739,0.12,1.92,0.00,0.000,4,0.137,0.042,2502,213,3747
$GC,2828,-0.76,-194.7,307.4,-9.6,516,2832,0.00,1.90,0.00,0.000,6,0.000,0.031,2502,1501,3747
$GC,3150,-0.81,-194.7,337.1,-10.6,547,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2502,1502,3745
$GC,3461,-0.88,-194.7,366.8,-7.9,577,3462,0.12,0.00,0.00,0.000,6,0.070,0.000,2443,1503,3744
$GC,3770,-0.77,-194.7,400.3,-14.3,607,3774,0.17,1.95,0.00,0.000,4,0.130,0.045,2495,223,3742
$GC,3813,-0.77,-194.7,405.8,-12.1,611,3816,0.00,1.88,0.00,0.000,6,0.000,0.032,2495,1485,3742
$STATE,3873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3873,begin apogee
$GC,3877,-0.24,0.0,413.4,12.9,617,4036,0.50,0.00,151.95,1.019,6,0.104,0.000,2665,1601,2945
$STATE,4037,end apogee,CONTROL_FINISHED_OK
$STATE,4037,begin climb
$GC,4038,0.99,194.7,421.8,0.0,633,4195,1.10,0.00,152.70,0.997,6,0.069,0.000,3059,1601,2153
$GC,4501,0.61,194.7,358.6,16.0,677,4505,0.40,2.12,0.00,0.000,4,0.156,0.048,2943,218,2147
$GC,4747,0.54,194.7,333.2,10.1,700,4751,0.00,2.00,0.00,0.000,6,0.000,0.035,2943,1535,2145
$GC,5069,0.52,222.5,301.8,9.0,731,5092,0.12,0.00,21.62,0.921,6,0.148,0.000,2908,1535,2039
$GC,5408,0.60,247.1,277.7,9.1,792,5433,0.00,2.05,20.25,0.904,4,0.000,0.049,2908,225,1939
$GC,5587,0.76,291.2,264.9,8.5,825,5631,0.20,2.03,37.03,0.918,6,0.045,0.037,3005,1550,1759
$GC,5952,0.57,291.2,205.0,19.5,892,5958,0.28,2.17,0.00,0.000,4,0.146,0.041,2925,2989,1750
$GC,5999,0.67,291.2,198.0,12.4,901,6007,0.00,2.12,0.00,0.000,6,0.000,0.037,2925,1597,1749
$GC,6327,1.03,460.1,174.9,4.2,962,6471,0.40,2.20,137.50,0.860,4,0.041,0.038,3098,2997,1070
$GC,6502,0.69,460.1,141.4,22.6,991,6509,0.45,2.22,0.00,0.000,6,0.156,0.035,2972,1584,1065
$GC,6829,0.92,518.3,111.4,8.0,1052,6882,0.20,2.22,48.03,0.796,4,0.055,0.047,3068,208,832
$GC,6935,0.76,518.3,92.3,22.7,1070,6941,0.22,2.10,0.00,0.000,6,0.133,0.033,2994,1577,827
$GC,7261,1.19,626.8,65.1,6.3,1131,7338,0.35,2.20,69.07,0.756,4,0.039,0.038,3154,2977,488
$GC,7391,0.91,626.8,36.8,26.9,1153,7399,0.43,2.15,0.00,0.000,6,0.154,0.033,3038,1564,484
$STATE,7706,end climb,SURFACE_DEPTH_REACHED
$STATE,7706,begin surface coast
$FINISH,0.2,1.020110
$STATE,7740,end surface coast,CONTROL_FINISHED_OK
$STATE,7740,begin surface
$SM_CCo,7813,0.00,0.000,0,0,480,605.16
$SM_GC,0.98,7.50,0.00,0.00,0.035,0.000,0.000,106,1444,480,-8.15,-0.79,605.16
$IRIDIUM_FIX,2512.73,12225.35,020998,020247
$TT8_MAMPS,0.049088
$HUMID,1524
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,26.00
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,375.9,61.6
$24V_AH,24.4,27.723
$10V_AH,10.8,17.178
$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,22.150,57.800,638.150,0.000,0.000,48.632,64.073,251.901,4.750,0.000,0.000,36.194,0.000,4529.659,644.998,2632.918,530.146,0.000,1632.068,0.000,2250.647,0.000,23.076,0.000
$DEVICE_MAMPS,207.857,68.263,1019.343,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,816.465,949.637,1589.032,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66377,1218
$CAP_FILE_SIZE,104760,0
$CFSIZE,260165632,248229888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151, 76.0,1
$GPS,080609,044640,2523.530,12227.274,9,2.3,28,-3.7