version: 66.04
glider: 164
mission: 3
dive: 116
start: 6 5 109 5 53 37
data:
$ID,164
$MISSION,3
$DIVE,116
$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,-35426.168
$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,28
$R_STBD_OVSHOOT,36
$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
$GPS1,054336,2444.920,12238.508,33,1.1,33,-3.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-63.8
$GPS2,055331,2445.088,12238.554,10,1.2,15,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_2
$TGT_LATLONG,2454.000,12238.000
$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,315.3,16531,-15.7,-10.000
$D_GRID,897
$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,9,begin dive
$GC,11,-0.99,-194.7,0.0,0.0,0,77,0.00,0.00,-63.83,0.000,2,0.000,0.000,109,1511,2738
$GC,79,-0.99,-194.7,3.0,-8.2,10,116,8.48,2.12,-20.58,0.000,4,0.207,0.051,2415,2888,3744
$GC,207,-0.56,-194.7,37.1,-27.7,33,213,0.47,2.12,0.00,0.000,6,0.133,0.032,2562,1456,3745
$GC,533,-0.51,-194.7,89.0,-12.4,94,539,0.00,1.88,0.00,0.000,4,0.000,0.043,2562,225,3746
$GC,602,-0.51,-194.7,97.7,-11.8,107,609,0.00,1.85,0.00,0.000,6,0.000,0.033,2562,1463,3746
$GC,929,-0.57,-194.7,132.9,-11.0,168,936,0.00,1.90,0.00,0.000,4,0.000,0.043,2562,214,3747
$GC,972,-0.64,-194.7,137.8,-11.3,176,980,0.00,1.83,0.00,0.000,6,0.000,0.033,2561,1439,3748
$GC,1300,-0.76,-194.7,168.2,-6.0,237,1306,0.20,2.12,0.00,0.000,4,0.051,0.038,2468,2874,3749
$GC,1343,-0.67,-194.7,172.6,-10.6,245,1350,0.15,2.12,0.00,0.000,6,0.111,0.031,2522,1445,3749
$GC,1669,-0.67,-194.7,206.1,-12.2,306,1676,0.00,2.12,0.00,0.000,4,0.000,0.038,2522,2869,3749
$GC,1707,-0.77,-194.7,210.5,-11.5,313,1713,0.00,2.10,0.00,0.000,6,0.000,0.032,2522,1452,3749
$GC,2033,-0.82,-194.7,247.1,-10.1,374,2039,0.12,0.00,0.00,0.000,6,0.064,0.000,2459,1452,3749
$GC,2359,-0.72,-194.7,290.7,-14.1,435,2364,0.17,0.00,0.00,0.000,6,0.128,0.000,2512,1452,3749
$GC,2681,-0.77,-194.7,322.6,-9.3,474,2685,0.00,2.12,0.00,0.000,4,0.000,0.038,2512,2871,3747
$GC,2724,-0.89,-194.7,326.8,-10.0,478,2728,0.12,2.10,0.00,0.000,6,0.048,0.033,2442,1459,3747
$GC,3045,-0.76,-194.7,369.4,-11.4,509,3049,0.20,1.88,0.00,0.000,4,0.129,0.045,2503,217,3745
$GC,3102,-0.76,-194.7,375.7,-10.3,514,3110,0.00,1.85,0.00,0.000,6,0.000,0.032,2503,1464,3745
$GC,3419,-0.81,-194.7,404.1,-10.0,545,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1464,3743
$GC,3730,-0.87,-194.7,433.6,-9.3,575,3732,0.12,0.00,0.00,0.000,6,0.070,0.000,2443,1465,3741
$GC,4041,-0.77,-194.7,470.0,-12.4,605,4044,0.17,1.90,0.00,0.000,4,0.132,0.046,2502,209,3738
$GC,4088,-0.81,-194.7,475.1,-9.9,609,4094,0.00,1.85,0.00,0.000,6,0.000,0.032,2502,1456,3738
$GC,4413,-0.90,-194.7,502.2,-7.7,640,4417,0.15,2.12,0.00,0.000,4,0.064,0.042,2431,2872,3736
$GC,4455,-0.84,-194.7,506.4,-10.1,642,4460,0.10,2.10,0.00,0.000,6,0.127,0.035,2466,1468,3735
$GC,4781,-0.84,-194.7,538.0,-10.1,658,4786,0.00,1.92,0.00,0.000,4,0.000,0.056,2466,214,3733
$GC,4846,-0.84,-194.7,544.6,-10.4,661,4850,0.00,1.85,0.00,0.000,6,0.000,0.034,2466,1455,3733
$GC,5172,-0.84,-194.7,574.8,-8.8,677,5177,0.00,2.15,0.00,0.000,4,0.000,0.044,2466,2873,3730
$GC,5220,-0.90,-194.7,578.9,-8.6,679,5224,0.00,2.10,0.00,0.000,6,0.000,0.037,2466,1475,3730
$GC,5542,-0.90,-194.7,606.9,-9.4,695,5545,0.00,2.10,0.00,0.000,4,0.000,0.044,2466,2874,3727
$GC,5572,-0.94,-194.7,609.9,-9.2,696,5577,0.00,2.12,0.00,0.000,6,0.000,0.037,2466,1465,3727
$GC,5888,-0.94,-194.7,640.5,-9.6,712,5892,0.00,1.92,0.00,0.000,4,0.000,0.052,2466,221,3724
$GC,5957,-0.94,-194.7,647.4,-9.9,715,5962,0.00,1.88,0.00,0.000,6,0.000,0.036,2466,1465,3724
$GC,6279,-0.94,-194.7,677.1,-9.9,731,6282,0.00,2.10,0.00,0.000,4,0.000,0.046,2466,2877,3722
$GC,6395,-1.00,-194.7,688.7,-10.2,736,6400,0.10,2.10,0.00,0.000,6,0.058,0.038,2411,1488,3721
$GC,6712,-0.87,-194.7,733.8,-15.6,752,6715,0.17,1.95,0.00,0.000,4,0.143,0.061,2460,209,3719
$GC,6856,-0.83,-194.7,756.2,-15.8,758,6862,0.00,1.90,0.00,0.000,6,0.000,0.037,2460,1469,3718
$GC,7165,-0.83,-194.7,797.2,-11.9,774,7169,0.00,2.12,0.00,0.000,4,0.000,0.047,2460,2866,3716
$GC,7251,-0.89,-194.7,805.6,-9.3,778,7255,0.00,2.12,0.00,0.000,6,0.000,0.040,2460,1470,3715
$GC,7577,-0.89,-194.7,838.0,-10.1,794,7577,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1470,3714
$GC,7883,-0.89,-194.7,871.6,-11.2,809,7883,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1470,3712
$STATE,8125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8125,begin apogee
$GC,8129,-0.24,0.0,898.6,10.9,821,8290,0.62,0.00,158.73,1.407,6,0.114,0.000,2668,1580,2947
$STATE,8290,end apogee,CONTROL_FINISHED_OK
$STATE,8290,begin climb
$GC,8292,0.99,194.7,904.9,0.0,829,8463,1.12,0.00,167.15,1.364,6,0.071,0.000,3059,1581,2153
$GC,8765,0.53,194.7,831.0,18.4,852,8769,0.50,2.20,0.00,0.000,4,0.173,0.054,2919,216,2145
$GC,8818,0.44,194.7,824.5,10.4,854,8823,0.08,2.12,0.00,0.000,6,0.143,0.039,2893,1581,2145
$GC,9134,0.54,278.3,800.8,7.1,870,9211,0.00,2.30,71.68,1.318,4,0.000,0.056,2893,222,1811
$GC,9238,0.65,323.2,792.8,8.4,875,9284,0.12,2.15,40.30,1.272,6,0.058,0.039,2950,1565,1630
$GC,9606,0.46,323.2,737.1,15.2,893,9608,0.20,0.00,0.00,0.000,6,0.160,0.000,2896,1565,1618
$GC,9911,0.53,353.2,708.0,9.0,908,9948,0.00,2.17,28.23,1.170,4,0.000,0.056,2896,211,1504
$GC,10000,0.62,353.2,699.2,10.3,911,10004,0.10,2.12,0.00,0.000,6,0.062,0.041,2948,1558,1500
$GC,10316,0.45,353.2,643.6,17.4,927,10317,0.20,0.00,0.00,0.000,6,0.153,0.000,2893,1559,1497
$GC,10621,0.53,353.2,612.7,10.2,942,10625,0.00,2.15,0.00,0.000,4,0.000,0.057,2893,213,1495
$GC,10674,0.65,353.2,606.8,10.8,944,10678,0.15,2.08,0.00,0.000,6,0.052,0.041,2964,1556,1495
$GC,10990,0.41,353.2,545.1,21.5,960,10994,0.30,2.20,0.00,0.000,4,0.154,0.048,2877,2984,1494
$GC,11027,0.45,353.2,539.2,13.8,961,11035,0.00,2.20,0.00,0.000,6,0.000,0.042,2877,1559,1493
$GC,11338,0.69,409.4,510.6,8.1,977,11402,0.25,2.22,51.72,1.118,4,0.059,0.058,2985,218,1275
$GC,11475,0.43,409.4,485.2,21.1,986,11480,0.32,2.10,0.00,0.000,6,0.153,0.041,2887,1544,1269
$GC,11797,0.65,409.4,452.7,10.1,1017,11801,0.20,2.10,0.00,0.000,4,0.059,0.057,2973,211,1264
$GC,11849,0.51,409.4,443.9,18.9,1022,11854,0.17,2.08,0.00,0.000,6,0.147,0.041,2916,1546,1264
$GC,12170,0.59,409.4,399.4,11.8,1053,12174,0.00,2.12,0.00,0.000,4,0.000,0.056,2916,212,1262
$GC,12213,0.69,409.4,394.2,12.0,1057,12217,0.15,2.05,0.00,0.000,6,0.075,0.043,2978,1557,1262
$GC,12534,0.50,409.4,334.0,18.0,1088,12535,0.25,0.00,0.00,0.000,6,0.152,0.000,2907,1557,1262
$GC,12845,0.69,411.5,305.1,9.9,1118,12848,0.17,2.10,0.00,0.000,4,0.058,0.055,2987,208,1261
$GC,12913,0.54,411.5,292.9,19.4,1127,12920,0.20,2.03,0.00,0.000,6,0.146,0.040,2923,1533,1260
$GC,13240,0.72,433.1,258.4,9.3,1188,13271,0.15,2.15,21.00,0.858,4,0.066,0.054,2998,205,1180
$GC,13318,0.57,433.1,245.2,19.6,1202,13325,0.20,2.03,0.00,0.000,6,0.146,0.039,2934,1511,1177
$GC,13645,0.71,433.1,204.8,10.4,1263,13650,0.12,0.00,0.00,0.000,6,0.071,0.000,2997,1511,1174
$GC,13970,0.65,433.1,145.9,17.3,1324,13976,0.15,0.00,0.00,0.000,6,0.148,0.000,2957,1511,1174
$GC,14296,0.97,497.4,117.2,7.8,1385,14360,0.28,2.15,54.83,0.828,4,0.046,0.051,3084,205,918
$GC,14455,0.81,497.4,89.6,18.5,1413,14463,0.22,2.00,0.00,0.000,6,0.139,0.035,3011,1497,913
$GC,14783,1.12,560.8,59.7,7.8,1474,14841,0.25,2.12,52.97,0.760,4,0.047,0.050,3127,207,659
$GC,14888,0.98,560.8,42.5,18.1,1492,14895,0.20,2.00,0.00,0.000,6,0.136,0.035,3064,1491,656
$STATE,15197,end climb,SURFACE_DEPTH_REACHED
$STATE,15197,begin surface coast
$FINISH,-0.1,1.021750
$STATE,15225,end surface coast,CONTROL_FINISHED_OK
$STATE,15225,begin surface
$SM_CCo,15298,0.00,0.000,0,0,652,562.96
$SM_GC,0.41,7.57,0.00,0.00,0.031,0.000,0.000,111,1492,652,-8.14,0.57,562.96
$IRIDIUM_FIX,2437.06,12236.28,300898,050519
$TT8_MAMPS,0.049855
$HUMID,1499
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,26.30
$XPDR_PINGS,15
$24V_AH,23.5,24.220
$10V_AH,10.7,14.862
$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,25.025,115.550,646.600,0.000,0.000,54.233,74.686,293.598,10.750,0.000,0.000,17.600,0.000,10859.353,735.658,3611.665,658.600,0.000,2096.318,0.000,3074.300,0.000,48.309,0.000
$DEVICE_MAMPS,207.090,65.962,1407.445,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1052.760,1094.483,1830.545,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88501,1555
$CAP_FILE_SIZE,166621,0
$CFSIZE,260165632,249585664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.282, 27.8,1
$GPS,050609,100930,2449.008,12237.655,36,1.4,36,-3.5