version: 66.04
glider: 164
mission: 3
dive: 142
start: 6 9 109 1 40 28
data:
$ID,164
$MISSION,3
$DIVE,142
$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,-35975.691
$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,48
$R_STBD_OVSHOOT,40
$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
$GPS1,013356,2523.031,12232.255,9,1.6,10,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-62.9
$GPS2,014022,2523.225,12232.251,10,99.0,29,-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,153.8,48734,-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,-194.7,0.0,0.0,0,86,0.00,0.00,-72.38,0.000,2,0.000,0.000,115,1446,2709
$GC,88,-0.99,-194.7,3.0,-7.1,11,126,8.32,2.20,-21.73,0.000,4,0.199,0.051,2415,2885,3744
$GC,146,-0.52,-194.7,17.2,-26.0,21,154,0.47,2.12,0.00,0.000,6,0.133,0.032,2570,1479,3745
$GC,474,-0.52,-194.7,61.9,-13.2,82,480,0.00,2.12,0.00,0.000,4,0.000,0.038,2570,2885,3747
$GC,538,-0.59,-194.7,68.9,-10.5,94,544,0.00,2.10,0.00,0.000,6,0.000,0.031,2569,1476,3747
$GC,864,-0.68,-194.7,105.0,-10.7,155,870,0.15,0.00,0.00,0.000,6,0.060,0.000,2491,1476,3749
$GC,1190,-0.59,-194.7,154.5,-14.2,216,1196,0.20,2.10,0.00,0.000,4,0.123,0.037,2553,2884,3751
$GC,1276,-0.75,-194.7,161.5,-6.1,232,1282,0.10,2.08,0.00,0.000,6,0.045,0.031,2486,1482,3751
$GC,1602,-0.69,-194.7,185.8,-8.0,293,1610,0.12,2.08,0.00,0.000,4,0.130,0.037,2522,2877,3751
$GC,1689,-0.79,-194.7,191.0,-6.2,309,1696,0.00,2.03,0.00,0.000,6,0.000,0.031,2522,1510,3751
$GC,2016,-0.86,-194.7,216.5,-6.2,370,2023,0.15,2.05,0.00,0.000,4,0.056,0.038,2445,2884,3752
$GC,2043,-0.79,-194.7,219.0,-9.8,375,2049,0.12,2.03,0.00,0.000,6,0.116,0.032,2489,1518,3752
$GC,2368,-0.79,-194.7,254.7,-12.4,436,2369,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1518,3751
$GC,2689,-0.79,-194.7,293.3,-12.1,496,2696,0.00,1.98,0.00,0.000,4,0.000,0.044,2489,216,3751
$GC,2839,-0.79,-194.7,311.9,-12.0,515,2843,0.00,1.92,0.00,0.000,6,0.000,0.031,2489,1517,3751
$GC,3160,-0.79,-194.7,344.2,-9.9,546,3164,0.00,2.03,0.00,0.000,4,0.000,0.039,2489,2874,3748
$GC,3181,-0.83,-194.7,346.2,-9.4,548,3185,0.00,2.05,0.00,0.000,6,0.000,0.032,2489,1499,3749
$GC,3503,-0.87,-194.7,372.6,-8.2,579,3506,0.00,1.92,0.00,0.000,4,0.000,0.046,2489,210,3747
$GC,3576,-0.87,-194.7,379.9,-10.7,586,3581,0.00,1.90,0.00,0.000,6,0.000,0.031,2489,1495,3747
$GC,3899,-0.92,-194.7,411.7,-10.3,617,3902,0.12,2.05,0.00,0.000,4,0.068,0.039,2428,2880,3745
$GC,4016,-0.86,-194.7,426.8,-13.0,628,4020,0.12,2.05,0.00,0.000,6,0.133,0.035,2464,1496,3744
$GC,4336,-0.86,-194.7,460.9,-10.1,659,4340,0.00,1.95,0.00,0.000,4,0.000,0.047,2464,217,3743
$GC,4453,-0.81,-194.7,473.6,-11.1,670,4458,0.00,1.92,0.00,0.000,6,0.000,0.032,2464,1509,3742
$GC,4785,-0.81,-194.7,506.1,-9.5,699,4788,0.00,1.98,0.00,0.000,4,0.000,0.048,2464,211,3739
$GC,4810,-0.81,-194.7,508.8,-10.5,700,4814,0.00,1.92,0.00,0.000,6,0.000,0.032,2464,1499,3739
$STATE,4947,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4947,begin apogee
$GC,4951,-0.24,0.0,522.1,10.0,707,5111,0.60,0.00,154.60,1.121,6,0.109,0.000,2665,1581,2947
$STATE,5111,end apogee,CONTROL_FINISHED_OK
$STATE,5111,begin climb
$GC,5113,0.99,194.7,528.5,0.0,715,5277,1.10,2.25,156.77,1.092,4,0.071,0.041,3055,2986,2152
$GC,5313,0.57,194.7,508.6,20.7,723,5321,0.43,2.22,0.00,0.000,6,0.165,0.038,2932,1592,2148
$GC,5629,0.48,194.7,469.2,11.6,751,5632,0.12,2.15,0.00,0.000,4,0.153,0.051,2897,209,2144
$GC,5819,0.61,259.2,453.2,7.8,768,5875,0.10,2.05,51.85,1.062,6,0.056,0.037,2952,1547,1890
$GC,6186,0.51,259.2,415.2,12.8,803,6189,0.15,2.10,0.00,0.000,4,0.152,0.053,2911,203,1880
$GC,6243,0.56,259.2,408.4,10.6,808,6250,0.00,2.08,0.00,0.000,6,0.000,0.038,2911,1550,1879
$GC,6560,0.60,259.2,372.6,13.1,839,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1550,1876
$GC,6871,0.71,273.1,337.7,9.5,869,6885,0.17,2.10,10.77,0.921,4,0.060,0.054,2992,209,1832
$GC,6965,0.53,273.1,322.4,17.6,877,6971,0.22,2.03,0.00,0.000,6,0.142,0.037,2921,1532,1830
$GC,7284,0.59,273.8,286.4,10.0,919,7291,0.00,2.22,0.00,0.000,4,0.000,0.044,2921,2984,1826
$GC,7333,0.65,274.0,281.6,10.0,928,7340,0.00,2.20,0.00,0.000,6,0.000,0.039,2920,1543,1826
$GC,7660,0.78,315.5,254.1,8.6,989,7703,0.20,2.10,35.53,0.950,4,0.058,0.052,3012,213,1657
$GC,7825,0.57,315.5,229.3,17.0,1019,7832,0.25,2.03,0.00,0.000,6,0.140,0.036,2933,1524,1652
$GC,8152,0.68,326.3,199.2,9.6,1080,8165,0.00,2.28,9.05,0.802,4,0.000,0.042,2933,2985,1616
$GC,8244,0.80,326.3,189.4,10.8,1097,8251,0.15,2.25,0.00,0.000,6,0.048,0.038,3014,1522,1613
$GC,8571,0.69,326.3,139.5,12.0,1158,8577,0.17,2.03,0.00,0.000,4,0.146,0.050,2972,215,1612
$GC,8689,0.80,376.9,129.5,8.3,1180,8740,0.00,1.92,42.62,0.846,6,0.000,0.037,2972,1481,1409
$GC,9061,1.09,468.4,97.1,6.8,1248,9143,0.30,2.35,75.80,0.807,4,0.044,0.039,3114,2985,1035
$GC,9248,0.89,468.4,64.8,18.2,1281,9255,0.25,2.28,0.00,0.000,6,0.150,0.036,3036,1522,1029
$GC,9575,1.01,470.1,30.6,9.9,1342,9581,0.00,2.22,0.00,0.000,4,0.000,0.038,3036,2984,1025
$GC,9607,1.16,478.0,27.5,9.7,1348,9620,0.17,2.25,8.05,0.626,6,0.041,0.035,3134,1507,997
$STATE,9767,end climb,SURFACE_DEPTH_REACHED
$STATE,9767,begin surface coast
$FINISH,0.0,1.020942
$STATE,9783,end surface coast,CONTROL_FINISHED_OK
$STATE,9783,begin surface
$SM_CCo,9856,0.00,0.000,0,0,992,479.56
$SM_GC,0.92,7.65,0.00,0.00,0.027,0.000,0.000,110,1505,992,-8.14,0.93,479.56
$IRIDIUM_FIX,2515.12,12230.65,020998,222230
$TT8_MAMPS,0.050622
$HUMID,1547
$INTERNAL_PRESSURE,9.00672
$TCM_TEMP,25.90
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,425.3,121.7
$24V_AH,24.2,29.312
$10V_AH,10.7,18.238
$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,21.950,87.750,545.050,0.000,0.000,27.072,44.423,202.669,7.250,0.000,0.000,32.600,0.000,6054.878,631.985,3070.919,463.531,0.000,1756.312,0.000,2626.196,0.000,20.648,0.000
$DEVICE_MAMPS,199.420,90.506,1120.587,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,932.110,1030.686,1725.480,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78962,1381
$CAP_FILE_SIZE,125185,0
$CFSIZE,260165632,247586816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,324.2,1
$GPS,090609,042536,2522.809,12232.208,33,1.2,34,-3.7