version: 66.04
glider: 164
mission: 3
dive: 126
start: 6 7 109 7 3 20
data:
$ID,164
$MISSION,3
$DIVE,126
$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,-35587.539
$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,38
$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
$GPS1,065636,2513.362,12230.843,29,0.9,29,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-69.5
$GPS2,070314,2513.578,12230.943,9,1.5,9,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,314.2,23373,-15.7,-10.000
$D_GRID,820
$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,-194.7,0.0,0.0,0,83,0.00,0.00,-69.47,0.000,2,0.000,0.000,113,1509,2751
$GC,85,-0.99,-194.7,3.3,-7.1,11,117,8.50,2.08,-20.35,0.000,4,0.207,0.062,2421,199,3743
$GC,357,-0.56,-194.7,75.5,-24.8,61,364,0.43,1.92,0.00,0.000,6,0.128,0.032,2556,1479,3746
$GC,683,-0.61,-194.7,113.4,-11.0,122,690,0.00,1.95,0.00,0.000,4,0.000,0.044,2557,210,3748
$GC,866,-0.68,-194.7,132.8,-10.5,156,873,0.00,1.85,0.00,0.000,6,0.000,0.033,2557,1447,3749
$GC,1193,-0.75,-194.7,162.7,-9.7,217,1199,0.17,1.88,0.00,0.000,4,0.057,0.042,2473,209,3750
$GC,1295,-0.62,-194.7,177.4,-14.8,236,1303,0.20,1.80,0.00,0.000,6,0.118,0.032,2541,1422,3749
$GC,1623,-0.72,-194.7,199.7,-7.0,297,1630,0.00,2.17,0.00,0.000,4,0.000,0.038,2541,2877,3750
$GC,1672,-0.91,-194.7,203.6,-8.0,306,1679,0.22,2.17,0.00,0.000,6,0.037,0.030,2427,1410,3749
$GC,1999,-0.70,-194.7,254.1,-14.6,367,2005,0.30,1.83,0.00,0.000,4,0.128,0.043,2521,199,3750
$GC,2191,-0.75,-194.7,273.8,-9.5,403,2197,0.00,1.80,0.00,0.000,6,0.000,0.031,2519,1414,3750
$GC,2516,-0.82,-194.7,303.0,-9.4,461,2519,0.12,2.15,0.00,0.000,4,0.072,0.038,2457,2874,3749
$GC,2579,-0.78,-194.7,310.8,-13.0,467,2583,0.08,2.20,0.00,0.000,6,0.126,0.032,2495,1397,3748
$GC,2900,-0.78,-194.7,348.5,-9.7,498,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1397,3747
$GC,3211,-0.78,-194.7,374.9,-8.7,528,3215,0.00,1.80,0.00,0.000,4,0.000,0.046,2495,214,3745
$GC,3376,-0.78,-194.7,392.0,-10.2,543,3382,0.00,1.77,0.00,0.000,6,0.000,0.031,2495,1412,3745
$GC,3692,-0.83,-194.7,420.1,-8.7,574,3695,0.00,2.17,0.00,0.000,4,0.000,0.041,2495,2881,3743
$GC,3831,-0.92,-194.7,432.4,-8.2,587,3835,0.15,2.17,0.00,0.000,6,0.061,0.033,2425,1406,3742
$GC,4146,-0.79,-194.7,478.5,-15.1,617,4150,0.22,1.83,0.00,0.000,4,0.131,0.047,2493,210,3740
$GC,4193,-0.83,-194.7,484.8,-12.3,621,4200,0.00,1.77,0.00,0.000,6,0.000,0.031,2493,1415,3740
$GC,4518,-0.89,-194.7,515.6,-9.3,645,4519,0.12,0.00,0.00,0.000,6,0.071,0.000,2436,1415,3738
$GC,4822,-0.79,-194.7,554.8,-12.1,660,4826,0.17,1.88,0.00,0.000,4,0.137,0.048,2487,202,3734
$GC,4890,-0.79,-194.7,561.2,-8.5,663,4895,0.00,1.80,0.00,0.000,6,0.000,0.033,2486,1413,3734
$GC,5212,-0.85,-194.7,580.8,-5.8,679,5216,0.00,2.17,0.00,0.000,4,0.000,0.044,2486,2870,3732
$GC,5265,-0.95,-194.7,583.7,-5.5,681,5269,0.12,2.20,0.00,0.000,6,0.053,0.036,2418,1405,3731
$GC,5581,-0.82,-194.7,619.9,-13.3,697,5585,0.20,2.20,0.00,0.000,4,0.135,0.043,2476,2876,3729
$GC,5634,-0.90,-194.7,625.0,-8.9,699,5639,0.00,2.22,0.00,0.000,6,0.000,0.035,2476,1402,3729
$GC,5950,-0.90,-194.7,652.7,-8.6,715,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1402,3727
$GC,6254,-0.90,-194.7,677.8,-8.4,730,6258,0.00,2.22,0.00,0.000,4,0.000,0.043,2476,2861,3725
$GC,6340,-0.99,-194.7,685.3,-9.2,734,6344,0.12,2.20,0.00,0.000,6,0.053,0.037,2405,1406,3724
$GC,6667,-0.84,-194.7,731.3,-14.1,750,6668,0.22,0.00,0.00,0.000,6,0.139,0.000,2472,1406,3722
$GC,6972,-0.84,-194.7,757.2,-7.2,765,6975,0.00,2.22,0.00,0.000,4,0.000,0.044,2472,2860,3721
$GC,7008,-0.94,-194.7,759.6,-6.3,766,7015,0.00,2.20,0.00,0.000,6,0.000,0.038,2472,1410,3721
$STATE,7175,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7175,begin apogee
$GC,7179,-0.24,0.0,772.3,8.1,775,7339,0.57,0.00,157.82,1.315,6,0.111,0.000,2664,1587,2947
$STATE,7340,end apogee,CONTROL_FINISHED_OK
$STATE,7340,begin climb
$GC,7341,0.99,194.7,776.9,0.0,783,7511,1.12,0.00,164.25,1.273,6,0.071,0.000,3056,1587,2152
$GC,7814,0.56,194.7,698.4,20.3,806,7818,0.47,2.20,0.00,0.000,4,0.170,0.052,2922,213,2145
$GC,7856,0.47,194.7,692.1,13.5,808,7860,0.00,2.10,0.00,0.000,6,0.000,0.038,2922,1559,2144
$GC,8183,0.42,194.7,653.7,13.1,824,8184,0.15,0.00,0.00,0.000,6,0.143,0.000,2881,1559,2142
$GC,8488,0.48,194.7,622.2,10.8,839,8492,0.00,2.15,0.00,0.000,4,0.000,0.054,2880,206,2141
$GC,8514,0.54,194.7,619.3,10.9,840,8519,0.08,2.10,0.00,0.000,6,0.068,0.039,2925,1573,2141
$GC,8835,0.46,194.7,582.0,12.1,856,8840,0.00,2.17,0.00,0.000,4,0.000,0.044,2925,2987,2141
$GC,8862,0.38,194.7,578.6,13.5,857,8866,0.17,2.15,0.00,0.000,6,0.150,0.039,2872,1587,2141
$GC,9183,0.50,218.4,548.3,9.2,873,9205,0.10,0.00,18.83,1.133,6,0.086,0.000,2917,1588,2055
$GC,9509,0.51,249.9,516.5,8.9,889,9537,0.00,0.00,27.40,1.132,6,0.000,0.000,2917,1588,1929
$GC,9835,0.51,249.9,486.4,11.5,911,9840,0.00,2.17,0.00,0.000,4,0.000,0.053,2917,216,1920
$GC,9936,0.51,249.9,474.7,13.0,920,9945,0.00,2.10,0.00,0.000,6,0.000,0.039,2918,1576,1920
$GC,10253,0.51,249.9,437.3,12.0,951,10256,0.00,2.15,0.00,0.000,4,0.000,0.046,2918,2986,1919
$GC,10283,0.51,249.9,433.2,13.2,954,10288,0.00,2.15,0.00,0.000,6,0.000,0.040,2918,1590,1918
$GC,10606,0.51,249.9,395.7,10.8,985,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,1590,1918
$GC,10915,0.51,249.9,364.1,10.3,1015,10919,0.00,2.15,0.00,0.000,4,0.000,0.054,2918,219,1918
$GC,11032,0.56,249.9,351.3,10.9,1026,11036,0.00,2.12,0.00,0.000,6,0.000,0.040,2918,1601,1918
$GC,11354,0.61,261.5,317.0,9.6,1057,11368,0.00,2.20,9.57,0.912,4,0.000,0.053,2918,215,1880
$GC,11509,0.68,261.5,300.7,10.2,1071,11515,0.12,2.08,0.00,0.000,6,0.077,0.039,2973,1586,1879
$GC,11834,0.58,261.5,259.8,11.3,1131,11839,0.15,0.00,0.00,0.000,6,0.150,0.000,2933,1587,1878
$GC,12159,0.59,273.8,230.4,9.6,1192,12178,0.00,2.17,11.82,0.874,4,0.000,0.051,2932,214,1829
$GC,12301,0.77,364.5,218.6,6.9,1218,12386,0.12,2.08,76.53,0.925,6,0.057,0.038,2999,1569,1458
$GC,12706,0.65,364.5,164.1,16.5,1292,12713,0.17,2.17,0.00,0.000,4,0.146,0.041,2952,2981,1447
$GC,12739,0.65,364.5,158.8,15.8,1298,12745,0.00,2.15,0.00,0.000,6,0.000,0.038,2955,1592,1447
$GC,13066,0.82,414.2,128.6,8.3,1359,13112,0.15,2.25,40.78,0.835,4,0.064,0.049,3031,207,1256
$GC,13239,0.77,414.2,104.0,14.5,1390,13246,0.10,2.12,0.00,0.000,6,0.123,0.035,2997,1582,1250
$GC,13566,1.06,472.8,75.3,8.0,1451,13619,0.22,2.25,48.62,0.782,4,0.048,0.048,3108,204,1018
$GC,13656,0.91,472.8,63.5,15.9,1466,13662,0.20,2.10,0.00,0.000,6,0.140,0.034,3044,1552,1014
$GC,13982,1.05,474.7,29.7,9.9,1527,13989,0.12,2.10,0.00,0.000,4,0.067,0.048,3111,210,1010
$GC,14036,0.97,474.7,22.2,14.8,1537,14043,0.15,2.00,0.00,0.000,6,0.135,0.034,3061,1530,1009
$STATE,14222,end climb,SURFACE_DEPTH_REACHED
$STATE,14222,begin surface coast
$FINISH,-0.0,1.008680
$STATE,14254,end surface coast,CONTROL_FINISHED_OK
$STATE,14254,begin surface
$SM_CCo,14328,0.00,0.000,0,0,1008,475.64
$SM_GC,0.75,7.65,0.00,0.00,0.041,0.000,0.000,109,1461,1008,-8.14,-0.28,475.64
$IRIDIUM_FIX,2500.82,12230.10,010998,020212
$TT8_MAMPS,0.049855
$HUMID,1502
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,26.40
$XPDR_PINGS,16
$ALTIM_BOTTOM_PING,702.4,94.7
$24V_AH,23.6,26.525
$10V_AH,10.7,16.373
$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,23.225,108.375,555.625,0.000,0.000,30.860,38.028,225.037,9.500,0.000,0.000,11.347,0.000,9964.406,666.284,3546.118,520.042,0.000,1966.785,0.000,3034.180,0.000,38.843,0.000
$DEVICE_MAMPS,207.090,90.506,1314.638,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1069.367,1133.073,1895.836,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91514,1578
$CAP_FILE_SIZE,155309,0
$CFSIZE,260165632,248643584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152,  9.5,1
$GPS,070609,110306,2516.167,12229.444,39,1.2,39,-3.6