version: 66.04
glider: 164
mission: 3
dive: 117
start: 6 5 109 10 19 39
data:
$ID,164
$MISSION,3
$DIVE,117
$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,-35443.293
$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,30
$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
$GPS1,100930,2449.008,12237.655,36,1.4,36,-3.5
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-67.4
$GPS2,101932,2449.275,12237.748,14,1.5,14,-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,333.6,8760,-21.7,-10.000
$D_GRID,1279
$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,12,-1.16,-103.7,0.0,0.0,0,96,0.00,0.00,-82.30,0.000,2,0.000,0.000,111,1493,2971
$GC,98,-1.19,-130.1,3.6,-8.3,13,124,8.40,2.12,-9.70,0.000,4,0.215,0.051,2345,2887,3481
$GC,187,-0.77,-130.1,33.1,-31.3,29,193,0.47,2.15,0.00,0.000,6,0.179,0.032,2490,1461,3482
$GC,513,-0.69,-130.1,100.8,-20.9,90,521,0.10,1.90,0.00,0.000,4,0.153,0.043,2519,211,3484
$GC,676,-0.69,-130.1,131.9,-17.1,120,682,0.00,1.88,0.00,0.000,6,0.000,0.032,2518,1468,3485
$GC,1001,-0.83,-144.7,165.8,-9.1,181,1008,0.12,2.10,0.00,0.000,4,0.071,0.038,2450,2883,3486
$GC,1055,-0.83,-144.7,172.7,-14.2,191,1061,0.00,2.10,0.00,0.000,6,0.000,0.031,2450,1469,3486
$GC,1381,-0.83,-144.7,225.4,-15.0,252,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,1469,3487
$GC,1707,-0.83,-144.7,270.6,-14.6,313,1712,0.00,1.90,0.00,0.000,4,0.000,0.043,2450,212,3486
$GC,1846,-0.78,-144.7,293.8,-16.7,339,1852,0.15,1.83,0.00,0.000,6,0.142,0.031,2491,1472,3486
$GC,2162,-0.91,-147.0,327.9,-9.8,374,2166,0.12,2.08,0.00,0.000,4,0.071,0.039,2431,2870,3486
$GC,2253,-0.91,-147.0,338.5,-12.4,382,2261,0.00,2.08,0.00,0.000,6,0.000,0.033,2431,1474,3486
$GC,2568,-0.91,-147.0,378.6,-12.7,413,2572,0.00,1.92,0.00,0.000,4,0.000,0.044,2431,206,3485
$GC,2749,-0.84,-147.0,405.3,-15.4,430,2754,0.12,1.85,0.00,0.000,6,0.131,0.031,2473,1459,3484
$GC,3071,-0.98,-165.3,439.1,-8.8,461,3075,0.15,1.88,0.00,0.000,4,0.067,0.045,2404,209,3481
$GC,3316,-0.87,-165.3,470.0,-13.6,484,3320,0.15,1.83,0.00,0.000,6,0.136,0.031,2455,1443,3480
$GC,3647,-0.97,-165.3,506.9,-10.6,513,3650,0.00,1.90,0.00,0.000,4,0.000,0.048,2455,212,3477
$GC,3892,-1.03,-165.3,535.5,-11.9,524,3896,0.10,1.80,0.00,0.000,6,0.057,0.032,2400,1422,3475
$GC,4207,-1.03,-165.3,577.9,-12.9,540,4212,0.00,2.17,0.00,0.000,4,0.000,0.043,2398,2858,3473
$GC,4239,-1.03,-165.3,581.8,-12.5,541,4243,0.00,2.15,0.00,0.000,6,0.000,0.036,2398,1431,3472
$GC,4555,-1.03,-165.3,616.8,-10.6,557,4559,0.00,1.88,0.00,0.000,4,0.000,0.051,2398,214,3469
$GC,4800,-0.95,-165.3,647.4,-13.0,568,4805,0.10,1.80,0.00,0.000,6,0.148,0.035,2432,1417,3468
$GC,5116,-1.01,-165.3,680.4,-10.7,584,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,1418,3464
$GC,5422,-1.09,-165.3,713.7,-10.5,599,5425,0.12,1.88,0.00,0.000,4,0.076,0.051,2376,210,3462
$GC,5469,-0.95,-165.3,720.1,-14.2,601,5473,0.20,1.83,0.00,0.000,6,0.141,0.036,2437,1423,3461
$GC,5792,-1.05,-178.8,750.7,-9.1,617,5795,0.00,1.88,0.00,0.000,4,0.000,0.054,2437,203,3459
$GC,5908,-1.05,-178.8,762.3,-10.6,622,5912,0.00,1.83,0.00,0.000,6,0.000,0.036,2437,1414,3458
$GC,6224,-1.14,-180.8,792.5,-9.9,638,6228,0.17,2.20,0.00,0.000,4,0.067,0.047,2361,2863,3456
$GC,6277,-1.07,-180.8,798.7,-12.2,640,6281,0.10,2.20,0.00,0.000,6,0.160,0.040,2391,1424,3455
$GC,6593,-1.07,-180.8,834.5,-11.5,656,6597,0.00,2.22,0.00,0.000,4,0.000,0.047,2391,2872,3454
$GC,6661,-1.07,-180.8,842.6,-12.3,659,6666,0.00,2.22,0.00,0.000,6,0.000,0.040,2391,1417,3453
$GC,6983,-1.07,-180.8,883.5,-12.7,675,6987,0.00,2.22,0.00,0.000,4,0.000,0.049,2391,2876,3452
$GC,7014,-1.07,-180.8,887.4,-12.7,676,7019,0.00,2.22,0.00,0.000,6,0.000,0.041,2391,1421,3452
$GC,7331,-1.07,-180.8,925.5,-11.4,692,7334,0.00,1.90,0.00,0.000,4,0.000,0.055,2391,207,3450
$GC,7497,-0.99,-180.8,945.9,-12.5,699,7502,0.12,1.80,0.00,0.000,6,0.163,0.038,2425,1416,3450
$GC,7806,-1.07,-194.7,973.5,-8.1,715,7810,0.00,1.90,0.00,0.000,4,0.000,0.057,2425,210,3448
$GC,7918,-1.07,-194.7,983.8,-9.6,720,7922,0.00,1.80,0.00,0.000,6,0.000,0.039,2425,1399,3447
$STATE,8014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8014,begin apogee
$GC,8017,-0.24,0.0,991.4,7.6,725,8125,0.75,0.00,105.57,1.473,6,0.125,0.000,2670,1582,2946
$STATE,8126,end apogee,CONTROL_FINISHED_OK
$STATE,8126,begin climb
$GC,8127,1.27,194.7,992.0,0.0,730,8304,1.42,2.33,171.05,1.427,4,0.071,0.054,3158,214,2152
$GC,8352,0.75,194.7,951.2,29.3,741,8358,0.68,2.20,0.00,0.000,6,0.204,0.038,2988,1592,2146
$GC,8662,0.67,194.7,897.1,16.3,757,8665,0.00,2.22,0.00,0.000,4,0.000,0.055,2988,216,2141
$GC,8757,0.60,194.7,881.2,16.8,761,8761,0.15,2.10,0.00,0.000,6,0.166,0.039,2943,1564,2141
$GC,9073,0.66,194.7,839.2,12.7,777,9077,0.00,2.20,0.00,0.000,4,0.000,0.046,2943,2984,2139
$GC,9104,0.72,194.7,834.9,14.5,778,9109,0.00,2.17,0.00,0.000,6,0.000,0.041,2943,1582,2139
$GC,9420,0.78,194.7,794.5,12.4,794,9421,0.15,0.00,0.00,0.000,6,0.082,0.000,3000,1582,2138
$GC,9726,0.69,194.7,741.9,17.5,809,9730,0.12,2.15,0.00,0.000,4,0.186,0.058,2972,221,2137
$GC,9783,0.69,194.7,731.9,16.3,811,9790,0.00,2.08,0.00,0.000,6,0.000,0.040,2972,1576,2137
$GC,10094,0.69,194.7,682.5,15.9,827,10095,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1577,2136
$GC,10399,0.69,194.7,637.8,14.0,842,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1577,2136
$GC,10705,0.69,194.7,597.1,14.1,857,10709,0.00,2.17,0.00,0.000,4,0.000,0.058,2972,209,2135
$GC,10827,0.69,194.7,581.0,13.8,862,10835,0.00,2.10,0.00,0.000,6,0.000,0.041,2972,1578,2135
$GC,11137,0.69,194.7,538.5,13.9,878,11141,0.00,2.17,0.00,0.000,4,0.000,0.057,2972,209,2135
$GC,11190,0.69,194.7,531.4,13.7,880,11195,0.00,2.08,0.00,0.000,6,0.000,0.041,2972,1562,2135
$GC,11507,0.69,194.7,491.4,11.8,899,11511,0.00,2.12,0.00,0.000,4,0.000,0.058,2972,218,2135
$GC,11603,0.73,194.7,480.4,11.5,908,11607,0.00,2.05,0.00,0.000,6,0.000,0.042,2972,1553,2135
$GC,11925,0.77,194.7,444.0,11.1,939,11928,0.00,2.10,0.00,0.000,4,0.000,0.058,2972,210,2134
$GC,12053,0.83,208.9,429.3,9.1,951,12067,0.08,2.03,9.95,0.996,6,0.078,0.041,3012,1532,2094
$GC,12384,0.79,208.9,380.9,13.5,983,12387,0.00,2.22,0.00,0.000,4,0.000,0.046,3012,2979,2092
$GC,12420,0.75,208.9,375.7,13.6,986,12429,0.00,2.22,0.00,0.000,6,0.000,0.043,3012,1542,2092
$GC,12737,0.71,208.9,336.0,12.4,1017,12741,0.15,2.08,0.00,0.000,4,0.172,0.055,2974,206,2092
$GC,12837,0.79,208.9,324.3,11.3,1026,12841,0.00,2.03,0.00,0.000,6,0.000,0.041,2974,1526,2092
$GC,13157,0.90,216.3,285.6,9.5,1068,13170,0.17,2.05,7.70,0.846,4,0.064,0.055,3056,212,2064
$GC,13250,0.76,216.3,272.8,14.4,1085,13256,0.20,2.03,0.00,0.000,6,0.158,0.039,2993,1534,2063
$GC,13575,0.84,216.3,233.7,12.2,1146,13583,0.00,2.08,0.00,0.000,4,0.000,0.054,2998,216,2062
$GC,13614,0.90,216.3,228.9,12.1,1153,13620,0.08,2.00,0.00,0.000,6,0.070,0.040,3045,1524,2062
$GC,13940,0.85,216.3,188.2,10.8,1214,13948,0.00,2.08,0.00,0.000,4,0.000,0.054,3045,207,2062
$GC,13968,0.79,216.3,184.7,12.5,1219,13975,0.12,1.98,0.00,0.000,6,0.148,0.040,3003,1500,2063
$GC,14295,0.95,241.7,155.8,8.4,1280,14321,0.15,2.33,21.85,0.841,4,0.063,0.042,3075,2991,1959
$GC,14379,0.89,241.7,145.5,13.5,1295,14386,0.15,2.33,0.00,0.000,6,0.164,0.039,3035,1488,1957
$GC,14706,1.02,270.0,107.3,8.2,1356,14738,0.12,2.05,23.85,0.797,4,0.073,0.052,3095,206,1844
$GC,14829,0.98,270.0,94.6,11.9,1378,14836,0.10,1.90,0.00,0.000,6,0.166,0.035,3065,1447,1841
$GC,15157,1.06,271.7,62.5,9.9,1439,15163,0.00,1.95,0.00,0.000,4,0.000,0.050,3065,207,1840
$GC,15215,1.17,292.6,57.4,8.7,1450,15242,0.12,1.88,18.85,0.734,6,0.057,0.035,3128,1441,1754
$GC,15562,1.17,292.6,21.7,11.6,1514,15569,0.00,1.92,0.00,0.000,4,0.000,0.049,3129,211,1750
$GC,15637,1.17,292.6,12.5,12.7,1528,15644,0.00,1.85,0.00,0.000,6,0.000,0.033,3129,1436,1750
$STATE,15721,end climb,SURFACE_DEPTH_REACHED
$STATE,15721,begin surface coast
$FINISH,-0.1,1.021758
$STATE,15748,end surface coast,CONTROL_FINISHED_OK
$STATE,15750,begin surface
$SM_CCo,15763,96.57,0.713,0,0,1255,415.05
$SM_GC,0.82,0.00,0.00,96.57,0.000,0.000,0.713,108,1437,1255,-8.24,-0.93,415.05
$IRIDIUM_FIX,2434.69,12239.55,300898,050502
$TT8_MAMPS,0.049855
$HUMID,1449
$INTERNAL_PRESSURE,9.01648
$TCM_TEMP,26.50
$XPDR_PINGS,15
$24V_AH,23.5,24.395
$10V_AH,10.7,15.009
$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,23.250,138.875,358.825,96.575,0.000,52.063,129.517,252.675,11.750,0.000,0.000,16.496,0.000,11343.226,673.554,3758.849,659.965,0.000,2025.813,0.000,3196.712,0.000,53.961,0.000
$DEVICE_MAMPS,214.760,57.525,1473.407,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1050.981,1087.249,1821.767,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88464,1549
$CAP_FILE_SIZE,171052,0
$CFSIZE,260165632,249491456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262, 14.0,1
$GPS,050609,144455,2453.321,12237.207,36,1.5,36,-3.5