version: 66.04
glider: 164
mission: 3
dive: 140
start: 6 8 109 20 13 2
data:
$ID,164
$MISSION,3
$DIVE,140
$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,-35927.09
$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,42
$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
$GPS1,200707,2523.239,12231.492,30,1.2,31,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-66.6
$GPS2,201256,2523.436,12231.563,13,1.1,13,-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,158.1,49936,-15.7,-10.000
$D_GRID,542
$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,-194.7,0.0,0.0,0,70,0.00,0.00,-55.85,0.000,2,0.000,0.000,110,1448,2838
$GC,71,-0.99,-194.7,3.5,-6.7,8,103,8.27,0.00,-17.98,0.000,6,0.197,0.000,2423,1449,3743
$GC,423,-0.60,-194.7,85.2,-19.4,73,430,0.40,0.00,0.00,0.000,6,0.132,0.000,2549,1448,3746
$GC,750,-0.64,-194.7,113.5,-7.9,134,756,0.00,2.12,0.00,0.000,4,0.000,0.037,2549,2874,3748
$GC,814,-0.77,-194.7,118.3,-7.2,146,820,0.12,2.08,0.00,0.000,6,0.042,0.030,2473,1471,3748
$GC,1140,-0.63,-194.7,157.6,-9.7,207,1147,0.22,2.12,0.00,0.000,4,0.118,0.035,2544,2887,3750
$GC,1162,-0.63,-194.7,159.7,-10.1,211,1168,0.00,2.10,0.00,0.000,6,0.000,0.031,2544,1474,3750
$GC,1488,-0.73,-194.7,184.7,-7.3,272,1494,0.10,0.00,0.00,0.000,6,0.071,0.000,2487,1474,3751
$GC,1814,-0.69,-194.7,226.9,-14.9,333,1821,0.12,2.08,0.00,0.000,4,0.128,0.037,2523,2890,3750
$GC,1873,-0.83,-194.7,234.5,-12.0,344,1880,0.10,2.08,0.00,0.000,6,0.047,0.030,2458,1487,3750
$GC,2200,-0.73,-194.7,279.9,-13.4,405,2207,0.17,1.90,0.00,0.000,4,0.126,0.043,2512,226,3750
$GC,2248,-0.73,-194.7,285.5,-10.5,414,2255,0.00,1.88,0.00,0.000,6,0.000,0.031,2511,1500,3750
$GC,2575,-0.79,-194.7,310.9,-5.1,460,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2512,1501,3749
$GC,2887,-0.85,-194.7,325.1,-5.6,490,2890,0.12,2.03,0.00,0.000,4,0.068,0.036,2448,2880,3747
$GC,2918,-0.82,-194.7,327.3,-7.3,493,2922,0.08,2.05,0.00,0.000,6,0.127,0.031,2476,1498,3747
$GC,3238,-0.82,-194.7,356.4,-10.5,524,3239,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1497,3746
$GC,3548,-0.82,-194.7,393.3,-13.6,554,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1498,3744
$GC,3860,-0.82,-194.7,429.7,-10.8,584,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1497,3743
$GC,4170,-0.82,-194.7,461.3,-9.5,614,4173,0.00,2.05,0.00,0.000,4,0.000,0.040,2476,2874,3741
$GC,4245,-0.87,-194.7,468.2,-9.3,621,4248,0.00,2.05,0.00,0.000,6,0.000,0.032,2476,1480,3739
$GC,4565,-0.87,-194.7,498.9,-9.6,652,4569,0.00,2.10,0.00,0.000,4,0.000,0.040,2476,2890,3738
$GC,4618,-0.95,-194.7,503.6,-8.6,655,4622,0.08,2.10,0.00,0.000,6,0.062,0.034,2428,1491,3738
$STATE,4789,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4790,begin apogee
$GC,4793,-0.24,0.0,522.5,11.5,664,4954,0.73,0.00,154.50,1.108,6,0.115,0.000,2666,1581,2946
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4956,0.99,194.7,527.9,0.0,672,5119,1.10,2.22,155.82,1.080,4,0.071,0.039,3056,2974,2152
$GC,5150,0.58,194.7,507.7,17.5,681,5155,0.40,2.20,0.00,0.000,6,0.160,0.036,2939,1588,2149
$GC,5466,0.50,200.0,476.4,9.8,708,5478,0.12,0.00,4.93,0.729,6,0.154,0.000,2904,1588,2131
$GC,5786,0.65,323.6,454.3,5.7,739,5893,0.15,0.00,102.40,1.058,6,0.072,0.000,2965,1588,1626
$GC,6200,0.52,323.6,397.8,12.1,779,6204,0.20,2.15,0.00,0.000,4,0.143,0.041,2908,2977,1615
$GC,6248,0.71,417.2,394.0,6.8,783,6333,0.15,2.12,78.85,1.019,6,0.050,0.037,2986,1590,1245
$GC,6641,0.49,417.2,326.3,20.8,821,6645,0.30,2.12,0.00,0.000,4,0.153,0.049,2902,215,1234
$GC,6672,0.49,417.2,321.2,14.7,824,6676,0.00,2.08,0.00,0.000,6,0.000,0.038,2902,1562,1232
$GC,6990,0.82,490.1,295.9,7.5,859,7058,0.28,2.17,61.38,0.959,4,0.049,0.050,3028,215,946
$GC,7095,0.56,490.1,275.0,24.4,877,7101,0.30,2.12,0.00,0.000,6,0.146,0.037,2925,1573,942
$GC,7421,0.88,560.0,241.0,7.6,938,7489,0.28,2.22,59.03,0.913,4,0.045,0.050,3051,218,662
$GC,7542,0.62,560.0,213.6,26.9,959,7548,0.38,2.05,0.00,0.000,6,0.146,0.035,2943,1556,658
$GC,7868,0.89,560.1,174.5,10.0,1020,7875,0.25,2.17,0.00,0.000,4,0.048,0.041,3058,2981,654
$GC,7912,0.76,560.1,166.1,22.2,1028,7920,0.20,2.17,0.00,0.000,6,0.148,0.037,2994,1562,654
$GC,8240,0.76,560.1,111.0,14.9,1089,8246,0.00,2.10,0.00,0.000,4,0.000,0.049,2998,210,652
$GC,8256,0.76,560.1,108.5,15.4,1092,8263,0.00,2.05,0.00,0.000,6,0.000,0.037,2998,1557,652
$GC,8583,0.98,571.0,68.3,9.6,1153,8596,0.17,2.12,8.85,0.690,4,0.054,0.048,3093,210,618
$GC,8638,0.87,571.0,59.9,17.6,1163,8645,0.20,2.00,0.00,0.000,6,0.140,0.035,3028,1536,617
$GC,8965,1.19,624.5,25.8,8.2,1224,8999,0.28,2.25,27.30,0.730,4,0.042,0.038,3157,2991,488
$GC,9024,1.00,624.5,15.3,21.5,1234,9031,0.30,2.25,0.00,0.000,6,0.143,0.033,3070,1521,487
$STATE,9103,end climb,SURFACE_DEPTH_REACHED
$STATE,9103,begin surface coast
$FINISH,0.2,1.021857
$STATE,9126,end surface coast,CONTROL_FINISHED_OK
$STATE,9126,begin surface
$SM_CCo,9199,0.00,0.000,0,0,483,604.42
$SM_GC,0.72,7.53,0.00,0.00,0.028,0.000,0.000,115,1448,483,-8.15,-0.65,604.42
$IRIDIUM_FIX,2512.73,12154.26,020998,171747
$TT8_MAMPS,0.049088
$HUMID,1547
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,25.60
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,450.1,96.8
$24V_AH,24.2,28.955
$10V_AH,10.7,17.995
$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,23.100,67.475,653.050,0.000,0.000,31.617,31.886,189.794,7.250,0.000,0.000,16.010,0.000,5697.277,698.990,2712.684,417.020,0.000,1708.338,0.000,2320.100,0.000,24.475,0.000
$DEVICE_MAMPS,197.119,106.613,1108.315,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,844.258,935.636,1567.527,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,69459,1253
$CAP_FILE_SIZE,112617,0
$CFSIZE,260165632,247750656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125,356.9,1
$GPS,080609,224706,2522.662,12232.120,26,1.0,27,-3.7