version: 66.04
glider: 164
mission: 3
dive: 148
start: 6 9 109 18 5 43
data:
$ID,164
$MISSION,3
$DIVE,148
$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,275
$T_MISSION,330
$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,250
$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,-36133.523
$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,29
$R_STBD_OVSHOOT,38
$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
$GPS1,175952,2521.619,12233.944,8,99.0,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-65.6
$GPS2,180537,2521.878,12233.938,37,1.0,37,-3.7
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,138.9,70343,-16.4,-12.000
$D_GRID,607
$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,-1.08,-243.4,0.0,0.0,0,98,0.00,0.00,-84.32,0.000,2,0.000,0.000,111,1508,2801
$GC,100,-1.08,-243.4,3.4,-8.3,13,139,8.38,2.10,-21.80,0.000,4,0.209,0.052,2380,2880,3944
$GC,192,-0.65,-243.4,31.9,-30.7,29,198,0.43,2.15,0.00,0.000,6,0.133,0.031,2534,1453,3946
$GC,518,-0.65,-243.4,83.8,-12.1,90,524,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1453,3947
$GC,844,-0.72,-243.4,122.5,-9.6,151,850,0.00,2.15,0.00,0.000,4,0.000,0.038,2534,2879,3949
$GC,919,-0.85,-243.4,129.5,-10.0,165,925,0.15,2.10,0.00,0.000,6,0.042,0.031,2450,1471,3950
$GC,1245,-0.71,-243.4,178.8,-14.1,226,1253,0.20,2.12,0.00,0.000,4,0.126,0.039,2511,2886,3951
$GC,1279,-0.81,-243.4,182.8,-10.8,232,1285,0.00,2.10,0.00,0.000,6,0.000,0.031,2511,1473,3951
$GC,1605,-0.89,-243.4,214.4,-10.3,293,1611,0.15,2.08,0.00,0.000,4,0.058,0.038,2435,2884,3951
$GC,1669,-0.83,-243.4,223.0,-13.5,305,1675,0.10,2.08,0.00,0.000,6,0.122,0.031,2471,1489,3951
$GC,1994,-0.83,-243.4,265.8,-13.1,366,1995,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1489,3951
$GC,2315,-0.83,-243.4,301.4,-9.7,425,2319,0.00,2.10,0.00,0.000,4,0.000,0.039,2471,2885,3951
$GC,2432,-0.91,-243.4,312.3,-9.6,436,2436,0.00,2.05,0.00,0.000,6,0.000,0.032,2471,1508,3950
$GC,2754,-0.96,-243.4,349.7,-12.9,467,2761,0.12,2.05,0.00,0.000,4,0.068,0.039,2408,2886,3949
$GC,2787,-0.87,-243.4,354.9,-16.3,470,2791,0.15,2.05,0.00,0.000,6,0.120,0.033,2460,1515,3949
$GC,3108,-0.87,-243.4,400.5,-14.7,501,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1515,3947
$GC,3420,-0.87,-243.4,441.4,-12.7,531,3423,0.00,1.98,0.00,0.000,4,0.000,0.048,2460,208,3944
$GC,3440,-0.87,-243.4,444.2,-12.8,533,3444,0.00,1.98,0.00,0.000,6,0.000,0.032,2460,1537,3944
$GC,3760,-0.91,-243.4,479.5,-10.9,564,3764,0.00,2.03,0.00,0.000,4,0.000,0.042,2460,2879,3942
$GC,3819,-1.01,-243.4,485.2,-9.8,569,3825,0.10,2.03,0.00,0.000,6,0.056,0.035,2401,1530,3942
$GC,4132,-0.90,-243.4,530.1,-14.4,590,4135,0.17,2.03,0.00,0.000,4,0.137,0.043,2452,2878,3939
$GC,4179,-0.99,-243.4,535.7,-10.6,592,4183,0.00,2.00,0.00,0.000,6,0.000,0.035,2452,1550,3939
$GC,4500,-1.03,-243.4,570.0,-10.9,608,4504,0.12,2.03,0.00,0.000,4,0.067,0.044,2392,2877,3936
$GC,4521,-1.03,-243.4,572.5,-12.5,609,4525,0.00,2.00,0.00,0.000,6,0.000,0.036,2392,1551,3936
$STATE,4684,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4684,begin apogee
$GC,4687,-0.24,0.0,595.3,13.3,617,4887,0.85,0.00,194.73,1.182,6,0.120,0.000,2669,1551,2947
$STATE,4888,end apogee,CONTROL_FINISHED_OK
$STATE,4888,begin climb
$GC,4889,1.08,243.4,606.0,0.0,627,5098,1.20,2.20,198.48,1.147,4,0.063,0.051,3095,220,1952
$GC,5133,0.60,243.4,571.6,24.4,638,5141,0.52,2.17,0.00,0.000,6,0.171,0.037,2945,1579,1949
$GC,5444,0.54,243.4,529.0,12.5,654,5448,0.00,2.17,0.00,0.000,4,0.000,0.044,2946,2981,1943
$GC,5465,0.46,243.4,526.4,12.7,655,5469,0.15,2.15,0.00,0.000,6,0.142,0.039,2895,1594,1943
$GC,5784,0.64,301.5,494.5,10.1,673,5834,0.15,0.00,47.97,1.095,6,0.067,0.000,2959,1594,1716
$GC,6142,0.57,301.5,442.8,14.1,708,6147,0.12,2.17,0.00,0.000,4,0.153,0.045,2926,2986,1706
$GC,6196,0.57,301.5,435.7,13.0,713,6200,0.00,2.20,0.00,0.000,6,0.000,0.040,2929,1568,1704
$GC,6518,0.59,316.9,397.7,11.5,744,6533,0.00,2.12,12.30,0.977,4,0.000,0.054,2928,211,1653
$GC,6656,0.77,416.8,384.5,8.7,756,6750,0.12,2.08,86.55,1.044,6,0.043,0.040,3011,1554,1245
$GC,7059,0.58,416.8,312.7,18.8,795,7063,0.28,2.20,0.00,0.000,4,0.150,0.045,2933,2991,1233
$GC,7106,0.66,416.8,306.1,12.4,799,7114,0.00,2.20,0.00,0.000,6,0.000,0.040,2934,1572,1232
$GC,7431,0.79,416.8,269.0,13.2,855,7438,0.20,0.00,0.00,0.000,6,0.059,0.000,3024,1571,1230
$GC,7757,0.60,416.8,195.5,23.8,916,7764,0.30,2.10,0.00,0.000,4,0.144,0.052,2936,227,1228
$GC,7822,0.75,416.8,185.0,13.3,928,7828,0.10,2.05,0.00,0.000,6,0.055,0.040,2998,1563,1227
$GC,8148,0.75,416.8,132.2,16.7,989,8154,0.00,2.17,0.00,0.000,4,0.000,0.043,2999,2987,1227
$GC,8222,0.75,416.8,120.2,17.0,1003,8230,0.00,2.10,0.00,0.000,6,0.000,0.038,2999,1610,1227
$GC,8550,0.82,472.5,74.3,10.2,1064,8600,0.00,2.20,43.97,0.809,4,0.000,0.051,2999,211,1019
$GC,8675,1.04,517.0,61.2,10.5,1086,8720,0.22,2.10,37.97,0.781,6,0.049,0.038,3104,1585,838
$STATE,8995,end climb,SURFACE_DEPTH_REACHED
$STATE,8996,begin surface coast
$FINISH,-0.1,0.999622
$STATE,9018,end surface coast,CONTROL_FINISHED_OK
$STATE,9018,begin surface
$SM_CCo,9092,0.00,0.000,0,0,828,519.79
$SM_GC,0.81,7.70,0.00,0.00,0.031,0.000,0.000,106,1457,828,-8.15,-0.40,519.79
$IRIDIUM_FIX,2507.97,11937.59,030998,151530
$TT8_MAMPS,0.051389
$HUMID,1613
$INTERNAL_PRESSURE,8.94812
$TCM_TEMP,24.50
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,527.0,91.9
$24V_AH,24.0,30.544
$10V_AH,10.7,18.899
$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,22.000,75.750,621.975,0.000,0.000,26.842,36.572,164.731,7.250,0.000,0.000,39.609,0.000,5734.171,705.966,2586.349,392.473,0.000,1671.286,0.000,2187.328,0.000,27.204,0.000
$DEVICE_MAMPS,208.624,63.661,1181.947,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,775.433,844.860,1413.658,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,66401,1149
$CAP_FILE_SIZE,107854,0
$CFSIZE,260165632,247209984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,315.9,1
$GPS,090609,203804,2520.847,12234.583,10,2.2,30,-3.7