version: 66.04
glider: 164
mission: 3
dive: 10
start: 5 22 109 12 59 20
data:
$ID,164
$MISSION,3
$DIVE,10
$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,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,425
$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,-33270.488
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23.6
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1559
$C_ROLL_CLIMB,1804
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0.0001158597
$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,0
$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
$GPS1,125230,2533.568,12330.397,36,1.9,36,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-70.7
$GPS2,125914,2533.654,12330.454,13,1.8,13,-3.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12328.200
$TGT_RADIUS,5000.000
$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,303.9,14651,-16.8,-10.000
$D_GRID,751
$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,-0.92,-170.3,0.0,0.0,0,72,0.00,0.00,-58.55,0.000,2,0.000,0.000,112,1558,2872
$GC,74,-0.92,-170.3,3.4,-7.7,9,106,9.02,2.10,-15.12,0.000,4,0.230,0.064,2445,224,3647
$GC,345,-0.44,-170.3,80.1,-26.1,59,352,0.47,2.03,0.00,0.000,6,0.143,0.037,2595,1565,3649
$GC,672,-0.60,-170.3,118.0,-6.6,120,679,0.12,2.08,0.00,0.000,4,0.070,0.048,2537,211,3650
$GC,918,-0.53,-170.3,145.2,-12.1,166,926,0.10,2.00,0.00,0.000,6,0.130,0.037,2571,1551,3651
$GC,1246,-0.71,-170.3,170.7,-8.0,227,1253,0.15,2.03,0.00,0.000,4,0.061,0.048,2500,220,3651
$GC,1492,-0.63,-170.3,203.1,-13.9,273,1498,0.10,1.98,0.00,0.000,6,0.133,0.036,2535,1552,3651
$GC,1818,-0.74,-170.3,235.7,-8.3,334,1825,0.00,2.03,0.00,0.000,4,0.000,0.048,2535,224,3652
$GC,1936,-0.86,-170.3,245.7,-8.1,356,1943,0.15,1.98,0.00,0.000,6,0.050,0.035,2456,1557,3652
$GC,2263,-0.75,-170.3,284.3,-12.7,417,2269,0.17,2.03,0.00,0.000,4,0.136,0.048,2509,221,3652
$GC,2374,-0.75,-170.3,296.5,-10.5,438,2383,0.00,1.98,0.00,0.000,6,0.000,0.035,2509,1558,3652
$GC,2693,-0.83,-170.3,326.1,-8.4,472,2697,0.00,2.05,0.00,0.000,4,0.000,0.049,2509,216,3652
$GC,2837,-0.83,-170.3,339.7,-9.8,485,2843,0.00,2.00,0.00,0.000,6,0.000,0.036,2509,1562,3651
$GC,3153,-0.93,-170.3,371.4,-9.9,516,3157,0.17,2.05,0.00,0.000,4,0.058,0.050,2429,216,3649
$GC,3200,-0.71,-170.3,377.9,-14.8,520,3207,0.25,2.00,0.00,0.000,6,0.133,0.037,2512,1560,3649
$GC,3516,-0.85,-170.3,407.0,-8.5,551,3520,0.12,2.05,0.00,0.000,4,0.074,0.051,2455,220,3648
$GC,3574,-0.76,-170.3,413.7,-12.6,556,3581,0.12,2.00,0.00,0.000,6,0.131,0.038,2497,1560,3647
$GC,3890,-0.86,-170.3,440.9,-8.0,587,3891,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1562,3645
$GC,4201,-0.95,-170.3,465.0,-7.5,617,4205,0.17,2.05,0.00,0.000,4,0.063,0.051,2421,209,3643
$GC,4237,-0.74,-170.3,469.2,-11.7,620,4244,0.25,2.03,0.00,0.000,6,0.133,0.038,2502,1563,3643
$GC,4553,-0.86,-170.3,492.6,-7.3,651,4557,0.00,2.08,0.00,0.000,4,0.000,0.054,2502,221,3640
$GC,4638,-0.96,-170.3,499.1,-7.8,659,4642,0.15,2.00,0.00,0.000,6,0.054,0.040,2428,1554,3640
$GC,4954,-0.86,-170.3,533.9,-11.1,675,4958,0.15,2.05,0.00,0.000,4,0.148,0.054,2470,224,3638
$GC,5060,-0.86,-170.3,545.9,-10.7,680,5064,0.00,2.00,0.00,0.000,6,0.000,0.039,2470,1559,3637
$GC,5386,-0.86,-170.3,581.3,-11.0,696,5391,0.00,2.08,0.00,0.000,4,0.000,0.056,2470,225,3634
$GC,5519,-0.86,-170.3,596.6,-10.9,702,5524,0.00,2.00,0.00,0.000,6,0.000,0.040,2470,1556,3634
$GC,5841,-0.86,-170.3,628.3,-9.6,718,5845,0.00,2.10,0.00,0.000,4,0.000,0.057,2470,211,3631
$GC,5915,-0.86,-170.3,635.9,-9.9,721,5919,0.00,2.03,0.00,0.000,6,0.000,0.041,2470,1552,3630
$GC,6231,-0.91,-170.3,664.4,-9.0,737,6235,0.00,2.08,0.00,0.000,4,0.000,0.058,2470,224,3628
$GC,6364,-0.91,-170.3,677.1,-9.7,743,6368,0.00,2.00,0.00,0.000,6,0.000,0.042,2470,1546,3627
$GC,6686,-0.98,-170.3,705.0,-8.9,759,6687,0.12,0.00,0.00,0.000,6,0.080,0.000,2418,1548,3625
$GC,6990,-0.88,-170.3,738.3,-10.7,774,6995,0.17,2.08,0.00,0.000,4,0.146,0.061,2468,224,3623
$GC,7097,-0.88,-170.3,748.4,-9.1,779,7101,0.00,2.03,0.00,0.000,6,0.000,0.044,2468,1555,3623
$STATE,7137,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7137,begin apogee
$GC,7141,-0.21,0.0,751.9,8.9,781,7281,0.62,0.00,137.05,1.279,6,0.122,0.000,2673,1814,2947
$STATE,7281,end apogee,CONTROL_FINISHED_OK
$STATE,7281,begin climb
$GC,7283,0.92,170.3,755.6,0.0,788,7432,1.05,0.00,142.95,1.235,6,0.075,0.000,3038,1814,2251
$GC,7733,0.49,170.3,689.3,18.6,810,7737,0.47,2.25,0.00,0.000,4,0.176,0.059,2905,409,2243
$GC,7802,0.49,170.3,680.5,11.2,813,7806,0.00,2.17,0.00,0.000,6,0.000,0.046,2905,1800,2243
$GC,8123,0.51,185.2,648.3,9.4,829,8139,0.00,2.22,12.35,1.092,4,0.000,0.060,2905,407,2190
$GC,8272,0.51,185.2,632.7,11.2,835,8276,0.00,2.17,0.00,0.000,6,0.000,0.047,2905,1801,2187
$GC,8593,0.51,185.2,597.3,11.0,851,8597,0.00,2.22,0.00,0.000,4,0.000,0.061,2905,406,2185
$GC,8726,0.56,185.2,583.4,10.6,857,8730,0.00,2.17,0.00,0.000,6,0.000,0.047,2904,1806,2185
$GC,9047,0.64,210.8,553.5,9.0,873,9073,0.15,2.22,21.27,1.127,4,0.074,0.061,2972,407,2088
$GC,9200,0.48,210.8,534.2,13.7,880,9205,0.20,2.17,0.00,0.000,6,0.164,0.047,2910,1802,2084
$GC,9516,0.53,210.8,503.2,10.1,896,9521,0.00,2.22,0.00,0.000,4,0.000,0.061,2910,405,2081
$GC,9666,0.61,210.8,487.2,10.8,908,9670,0.08,2.17,0.00,0.000,6,0.071,0.048,2955,1805,2081
$GC,9987,0.52,210.8,448.3,11.8,939,9991,0.15,2.20,0.00,0.000,4,0.171,0.061,2916,411,2080
$GC,10104,0.58,219.8,437.2,9.6,950,10117,0.00,2.15,8.10,0.946,6,0.000,0.049,2916,1803,2050
$GC,10425,0.66,219.8,403.7,10.3,981,10428,0.12,2.20,0.00,0.000,4,0.081,0.061,2973,410,2047
$GC,10488,0.54,219.8,395.8,12.3,987,10492,0.15,2.15,0.00,0.000,6,0.164,0.048,2927,1802,2046
$GC,10809,0.60,227.1,364.2,9.7,1018,10822,0.00,2.20,7.25,0.873,4,0.000,0.061,2929,403,2020
$GC,10929,0.70,258.5,352.9,8.8,1029,10963,0.12,2.15,27.83,1.004,6,0.081,0.048,2984,1810,1892
$GC,11272,0.57,258.5,307.1,15.7,1062,11276,0.20,2.22,0.00,0.000,4,0.165,0.060,2930,411,1885
$GC,11481,0.69,266.7,285.7,9.7,1095,11493,0.05,2.15,7.50,0.814,6,0.041,0.047,2979,1801,1859
$GC,11814,0.63,266.7,239.8,13.1,1157,11819,0.00,2.17,0.00,0.000,4,0.000,0.058,2985,400,1856
$GC,11845,0.59,266.7,235.9,12.1,1163,11851,0.15,2.15,0.00,0.000,6,0.152,0.047,2938,1796,1856
$GC,12170,0.80,312.7,208.3,8.2,1224,12215,0.20,2.28,38.80,0.881,4,0.058,0.058,3031,408,1670
$GC,12390,0.69,312.8,177.7,10.0,1264,12397,0.17,2.15,0.00,0.000,6,0.143,0.043,2975,1797,1665
$GC,12717,0.87,357.2,149.5,8.3,1325,12763,0.15,2.25,37.05,0.813,4,0.065,0.055,3053,410,1488
$GC,12832,0.71,357.2,133.7,15.6,1345,12838,0.25,2.15,0.00,0.000,6,0.146,0.041,2980,1810,1483
$GC,13158,1.04,433.7,103.7,7.0,1406,13229,0.28,2.30,63.50,0.766,4,0.048,0.053,3108,405,1176
$GC,13319,0.83,433.7,74.4,16.4,1434,13327,0.28,2.17,0.00,0.000,6,0.149,0.039,3022,1804,1169
$GC,13646,0.99,433.7,36.1,11.2,1495,13653,0.12,2.20,0.00,0.000,4,0.068,0.054,3083,407,1167
$GC,13743,0.89,433.7,20.6,16.6,1513,13750,0.12,2.12,0.00,0.000,6,0.150,0.039,3042,1804,1166
$STATE,13887,end climb,SURFACE_DEPTH_REACHED
$STATE,13887,begin surface coast
$FINISH,0.3,1.021958
$STATE,13907,end surface coast,CONTROL_FINISHED_OK
$STATE,13908,begin surface
$SM_CCo,13981,0.00,0.000,0,0,1163,437.62
$SM_GC,0.82,7.53,0.00,0.00,0.036,0.000,0.000,116,1549,1163,-8.16,-0.28,437.62
$IRIDIUM_FIX,2522.28,12324.85,160898,090952
$TT8_MAMPS,0.049855
$HUMID,1444
$INTERNAL_PRESSURE,9.01648
$TCM_TEMP,26.50
$XPDR_PINGS,15
$24V_AH,24.0,5.348
$10V_AH,10.7,2.666
$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,24.625,123.075,503.650,0.000,0.000,28.026,33.352,242.731,9.500,0.000,0.000,15.352,0.000,9587.040,623.415,3654.425,495.123,0.000,1964.460,0.000,3119.673,0.000,39.070,0.000
$DEVICE_MAMPS,230.100,63.661,1279.356,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1044.056,1084.386,1816.958,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88364,1544
$CAP_FILE_SIZE,160519,0
$CFSIZE,260165632,256884736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.339, 85.0,1
$GPS,220509,165307,2534.786,12331.718,28,1.0,28,-3.8