version: 66.04
glider: 164
mission: 3
dive: 47
start: 5 30 109 4 7 7
data:
$ID,164
$MISSION,3
$DIVE,47
$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,-34034.145
$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,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
$GPS1,040125,2432.059,12313.061,37,2.0,37,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-65.3
$GPS2,040702,2432.101,12313.017,11,1.1,11,-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,164.9,32770,-15.7,-10.000
$D_GRID,723
$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,-63.97,0.000,2,0.000,0.000,115,1478,3065
$GC,80,-0.99,-194.7,4.0,-9.9,10,106,8.45,1.95,-12.62,0.000,4,0.210,0.065,2421,212,3742
$GC,345,-0.58,-194.7,80.5,-26.5,59,352,0.40,1.90,0.00,0.000,6,0.123,0.034,2551,1471,3745
$GC,672,-0.58,-194.7,127.9,-10.1,120,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,1473,3747
$GC,993,-0.65,-194.7,159.7,-8.8,180,1000,0.00,2.10,0.00,0.000,4,0.000,0.041,2551,2878,3749
$GC,1036,-0.79,-194.7,163.6,-8.7,188,1044,0.15,2.10,0.00,0.000,6,0.041,0.035,2466,1474,3749
$GC,1364,-0.63,-194.7,212.7,-13.6,249,1370,0.25,0.00,0.00,0.000,6,0.126,0.000,2544,1473,3749
$GC,1689,-0.69,-194.7,238.0,-8.9,310,1696,0.00,1.92,0.00,0.000,4,0.000,0.046,2544,209,3749
$GC,1742,-0.76,-194.7,243.5,-10.9,320,1751,0.10,1.90,0.00,0.000,6,0.053,0.035,2483,1485,3749
$GC,2071,-0.67,-194.7,290.7,-12.6,381,2077,0.15,1.95,0.00,0.000,4,0.133,0.046,2527,203,3749
$GC,2113,-0.67,-194.7,295.2,-9.7,389,2119,0.00,1.90,0.00,0.000,6,0.000,0.035,2527,1478,3749
$GC,2431,-0.74,-194.7,327.7,-10.8,425,2434,0.00,1.95,0.00,0.000,4,0.000,0.047,2528,209,3750
$GC,2467,-0.79,-194.7,332.0,-11.9,428,2476,0.08,1.88,0.00,0.000,6,0.060,0.034,2476,1466,3749
$GC,2783,-0.73,-194.7,369.4,-10.3,459,2787,0.12,2.10,0.00,0.000,4,0.135,0.041,2512,2877,3749
$GC,2912,-0.83,-194.7,381.1,-9.4,471,2915,0.10,2.05,0.00,0.000,6,0.076,0.035,2460,1474,3748
$GC,3231,-0.74,-194.7,423.7,-13.4,502,3236,0.15,1.90,0.00,0.000,4,0.132,0.047,2505,217,3747
$GC,3365,-0.74,-194.7,437.5,-10.3,514,3372,0.00,1.88,0.00,0.000,6,0.000,0.034,2505,1478,3747
$GC,3682,-0.80,-194.7,466.4,-9.7,545,3685,0.00,1.92,0.00,0.000,4,0.000,0.049,2505,194,3746
$GC,3712,-0.85,-194.7,469.7,-10.9,548,3717,0.00,1.90,0.00,0.000,6,0.000,0.035,2505,1470,3746
$GC,4035,-0.91,-194.7,501.0,-9.1,579,4039,0.15,2.08,0.00,0.000,4,0.065,0.041,2436,2875,3745
$GC,4093,-0.85,-194.7,507.9,-11.9,582,4097,0.08,2.10,0.00,0.000,6,0.133,0.038,2463,1474,3744
$GC,4419,-0.81,-194.7,540.6,-10.3,598,4423,0.00,1.92,0.00,0.000,4,0.000,0.051,2463,218,3743
$GC,4570,-0.75,-194.7,558.6,-11.3,605,4573,0.15,1.85,0.00,0.000,6,0.135,0.035,2508,1479,3742
$GC,4896,-0.84,-194.7,590.4,-10.6,621,4899,0.00,2.05,0.00,0.000,4,0.000,0.044,2508,2872,3740
$GC,4921,-0.96,-194.7,593.2,-10.6,622,4926,0.17,2.10,0.00,0.000,6,0.045,0.038,2418,1473,3740
$GC,5243,-0.82,-194.7,630.8,-12.9,638,5247,0.20,1.90,0.00,0.000,4,0.133,0.051,2478,208,3737
$GC,5403,-0.82,-194.7,647.2,-7.2,645,5407,0.00,1.88,0.00,0.000,6,0.000,0.035,2478,1466,3737
$GC,5718,-0.82,-194.7,673.7,-9.7,661,5722,0.00,1.95,0.00,0.000,4,0.000,0.053,2478,213,3735
$GC,5804,-0.82,-194.7,682.7,-10.3,665,5807,0.00,1.85,0.00,0.000,6,0.000,0.037,2477,1446,3735
$GC,6130,-0.82,-194.7,711.2,-6.7,681,6134,0.00,1.92,0.00,0.000,4,0.000,0.054,2478,213,3732
$GC,6150,-0.82,-194.7,712.4,-6.2,682,6155,0.00,1.85,0.00,0.000,6,0.000,0.037,2478,1444,3732
$STATE,6292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6292,begin apogee
$GC,6296,-0.24,0.0,723.4,8.4,689,6457,0.55,0.00,157.55,1.255,6,0.110,0.000,2663,1580,2947
$STATE,6457,end apogee,CONTROL_FINISHED_OK
$STATE,6457,begin climb
$GC,6459,0.99,194.7,728.6,0.0,697,6630,1.12,2.30,160.62,1.217,4,0.074,0.045,3055,2980,2151
$GC,6660,0.56,194.7,704.9,21.2,706,6665,0.45,2.25,0.00,0.000,6,0.173,0.042,2927,1588,2148
$GC,6976,0.50,194.7,665.2,10.6,722,6980,0.00,2.20,0.00,0.000,4,0.000,0.055,2929,210,2144
$GC,7050,0.45,194.7,657.2,10.6,725,7055,0.10,2.12,0.00,0.000,6,0.146,0.040,2896,1582,2144
$GC,7367,0.55,235.3,627.0,8.6,741,7404,0.00,2.22,33.38,1.168,4,0.000,0.057,2895,202,1985
$GC,7451,0.64,244.9,619.3,9.7,744,7469,0.12,2.15,9.15,1.007,6,0.057,0.041,2957,1573,1947
$GC,7771,0.51,244.9,576.8,14.0,760,7776,0.17,2.17,0.00,0.000,4,0.150,0.057,2909,209,1942
$GC,7787,0.45,244.9,574.8,14.0,760,7794,0.00,2.12,0.00,0.000,6,0.000,0.041,2909,1575,1942
$GC,8098,0.49,244.9,540.8,10.6,776,8102,0.00,2.17,0.00,0.000,4,0.000,0.047,2908,2985,1939
$GC,8119,0.52,244.9,538.6,10.7,777,8123,0.00,2.17,0.00,0.000,6,0.000,0.041,2909,1571,1939
$GC,8445,0.58,290.8,509.4,8.4,793,8490,0.00,2.17,39.05,1.117,4,0.000,0.057,2909,214,1759
$GC,8617,0.71,328.9,495.3,8.7,803,8654,0.15,2.08,33.00,1.090,6,0.053,0.041,2978,1536,1605
$GC,8971,0.54,328.9,442.2,17.9,837,8975,0.22,2.25,0.00,0.000,4,0.152,0.047,2916,2986,1595
$GC,9013,0.54,328.9,435.7,13.9,841,9017,0.00,2.25,0.00,0.000,6,0.000,0.043,2916,1540,1595
$GC,9335,0.60,328.9,398.8,11.5,872,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1540,1593
$GC,9645,0.68,328.9,365.2,10.5,902,9646,0.12,0.00,0.00,0.000,6,0.077,0.000,2974,1540,1593
$GC,9956,0.58,328.9,314.1,17.4,932,9957,0.15,0.00,0.00,0.000,6,0.155,0.000,2933,1540,1592
$GC,10272,0.64,328.9,277.2,11.3,981,10279,0.00,2.22,0.00,0.000,4,0.000,0.046,2933,2986,1591
$GC,10299,0.70,328.9,274.0,12.4,986,10306,0.08,2.22,0.00,0.000,6,0.065,0.044,2980,1539,1591
$GC,10627,0.59,328.9,225.9,16.1,1047,10633,0.17,2.03,0.00,0.000,4,0.156,0.055,2932,212,1591
$GC,10674,0.70,339.2,220.7,9.6,1056,10688,0.08,2.03,7.85,0.772,6,0.061,0.041,2978,1536,1563
$GC,11009,0.61,339.2,179.4,15.9,1118,11015,0.15,0.00,0.00,0.000,6,0.150,0.000,2938,1536,1561
$GC,11335,0.72,345.4,144.5,9.8,1179,11347,0.12,0.00,7.10,0.700,6,0.067,0.000,2996,1536,1537
$GC,11667,0.67,345.4,98.8,14.7,1241,11675,0.15,2.20,0.00,0.000,4,0.147,0.042,2956,2992,1535
$GC,11711,0.76,345.4,93.9,10.4,1249,11719,0.00,2.22,0.00,0.000,6,0.000,0.041,2955,1525,1535
$GC,12039,0.92,353.3,69.5,9.7,1310,12053,0.22,2.03,8.18,0.668,4,0.051,0.051,3065,208,1505
$GC,12094,0.75,353.3,61.4,14.9,1320,12101,0.22,2.00,0.00,0.000,6,0.143,0.038,2990,1530,1504
$GC,12422,0.88,365.0,27.6,9.6,1381,12442,0.12,2.20,11.10,0.675,4,0.065,0.041,3058,2977,1456
$GC,12494,0.77,365.0,18.1,14.7,1394,12501,0.20,2.20,0.00,0.000,6,0.137,0.040,2992,1536,1455
$STATE,12664,end climb,SURFACE_DEPTH_REACHED
$STATE,12664,begin surface coast
$FINISH,0.1,1.022692
$STATE,12702,end surface coast,CONTROL_FINISHED_OK
$STATE,12702,begin surface
$SM_CCo,12715,40.25,0.712,0,0,1255,415.05
$SM_GC,0.73,0.00,0.00,40.25,0.000,0.000,0.712,110,1446,1255,-8.23,-0.71,415.05
$IRIDIUM_FIX,2422.84,12332.21,240898,000011
$TT8_MAMPS,0.050622
$HUMID,1463
$INTERNAL_PRESSURE,8.98718
$TCM_TEMP,25.80
$XPDR_PINGS,15
$24V_AH,24.0,13.894
$10V_AH,10.7,8.132
$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,22.775,107.025,466.975,40.250,0.000,25.187,33.615,182.631,9.000,0.000,0.000,14.372,0.000,8671.227,632.653,3321.915,444.852,0.000,1848.665,0.000,2833.619,0.000,35.771,0.000
$DEVICE_MAMPS,210.158,84.370,1254.812,711.776,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,969.512,1030.593,1720.532,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82031,1433
$CAP_FILE_SIZE,147706,0
$CFSIZE,260165632,253448192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,196.3,1
$GPS,300509,074037,2429.029,12313.412,34,1.0,34,-3.5