version: 66.04
glider: 164
mission: 3
dive: 115
start: 6 5 109 1 44 8
data:
$ID,164
$MISSION,3
$DIVE,115
$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,-35407.938
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,013800,2445.736,12237.712,39,1.7,39,-3.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-61.7
$GPS2,014402,2445.880,12237.731,9,1.9,9,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,204.8,17881,-15.7,-10.000
$D_GRID,818
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.99,-194.7,0.0,0.0,0,99,0.00,0.00,-85.95,0.000,2,0.000,0.000,111,1475,2924
$GC,101,-0.99,-194.7,3.6,-8.6,13,133,8.52,1.98,-15.35,0.000,4,0.212,0.059,2419,209,3745
$GC,373,-0.56,-194.7,78.7,-25.7,63,379,0.43,1.90,0.00,0.000,6,0.134,0.031,2555,1476,3747
$GC,699,-0.60,-194.7,119.0,-9.9,124,706,0.00,1.95,0.00,0.000,4,0.000,0.044,2555,202,3748
$GC,753,-0.60,-194.7,124.2,-9.4,134,760,0.00,1.90,0.00,0.000,6,0.000,0.033,2555,1474,3749
$GC,1080,-0.69,-194.7,161.0,-10.3,195,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1475,3750
$GC,1405,-0.80,-194.7,188.5,-6.7,256,1412,0.20,2.08,0.00,0.000,4,0.052,0.038,2460,2874,3750
$GC,1492,-0.70,-194.7,197.8,-11.9,272,1498,0.15,2.08,0.00,0.000,6,0.115,0.032,2513,1471,3750
$GC,1818,-0.70,-194.7,226.4,-9.4,333,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2513,1471,3750
$GC,2142,-0.70,-194.7,264.3,-13.0,394,2150,0.00,1.90,0.00,0.000,4,0.000,0.043,2514,210,3750
$GC,2185,-0.70,-194.7,270.1,-13.0,402,2193,0.00,1.88,0.00,0.000,6,0.000,0.032,2513,1476,3750
$GC,2516,-0.75,-194.7,311.9,-12.5,455,2519,0.00,2.08,0.00,0.000,4,0.000,0.039,2513,2870,3749
$GC,2568,-0.86,-194.7,318.5,-12.1,460,2572,0.10,2.05,0.00,0.000,6,0.051,0.031,2451,1489,3749
$GC,2889,-0.76,-194.7,366.3,-13.4,491,2894,0.15,1.92,0.00,0.000,4,0.132,0.044,2496,210,3747
$GC,2953,-0.76,-194.7,373.5,-10.1,497,2957,0.00,1.88,0.00,0.000,6,0.000,0.031,2496,1478,3747
$GC,3274,-0.76,-194.7,401.7,-7.3,528,3278,0.00,2.08,0.00,0.000,4,0.000,0.040,2496,2868,3745
$GC,3349,-0.85,-194.7,407.2,-7.6,535,3352,0.00,2.05,0.00,0.000,6,0.000,0.034,2496,1490,3745
$GC,3669,-0.90,-194.7,436.3,-9.6,566,3673,0.12,1.92,0.00,0.000,4,0.066,0.046,2439,217,3743
$GC,3744,-0.77,-194.7,445.8,-13.3,573,3748,0.17,1.88,0.00,0.000,6,0.127,0.033,2495,1478,3743
$GC,4064,-0.82,-194.7,473.0,-8.7,604,4068,0.00,1.95,0.00,0.000,4,0.000,0.047,2495,212,3741
$GC,4122,-0.82,-194.7,478.8,-10.4,609,4129,0.00,1.88,0.00,0.000,6,0.000,0.032,2495,1476,3741
$GC,4449,-0.89,-194.7,507.3,-8.5,637,4452,0.12,2.08,0.00,0.000,4,0.066,0.042,2435,2870,3738
$GC,4491,-0.85,-194.7,511.6,-9.8,639,4495,0.12,2.08,0.00,0.000,6,0.137,0.035,2470,1466,3738
$GC,4817,-0.85,-194.7,539.7,-8.3,655,4821,0.00,2.10,0.00,0.000,4,0.000,0.043,2470,2870,3735
$GC,4860,-0.91,-194.7,543.0,-7.5,657,4863,0.00,2.08,0.00,0.000,6,0.000,0.036,2470,1487,3735
$GC,5186,-0.91,-194.7,569.5,-8.3,673,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1487,3733
$GC,5491,-0.91,-194.7,596.2,-8.7,688,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1487,3730
$GC,5796,-0.91,-194.7,620.2,-8.2,703,5800,0.00,1.98,0.00,0.000,4,0.000,0.059,2471,210,3728
$GC,5865,-0.91,-194.7,626.8,-9.6,706,5869,0.00,1.90,0.00,0.000,6,0.000,0.035,2470,1480,3727
$GC,6186,-0.91,-194.7,657.5,-9.3,722,6187,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1481,3725
$GC,6492,-0.91,-194.7,685.8,-9.3,737,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1481,3723
$GC,6796,-0.91,-194.7,716.7,-10.2,752,6801,0.00,1.98,0.00,0.000,4,0.000,0.054,2471,220,3721
$GC,6822,-0.91,-194.7,719.5,-10.8,753,6827,0.00,1.92,0.00,0.000,6,0.000,0.038,2470,1481,3721
$GC,7144,-0.96,-194.7,747.5,-8.4,769,7148,0.12,2.12,0.00,0.000,4,0.077,0.048,2415,2876,3719
$GC,7208,-0.89,-194.7,754.2,-11.0,772,7212,0.10,2.10,0.00,0.000,6,0.135,0.039,2451,1496,3718
$GC,7534,-0.89,-194.7,791.2,-13.0,788,7538,0.00,2.00,0.00,0.000,4,0.000,0.054,2451,214,3716
$GC,7663,-0.84,-194.7,807.6,-11.9,794,7666,0.00,1.90,0.00,0.000,6,0.000,0.039,2451,1488,3716
$STATE,7764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7764,begin apogee
$GC,7767,-0.24,0.0,818.2,10.2,799,7928,0.65,0.00,157.50,1.356,6,0.118,0.000,2665,1587,2947
$STATE,7928,end apogee,CONTROL_FINISHED_OK
$STATE,7928,begin climb
$GC,7930,0.99,194.7,826.2,0.0,807,8103,1.12,2.33,165.35,1.319,4,0.072,0.042,3056,2979,2152
$GC,8128,0.56,194.7,814.8,15.1,816,8133,0.45,2.28,0.00,0.000,6,0.171,0.040,2931,1590,2148
$GC,8450,0.63,344.1,796.4,4.8,832,8585,0.00,2.35,128.62,1.299,4,0.000,0.054,2931,209,1542
$GC,8640,0.55,344.1,777.2,12.1,841,8644,0.00,2.15,0.00,0.000,6,0.000,0.038,2930,1557,1535
$GC,8966,0.49,344.1,714.2,23.0,857,8970,0.00,2.15,0.00,0.000,4,0.000,0.054,2930,215,1530
$GC,8987,0.41,344.1,711.1,14.1,858,8991,0.15,2.10,0.00,0.000,6,0.143,0.040,2881,1565,1530
$GC,9313,0.52,344.1,671.7,15.5,874,9317,0.00,2.15,0.00,0.000,4,0.000,0.055,2881,212,1528
$GC,9345,0.64,344.1,666.5,16.6,875,9349,0.15,2.08,0.00,0.000,6,0.054,0.041,2955,1557,1527
$GC,9661,0.47,344.1,585.1,23.8,891,9662,0.20,0.00,0.00,0.000,6,0.156,0.000,2899,1557,1526
$GC,9966,0.54,355.0,551.3,9.6,906,9975,0.00,0.00,8.10,1.011,6,0.000,0.000,2899,1558,1499
$GC,10271,0.61,355.0,515.6,12.7,921,10275,0.12,2.12,0.00,0.000,4,0.075,0.056,2955,210,1496
$GC,10357,0.49,355.0,499.3,21.8,925,10361,0.15,2.08,0.00,0.000,6,0.143,0.041,2906,1561,1495
$GC,10677,0.56,355.0,443.6,14.3,956,10681,0.00,2.20,0.00,0.000,4,0.000,0.048,2906,2987,1494
$GC,10725,0.64,355.0,436.8,13.8,960,10732,0.10,2.20,0.00,0.000,6,0.059,0.042,2962,1561,1494
$GC,11041,0.54,355.0,384.0,15.1,991,11045,0.17,2.10,0.00,0.000,4,0.155,0.055,2916,197,1493
$GC,11105,0.62,355.0,376.1,10.7,997,11108,0.00,2.08,0.00,0.000,6,0.000,0.042,2916,1550,1493
$GC,11427,0.68,355.0,341.4,10.9,1028,11428,0.15,0.00,0.00,0.000,6,0.066,0.000,2985,1550,1492
$GC,11738,0.54,355.0,289.7,16.0,1063,11745,0.25,2.10,0.00,0.000,4,0.151,0.055,2916,207,1492
$GC,11819,0.66,358.5,280.2,9.9,1078,11826,0.10,2.05,0.00,0.000,6,0.062,0.041,2971,1546,1492
$GC,12146,0.56,358.5,234.9,14.5,1139,12153,0.17,0.00,0.00,0.000,6,0.146,0.000,2923,1546,1492
$GC,12472,0.76,407.0,206.8,8.3,1200,12523,0.20,2.20,45.00,0.916,4,0.056,0.054,3012,206,1285
$GC,12570,0.62,407.0,192.1,15.9,1217,12576,0.20,2.08,0.00,0.000,6,0.138,0.038,2949,1538,1281
$GC,12897,0.82,443.1,161.3,8.8,1278,12936,0.17,2.28,30.75,0.854,4,0.058,0.042,3042,2999,1139
$GC,12945,0.70,443.1,154.3,16.0,1286,12952,0.22,2.30,0.00,0.000,6,0.146,0.040,2973,1541,1138
$GC,13272,0.87,443.1,115.9,10.3,1347,13280,0.15,2.10,0.00,0.000,4,0.063,0.052,3044,205,1132
$GC,13397,0.83,443.1,100.0,10.9,1370,13403,0.10,2.00,0.00,0.000,6,0.122,0.036,3010,1519,1131
$GC,13723,0.97,443.1,68.6,12.1,1431,13731,0.15,2.22,0.00,0.000,4,0.057,0.041,3084,2988,1131
$GC,13757,0.97,443.1,63.1,17.1,1437,13763,0.00,2.25,0.00,0.000,6,0.000,0.038,3084,1512,1131
$GC,14083,0.92,443.1,16.7,12.9,1498,14089,0.15,2.00,0.00,0.000,4,0.150,0.050,3043,211,1131
$GC,14179,1.11,483.7,7.8,8.6,1516,14218,0.12,1.95,33.72,0.706,6,0.049,0.035,3120,1509,974
$STATE,14220,end climb,SURFACE_DEPTH_REACHED
$STATE,14220,begin surface coast
$FINISH,-0.2,1.008876
$STATE,14242,end surface coast,CONTROL_FINISHED_OK
$STATE,14242,begin surface
$SM_CCo,14316,0.00,0.000,0,0,969,485.20
$SM_GC,0.64,7.85,0.00,0.00,0.038,0.000,0.000,109,1509,969,-8.16,1.10,485.20
$IRIDIUM_FIX,2437.06,12259.94,290898,222233
$TT8_MAMPS,0.049855
$HUMID,1497
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,26.40
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,800.7,114.0
$24V_AH,23.7,23.973
$10V_AH,10.7,14.717
$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,23.600,115.550,569.050,0.000,0.000,30.578,36.779,197.203,10.000,0.000,0.000,11.149,0.000,9990.348,687.254,3478.304,497.491,0.000,1984.787,0.000,2971.628,0.000,45.440,0.000
$DEVICE_MAMPS,211.692,72.865,1356.056,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1033.856,1090.718,1817.156,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85407,1527
$CAP_FILE_SIZE,156938,0
$CFSIZE,260165632,249683968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255, 53.4,1
$GPS,050609,054336,2444.920,12238.508,33,1.1,33,-3.5