version: 66.04
glider: 164
mission: 3
dive: 141
start: 6 8 109 22 52 50
data:
$ID,164
$MISSION,3
$DIVE,141
$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,-35942.465
$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,53
$R_STBD_OVSHOOT,44
$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
$GPS1,224706,2522.662,12232.120,26,1.0,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-59.1
$GPS2,225244,2522.789,12232.175,13,1.8,13,-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,141.9,48478,-15.7,-10.000
$D_GRID,558
$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,-194.7,0.0,0.0,0,97,0.00,0.00,-83.25,0.000,2,0.000,0.000,115,1446,2766
$GC,99,-0.99,-194.7,3.1,-6.5,13,132,8.20,2.20,-20.20,0.000,4,0.196,0.050,2409,2880,3744
$GC,173,-0.51,-194.7,22.7,-26.4,26,180,0.50,2.10,0.00,0.000,6,0.127,0.031,2572,1481,3745
$GC,500,-0.51,-194.7,61.6,-10.1,87,507,0.00,2.10,0.00,0.000,4,0.000,0.038,2570,2875,3747
$GC,528,-0.57,-194.7,64.3,-10.2,92,535,0.00,2.10,0.00,0.000,6,0.000,0.031,2570,1470,3747
$GC,854,-0.67,-194.7,101.9,-12.5,153,860,0.12,0.00,0.00,0.000,6,0.067,0.000,2501,1470,3748
$GC,1180,-0.58,-194.7,150.6,-14.1,214,1186,0.17,2.10,0.00,0.000,4,0.123,0.036,2553,2883,3750
$GC,1309,-0.73,-194.7,162.6,-8.7,238,1315,0.08,2.08,0.00,0.000,6,0.025,0.030,2482,1480,3750
$GC,1635,-0.65,-194.7,202.9,-10.8,299,1642,0.17,2.08,0.00,0.000,4,0.127,0.035,2535,2878,3750
$GC,1701,-0.79,-194.7,208.1,-6.8,311,1708,0.15,2.00,0.00,0.000,6,0.056,0.029,2459,1498,3750
$GC,2027,-0.67,-194.7,247.3,-12.5,372,2034,0.22,2.05,0.00,0.000,4,0.122,0.036,2530,2877,3750
$GC,2097,-0.83,-194.7,253.5,-8.2,385,2103,0.12,2.03,0.00,0.000,6,0.044,0.030,2455,1506,3750
$GC,2423,-0.71,-194.7,299.4,-16.1,446,2431,0.20,1.95,0.00,0.000,4,0.124,0.043,2517,211,3750
$GC,2483,-0.75,-194.7,307.0,-11.9,452,2490,0.00,1.92,0.00,0.000,6,0.000,0.029,2517,1523,3750
$GC,2800,-0.83,-194.7,337.2,-7.6,483,2803,0.12,1.95,0.00,0.000,4,0.071,0.041,2455,218,3749
$GC,2911,-0.70,-194.7,348.9,-10.4,493,2917,0.17,1.90,0.00,0.000,6,0.120,0.030,2515,1506,3749
$GC,3226,-0.79,-194.7,367.3,-5.7,524,3230,0.00,2.03,0.00,0.000,4,0.000,0.038,2516,2866,3747
$GC,3290,-0.94,-194.7,370.2,-4.7,530,3294,0.17,2.03,0.00,0.000,6,0.042,0.031,2420,1502,3747
$GC,3611,-0.78,-194.7,403.9,-11.9,561,3615,0.22,1.92,0.00,0.000,4,0.130,0.044,2489,208,3745
$GC,3749,-0.78,-194.7,418.8,-10.9,574,3754,0.00,1.90,0.00,0.000,6,0.000,0.029,2489,1499,3745
$GC,4071,-0.78,-194.7,448.4,-9.1,605,4074,0.00,2.05,0.00,0.000,4,0.000,0.040,2488,2871,3743
$GC,4172,-0.85,-194.7,457.4,-8.7,614,4178,0.00,2.05,0.00,0.000,6,0.000,0.032,2489,1498,3742
$GC,4487,-0.90,-194.7,485.3,-8.6,645,4491,0.12,2.05,0.00,0.000,4,0.070,0.040,2430,2863,3740
$GC,4534,-0.90,-194.7,490.2,-10.2,649,4541,0.00,2.03,0.00,0.000,6,0.000,0.033,2430,1510,3739
$GC,4847,-0.82,-194.7,525.7,-11.3,669,4851,0.17,1.98,0.00,0.000,4,0.133,0.048,2482,220,3738
$STATE,4935,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4935,begin apogee
$GC,4941,-0.24,0.0,535.2,10.7,673,5098,0.52,0.00,154.62,1.121,6,0.112,0.000,2663,1592,2947
$STATE,5099,end apogee,CONTROL_FINISHED_OK
$STATE,5099,begin climb
$GC,5100,0.99,194.7,542.2,0.0,681,5263,1.10,2.25,156.50,1.095,4,0.064,0.051,3057,217,2155
$GC,5380,0.56,194.7,505.9,19.8,693,5385,0.43,2.10,0.00,0.000,6,0.160,0.035,2930,1566,2150
$GC,5701,0.51,194.7,470.4,10.5,722,5704,0.00,2.12,0.00,0.000,4,0.000,0.051,2929,217,2146
$GC,5764,0.46,194.7,463.7,10.1,728,5769,0.10,2.08,0.00,0.000,6,0.135,0.038,2895,1569,2145
$GC,6086,0.54,213.4,434.7,9.4,759,6109,0.00,2.22,14.75,0.999,4,0.000,0.044,2895,2989,2075
$GC,6198,0.61,223.8,424.2,9.6,769,6216,0.10,2.15,9.95,0.934,6,0.058,0.038,2952,1588,2034
$GC,6524,0.51,223.8,383.7,13.2,801,6528,0.15,2.15,0.00,0.000,4,0.150,0.052,2910,211,2030
$GC,6593,0.56,224.4,376.4,10.0,807,6601,0.00,2.05,0.00,0.000,6,0.000,0.038,2910,1548,2029
$GC,6910,0.68,278.2,350.6,8.1,838,6959,0.15,2.15,45.00,1.016,4,0.061,0.051,2984,210,1811
$GC,7013,0.52,278.2,336.9,15.1,847,7017,0.25,2.05,0.00,0.000,6,0.146,0.037,2915,1544,1805
$GC,7328,0.74,379.6,311.3,6.5,877,7418,0.20,2.15,84.00,0.980,4,0.058,0.051,3004,218,1397
$GC,7486,0.55,379.6,288.3,17.6,897,7492,0.25,2.05,0.00,0.000,6,0.146,0.037,2928,1523,1389
$GC,7812,0.70,396.7,255.7,9.4,958,7832,0.12,2.10,13.77,0.871,4,0.072,0.053,2986,220,1326
$GC,7868,0.60,396.7,247.7,16.1,968,7875,0.15,2.03,0.00,0.000,6,0.141,0.038,2940,1530,1324
$GC,8196,0.73,396.7,210.5,11.2,1029,8201,0.12,2.20,0.00,0.000,4,0.069,0.043,2999,2985,1321
$GC,8227,0.69,396.7,205.8,16.6,1035,8235,0.10,2.22,0.00,0.000,6,0.150,0.039,2969,1538,1321
$GC,8555,0.91,508.4,167.2,6.1,1096,8655,0.20,0.00,93.10,0.867,6,0.056,0.000,3060,1538,873
$GC,8975,0.79,508.4,85.6,16.8,1172,8980,0.20,0.00,0.00,0.000,6,0.134,0.000,3001,1538,864
$GC,9300,1.11,540.9,52.7,8.9,1233,9332,0.28,0.00,26.83,0.750,6,0.041,0.000,3133,1538,741
$STATE,9554,end climb,SURFACE_DEPTH_REACHED
$STATE,9554,begin surface coast
$FINISH,0.8,1.021843
$STATE,9565,end surface coast,CONTROL_FINISHED_OK
$STATE,9565,begin surface
$SM_CCo,9638,0.00,0.000,0,0,735,542.60
$SM_GC,0.87,7.68,0.00,0.00,0.027,0.000,0.000,115,1448,735,-8.14,-0.65,542.60
$IRIDIUM_FIX,2512.73,12233.94,020998,202035
$TT8_MAMPS,0.049855
$HUMID,1557
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,25.50
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,475.6,84.5
$24V_AH,24.2,29.140
$10V_AH,10.7,18.112
$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,23.050,82.800,598.525,0.000,0.000,29.156,32.453,182.193,9.000,0.000,0.000,14.751,0.000,5954.662,680.234,2897.655,423.684,0.000,1771.658,0.000,2485.214,0.000,26.833,0.000
$DEVICE_MAMPS,195.585,79.768,1120.587,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,863.401,929.559,1556.111,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72635,1282
$CAP_FILE_SIZE,121803,0
$CFSIZE,260165632,247668736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.327,326.7,1
$GPS,090609,013356,2523.031,12232.255,9,1.6,10,-3.7