version: 66.04
glider: 164
mission: 3
dive: 46
start: 5 30 109 0 20 1
data:
$ID,164
$MISSION,3
$DIVE,46
$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,-34019.145
$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,51
$R_STBD_OVSHOOT,37
$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
$GPS1,001337,2434.688,12312.077,35,1.2,35,-3.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-63.2
$GPS2,001956,2434.652,12311.999,12,1.2,12,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_2
$TGT_LATLONG,2415.000,12318.000
$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,157.2,37781,-15.7,-10.000
$D_GRID,771
$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,-194.7,0.0,0.0,0,90,0.00,0.00,-76.12,0.000,2,0.000,0.000,109,1441,2916
$GC,92,-0.99,-194.7,3.1,-7.6,12,125,8.55,1.90,-16.77,0.000,4,0.212,0.067,2415,230,3744
$GC,365,-0.54,-194.7,76.5,-24.3,62,371,0.45,1.88,0.00,0.000,6,0.127,0.035,2565,1470,3746
$GC,691,-0.57,-194.7,119.4,-11.6,123,697,0.00,2.10,0.00,0.000,4,0.000,0.041,2565,2872,3748
$GC,718,-0.68,-194.7,122.4,-11.5,128,726,0.10,2.08,0.00,0.000,6,0.048,0.035,2498,1495,3748
$GC,1046,-0.60,-194.7,166.1,-15.4,189,1052,0.17,0.00,0.00,0.000,6,0.124,0.000,2551,1495,3749
$GC,1371,-0.68,-194.7,201.6,-9.2,250,1378,0.00,2.08,0.00,0.000,4,0.000,0.040,2551,2874,3750
$GC,1398,-0.82,-194.7,203.9,-8.7,255,1405,0.17,2.10,0.00,0.000,6,0.039,0.035,2457,1468,3750
$GC,1724,-0.65,-194.7,254.5,-15.5,316,1732,0.25,1.90,0.00,0.000,4,0.128,0.048,2535,220,3750
$GC,1882,-0.70,-194.7,272.0,-10.3,345,1887,0.00,1.83,0.00,0.000,6,0.000,0.035,2536,1466,3750
$GC,2204,-0.79,-194.7,307.0,-10.6,400,2208,0.15,2.10,0.00,0.000,4,0.061,0.040,2461,2877,3749
$GC,2252,-0.71,-194.7,313.3,-14.2,404,2260,0.15,2.12,0.00,0.000,6,0.119,0.035,2514,1453,3749
$GC,2568,-0.75,-194.7,349.1,-10.2,435,2571,0.00,2.15,0.00,0.000,4,0.000,0.041,2514,2879,3749
$GC,2604,-0.85,-194.7,352.7,-9.6,438,2612,0.10,2.10,0.00,0.000,6,0.057,0.035,2451,1470,3749
$GC,2920,-0.74,-194.7,395.7,-13.5,469,2924,0.17,1.90,0.00,0.000,4,0.130,0.048,2504,217,3748
$GC,3032,-0.74,-194.7,407.7,-11.0,479,3038,0.00,1.83,0.00,0.000,6,0.000,0.034,2504,1444,3748
$GC,3347,-0.78,-194.7,436.4,-8.5,510,3351,0.00,2.12,0.00,0.000,4,0.000,0.041,2504,2864,3747
$GC,3390,-0.89,-194.7,439.8,-7.9,514,3394,0.10,2.10,0.00,0.000,6,0.055,0.036,2443,1458,3747
$GC,3711,-0.77,-194.7,476.9,-11.9,545,3715,0.17,1.90,0.00,0.000,4,0.137,0.051,2494,217,3745
$GC,3940,-0.77,-194.7,500.1,-10.0,566,3947,0.00,1.83,0.00,0.000,6,0.000,0.035,2494,1443,3744
$GC,4250,-0.77,-194.7,532.0,-9.3,582,4255,0.00,2.15,0.00,0.000,4,0.000,0.043,2494,2872,3743
$GC,4330,-0.86,-194.7,537.9,-7.1,585,4337,0.00,2.12,0.00,0.000,6,0.000,0.038,2494,1454,3742
$GC,4641,-0.91,-194.7,564.6,-9.1,601,4642,0.12,0.00,0.00,0.000,6,0.070,0.000,2439,1454,3740
$GC,4947,-0.83,-194.7,602.2,-13.4,616,4948,0.12,0.00,0.00,0.000,6,0.142,0.000,2472,1454,3738
$GC,5252,-0.83,-194.7,632.8,-8.7,631,5255,0.00,1.90,0.00,0.000,4,0.000,0.053,2473,223,3737
$GC,5309,-0.83,-194.7,638.3,-10.1,633,5316,0.00,1.85,0.00,0.000,6,0.000,0.036,2472,1447,3736
$GC,5620,-0.83,-194.7,664.8,-7.7,649,5621,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1448,3734
$GC,5925,-0.83,-194.7,692.6,-9.5,664,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1448,3733
$GC,6231,-0.83,-194.7,719.3,-9.2,679,6234,0.00,2.15,0.00,0.000,4,0.000,0.047,2472,2862,3731
$GC,6256,-0.89,-194.7,722.1,-10.9,680,6261,0.00,2.15,0.00,0.000,6,0.000,0.041,2473,1448,3730
$GC,6577,-0.93,-194.7,755.1,-10.4,696,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1448,3729
$STATE,6759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6759,begin apogee
$GC,6763,-0.24,0.0,771.7,8.7,705,6924,0.57,0.00,157.93,1.294,6,0.115,0.000,2664,1576,2947
$STATE,6924,end apogee,CONTROL_FINISHED_OK
$STATE,6924,begin climb
$GC,6926,0.99,194.7,776.0,0.0,713,7092,1.17,0.00,163.35,1.251,6,0.075,0.000,3064,1577,2152
$GC,7387,0.55,194.7,699.1,21.0,736,7389,0.50,0.00,0.00,0.000,6,0.173,0.000,2922,1577,2145
$GC,7692,0.50,194.7,663.7,10.3,751,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1577,2142
$GC,7997,0.49,215.9,634.2,9.3,766,8020,0.00,2.17,16.85,1.137,4,0.000,0.058,2923,215,2067
$GC,8050,0.49,217.4,629.0,9.9,768,8054,0.00,2.12,0.00,0.000,6,0.000,0.043,2922,1566,2066
$GC,8366,0.53,247.5,599.1,9.0,784,8395,0.00,0.00,27.80,1.158,6,0.000,0.000,2922,1567,1937
$GC,8691,0.53,248.0,567.0,10.0,800,8695,0.00,2.17,0.00,0.000,4,0.000,0.058,2922,211,1929
$GC,8722,0.53,248.0,563.8,10.4,801,8727,0.00,2.12,0.00,0.000,6,0.000,0.042,2922,1573,1929
$GC,9039,0.53,248.0,533.2,10.6,817,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1573,1928
$GC,9343,0.53,248.0,501.4,10.1,832,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1574,1927
$GC,9654,0.55,263.6,473.0,9.5,861,9671,0.00,2.15,13.02,1.028,4,0.000,0.058,2922,214,1873
$GC,9729,0.55,263.6,465.1,11.7,867,9736,0.00,2.10,0.00,0.000,6,0.000,0.043,2922,1567,1872
$GC,10046,0.67,333.8,435.1,7.6,898,10109,0.12,0.00,60.72,1.069,6,0.075,0.000,2979,1567,1586
$GC,10417,0.52,333.8,379.6,15.6,934,10421,0.22,2.17,0.00,0.000,4,0.150,0.057,2916,212,1575
$GC,10502,0.65,350.3,370.6,9.4,942,10524,0.08,2.12,14.00,0.948,6,0.068,0.042,2960,1574,1516
$GC,10833,0.61,350.3,326.3,12.9,974,10837,0.00,2.17,0.00,0.000,4,0.000,0.047,2961,2979,1512
$GC,10870,0.56,350.3,321.0,14.8,977,10878,0.10,2.15,0.00,0.000,6,0.150,0.043,2928,1592,1511
$GC,11190,0.67,355.0,287.2,9.8,1019,11203,0.00,2.20,4.43,0.640,4,0.000,0.056,2928,208,1498
$GC,11260,0.84,379.3,280.6,9.2,1032,11287,0.20,2.10,22.67,0.920,6,0.051,0.041,3025,1565,1400
$GC,11607,0.57,379.3,211.3,21.4,1096,11613,0.32,2.10,0.00,0.000,4,0.153,0.054,2933,211,1393
$GC,11655,0.63,379.3,202.8,14.0,1105,11663,0.00,2.10,0.00,0.000,6,0.000,0.041,2933,1572,1393
$GC,11983,0.80,404.3,170.5,9.1,1166,12009,0.20,0.00,21.73,0.833,6,0.054,0.000,3026,1571,1297
$GC,12329,0.65,404.3,101.0,20.2,1230,12335,0.25,2.15,0.00,0.000,4,0.143,0.043,2953,2986,1291
$GC,12382,0.80,404.3,92.1,14.2,1240,12389,0.10,2.20,0.00,0.000,6,0.054,0.041,3018,1556,1291
$GC,12708,0.80,404.3,49.2,10.3,1301,12716,0.00,2.20,0.00,0.000,4,0.000,0.042,3018,2989,1290
$GC,12731,0.80,404.3,46.7,12.0,1305,12739,0.00,2.20,0.00,0.000,6,0.000,0.041,3018,1549,1290
$GC,13059,0.89,404.3,13.0,10.4,1366,13065,0.00,2.08,0.00,0.000,4,0.000,0.052,3018,215,1290
$STATE,13169,end climb,SURFACE_DEPTH_REACHED
$STATE,13169,begin surface coast
$FINISH,0.2,1.022463
$STATE,13203,end surface coast,CONTROL_FINISHED_OK
$STATE,13203,begin surface
$SM_CCo,13218,8.40,0.621,0,0,1254,415.05
$SM_GC,2.18,0.00,0.00,8.40,0.000,0.000,0.621,116,1476,1254,-8.21,0.17,415.05
$IRIDIUM_FIX,2427.58,12314.45,230898,191935
$TT8_MAMPS,0.049855
$HUMID,1473
$INTERNAL_PRESSURE,8.98718
$TCM_TEMP,25.70
$XPDR_PINGS,13
$ALTIM_BOTTOM_PING,726.0,78.9
$24V_AH,23.9,13.718
$10V_AH,10.7,8.000
$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,22.075,91.225,502.500,8.400,0.000,23.369,39.176,211.853,9.250,0.000,0.000,14.645,0.000,9361.964,686.115,3065.543,463.494,0.000,1781.728,0.000,2605.217,0.000,44.209,0.000
$DEVICE_MAMPS,211.692,66.729,1293.929,620.503,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,941.669,984.623,1645.424,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79019,1393
$CAP_FILE_SIZE,137347,0
$CFSIZE,260165632,253542400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,175.4,1
$GPS,300509,040125,2432.059,12313.061,37,2.0,37,-3.5