version: 66.04
glider: 164
mission: 3
dive: 143
start: 6 9 109 4 31 36
data:
$ID,164
$MISSION,3
$DIVE,143
$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,-35992.066
$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,34
$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
$GPS1,042536,2522.809,12232.208,33,1.2,34,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-64.3
$GPS2,043131,2523.024,12232.292,8,1.3,13,-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,137.1,48501,-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,-194.7,0.0,0.0,0,78,0.00,0.00,-64.28,0.000,2,0.000,0.000,110,1504,2807
$GC,80,-0.99,-194.7,3.6,-7.7,10,112,8.23,2.08,-18.52,0.000,4,0.195,0.050,2415,2887,3743
$GC,186,-0.58,-194.7,33.5,-27.7,29,193,0.40,2.15,0.00,0.000,6,0.154,0.031,2548,1458,3745
$GC,512,-0.51,-194.7,85.8,-12.9,90,519,0.10,2.12,0.00,0.000,4,0.134,0.038,2578,2874,3746
$GC,625,-0.62,-194.7,95.0,-7.3,111,632,0.00,2.05,0.00,0.000,6,0.000,0.030,2578,1498,3747
$GC,952,-0.75,-194.7,119.4,-8.5,172,959,0.22,2.08,0.00,0.000,4,0.044,0.036,2471,2887,3748
$GC,1001,-0.66,-194.7,126.2,-15.6,181,1007,0.15,2.08,0.00,0.000,6,0.114,0.030,2526,1487,3749
$GC,1327,-0.66,-194.7,168.2,-9.3,242,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1487,3750
$GC,1653,-0.71,-194.7,195.1,-8.6,303,1659,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,1487,3751
$GC,1979,-0.77,-194.7,225.6,-9.4,364,1985,0.00,2.08,0.00,0.000,4,0.000,0.037,2525,2876,3751
$GC,2081,-0.90,-194.7,234.5,-8.6,383,2088,0.17,2.03,0.00,0.000,6,0.041,0.030,2430,1503,3751
$GC,2408,-0.73,-194.7,277.4,-12.9,444,2414,0.25,1.92,0.00,0.000,4,0.123,0.041,2509,208,3751
$GC,2439,-0.73,-194.7,280.5,-8.7,450,2446,0.00,1.92,0.00,0.000,6,0.000,0.030,2509,1509,3751
$GC,2770,-0.79,-194.7,304.1,-7.6,507,2773,0.00,2.03,0.00,0.000,4,0.000,0.038,2509,2869,3750
$GC,2812,-0.91,-194.7,307.2,-7.5,511,2816,0.12,2.03,0.00,0.000,6,0.046,0.031,2432,1500,3750
$GC,3133,-0.77,-194.7,350.5,-14.0,542,3137,0.20,1.90,0.00,0.000,4,0.130,0.043,2493,217,3749
$GC,3169,-0.77,-194.7,355.7,-11.8,545,3176,0.00,1.90,0.00,0.000,6,0.000,0.031,2493,1503,3748
$GC,3485,-0.82,-194.7,394.1,-11.4,576,3486,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1505,3747
$GC,3797,-0.88,-194.7,422.3,-8.8,606,3800,0.00,2.03,0.00,0.000,4,0.000,0.040,2493,2873,3745
$GC,3881,-0.98,-194.7,430.2,-9.4,614,3885,0.15,2.03,0.00,0.000,6,0.047,0.032,2410,1515,3744
$GC,4202,-0.81,-194.7,472.4,-14.2,645,4204,0.25,0.00,0.00,0.000,6,0.132,0.000,2485,1515,3743
$GC,4524,-0.81,-194.7,503.2,-11.3,675,4527,0.00,2.03,0.00,0.000,4,0.000,0.041,2485,2873,3740
$GC,4554,-0.90,-194.7,506.3,-8.8,676,4558,0.00,2.03,0.00,0.000,6,0.000,0.034,2485,1522,3739
$GC,4870,-0.98,-194.7,536.1,-9.2,692,4874,0.17,2.03,0.00,0.000,4,0.060,0.041,2404,2862,3737
$GC,4907,-0.85,-194.7,540.3,-11.8,693,4913,0.17,2.00,0.00,0.000,6,0.124,0.035,2464,1528,3736
$STATE,4951,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4951,begin apogee
$GC,4955,-0.24,0.0,545.3,11.0,696,5115,0.60,0.00,154.98,1.143,6,0.110,0.000,2664,1528,2947
$STATE,5115,end apogee,CONTROL_FINISHED_OK
$STATE,5115,begin climb
$GC,5117,0.99,194.7,550.9,0.0,704,5281,1.10,2.33,156.70,1.111,4,0.072,0.039,3051,2976,2152
$GC,5306,0.59,194.7,534.3,16.1,712,5311,0.38,2.22,0.00,0.000,6,0.166,0.037,2943,1587,2148
$GC,5628,0.46,194.7,497.7,10.9,728,5629,0.17,0.00,0.00,0.000,6,0.151,0.000,2893,1587,2144
$GC,5939,0.51,206.6,470.0,9.6,758,5953,0.00,2.15,9.65,0.949,4,0.000,0.041,2893,2970,2103
$GC,5985,0.55,206.6,465.2,10.6,762,5993,0.00,2.12,0.00,0.000,6,0.000,0.037,2893,1588,2102
$GC,6303,0.74,297.9,439.2,6.9,793,6383,0.22,2.22,75.78,1.075,4,0.059,0.051,2998,213,1730
$GC,6494,0.53,297.9,410.9,15.5,810,6501,0.25,2.10,0.00,0.000,6,0.152,0.035,2921,1562,1722
$GC,6810,0.55,314.2,379.9,9.4,841,6824,0.00,0.00,12.93,0.958,6,0.000,0.000,2921,1562,1666
$GC,7131,0.60,320.8,347.5,9.8,872,7143,0.00,0.00,6.18,0.801,6,0.000,0.000,2921,1562,1640
$GC,7452,0.65,320.8,313.5,11.5,903,7455,0.00,2.10,0.00,0.000,4,0.000,0.051,2921,204,1637
$GC,7499,0.72,320.8,308.0,11.5,907,7505,0.12,2.10,0.00,0.000,6,0.057,0.038,2986,1578,1637
$GC,7823,0.60,320.8,257.4,13.7,963,7829,0.17,2.12,0.00,0.000,4,0.153,0.042,2939,2979,1636
$GC,7882,0.67,334.7,251.2,9.5,974,7901,0.00,2.12,13.18,0.895,6,0.000,0.038,2938,1586,1581
$GC,8221,0.81,380.7,221.8,8.4,1037,8269,0.20,0.00,39.92,0.920,6,0.055,0.000,3031,1586,1392
$GC,8590,0.66,380.7,156.2,15.9,1105,8596,0.22,2.12,0.00,0.000,4,0.137,0.049,2961,212,1383
$GC,8616,0.66,380.7,152.4,14.0,1110,8623,0.00,2.10,0.00,0.000,6,0.000,0.038,2961,1580,1382
$GC,8943,0.85,412.9,119.3,8.9,1171,8975,0.15,2.15,26.23,0.817,4,0.058,0.048,3038,204,1263
$GC,9006,0.73,412.9,111.1,16.2,1182,9013,0.15,2.12,0.00,0.000,6,0.124,0.035,2987,1582,1260
$GC,9333,0.91,441.2,81.4,9.0,1243,9359,0.15,0.00,24.52,0.772,6,0.059,0.000,3066,1582,1148
$GC,9679,0.86,441.2,28.6,14.5,1307,9685,0.17,2.12,0.00,0.000,4,0.136,0.048,3015,215,1140
$GC,9738,1.02,441.2,22.2,10.2,1318,9745,0.12,2.05,0.00,0.000,6,0.044,0.035,3094,1569,1140
$STATE,9908,end climb,SURFACE_DEPTH_REACHED
$STATE,9908,begin surface coast
$FINISH,0.2,1.005604
$STATE,9935,end surface coast,CONTROL_FINISHED_OK
$STATE,9935,begin surface
$SM_CCo,10009,0.00,0.000,0,0,1137,443.99
$SM_GC,0.86,7.60,0.00,0.00,0.032,0.000,0.000,109,1443,1137,-8.16,-0.79,443.99
$IRIDIUM_FIX,2515.12,12231.93,030998,010126
$TT8_MAMPS,0.049855
$HUMID,1549
$INTERNAL_PRESSURE,9.01648
$TCM_TEMP,25.80
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,450.9,118.5
$24V_AH,24.1,29.480
$10V_AH,10.7,18.360
$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,22.400,74.900,520.050,0.000,0.000,30.024,33.155,193.635,6.750,0.000,0.000,15.746,0.000,6341.353,604.157,2955.786,439.299,0.000,1681.640,0.000,2529.306,0.000,22.300,0.000
$DEVICE_MAMPS,194.818,60.593,1142.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,915.035,1003.270,1680.432,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75890,1355
$CAP_FILE_SIZE,123206,0
$CFSIZE,260165632,247521280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088, 63.4,1
$GPS,090609,071856,2522.109,12233.942,12,2.0,13,-3.7