version: 66.04
glider: 164
mission: 3
dive: 153
start: 6 10 109 8 5 54
data:
$ID,164
$MISSION,3
$DIVE,153
$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,275
$T_MISSION,330
$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,250
$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,-36232.18
$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,56
$R_STBD_OVSHOOT,37
$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
$GPS1,080007,2518.503,12236.391,27,1.3,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-70.4
$GPS2,080549,2518.566,12236.442,9,1.3,14,-3.6
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,128.2,63162,-16.4,-12.000
$D_GRID,749
$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,-1.08,-243.4,0.0,0.0,0,78,0.00,0.00,-64.78,0.000,2,0.000,0.000,113,1440,2702
$GC,80,-1.08,-243.4,3.0,-7.3,10,119,8.27,2.25,-25.95,0.000,4,0.200,0.053,2384,2883,3944
$GC,267,-0.73,-243.4,49.1,-19.0,44,275,0.35,2.12,0.00,0.000,6,0.124,0.033,2500,1486,3947
$GC,595,-0.73,-243.4,90.8,-12.7,105,601,0.00,1.95,0.00,0.000,4,0.000,0.045,2501,223,3949
$GC,675,-0.73,-243.4,101.8,-13.9,120,683,0.00,1.88,0.00,0.000,6,0.000,0.034,2501,1470,3950
$GC,1002,-0.73,-243.4,148.5,-13.3,181,1009,0.00,2.12,0.00,0.000,4,0.000,0.041,2501,2881,3951
$GC,1045,-0.85,-243.4,153.2,-10.7,189,1052,0.00,2.12,0.00,0.000,6,0.000,0.033,2501,1462,3951
$GC,1372,-0.90,-243.4,187.6,-9.7,250,1378,0.12,2.12,0.00,0.000,4,0.068,0.040,2436,2872,3951
$GC,1399,-0.85,-243.4,190.8,-12.4,255,1405,0.08,2.08,0.00,0.000,6,0.129,0.034,2462,1485,3951
$GC,1725,-0.81,-243.4,230.6,-12.8,316,1733,0.00,2.10,0.00,0.000,4,0.000,0.040,2460,2873,3951
$GC,1763,-0.81,-243.4,235.5,-12.1,323,1770,0.00,2.08,0.00,0.000,6,0.000,0.033,2461,1489,3951
$GC,2089,-0.81,-243.4,281.7,-15.8,384,2097,0.00,2.10,0.00,0.000,4,0.000,0.041,2461,2875,3952
$GC,2127,-0.81,-243.4,287.1,-13.8,391,2134,0.00,2.08,0.00,0.000,6,0.000,0.033,2461,1489,3951
$GC,2445,-0.81,-243.4,332.2,-13.5,430,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1489,3951
$GC,2757,-0.81,-243.4,369.2,-10.5,460,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1489,3950
$GC,3067,-0.81,-243.4,403.5,-10.7,490,3070,0.00,2.10,0.00,0.000,4,0.000,0.042,2461,2887,3949
$GC,3162,-0.89,-243.4,413.4,-10.3,499,3166,0.00,2.08,0.00,0.000,6,0.000,0.035,2461,1503,3949
$GC,3483,-0.89,-243.4,447.8,-10.8,530,3487,0.00,2.08,0.00,0.000,4,0.000,0.042,2461,2868,3947
$GC,3547,-0.99,-243.4,454.4,-10.1,536,3551,0.08,2.05,0.00,0.000,6,0.060,0.035,2408,1506,3946
$GC,3868,-0.91,-243.4,499.1,-13.8,567,3872,0.15,1.98,0.00,0.000,4,0.133,0.049,2452,223,3944
$GC,3899,-0.91,-243.4,503.0,-12.0,569,3903,0.00,1.92,0.00,0.000,6,0.000,0.035,2452,1501,3944
$GC,4216,-0.96,-243.4,534.1,-9.6,585,4219,0.00,2.05,0.00,0.000,4,0.000,0.045,2452,2872,3943
$GC,4247,-1.04,-243.4,537.0,-9.4,586,4251,0.10,2.08,0.00,0.000,6,0.050,0.037,2392,1500,3942
$GC,4562,-0.93,-243.4,579.7,-13.7,602,4564,0.17,0.00,0.00,0.000,6,0.135,0.000,2442,1499,3940
$GC,4868,-0.93,-243.4,614.0,-11.3,617,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1499,3938
$GC,5173,-0.93,-243.4,648.0,-10.9,632,5177,0.00,2.10,0.00,0.000,4,0.000,0.046,2443,2866,3936
$GC,5221,-1.00,-243.4,653.1,-10.0,634,5225,0.00,2.08,0.00,0.000,6,0.000,0.038,2443,1504,3936
$GC,5542,-1.05,-243.4,687.3,-10.0,650,5546,0.12,2.10,0.00,0.000,4,0.070,0.048,2388,2869,3933
$GC,5584,-0.99,-243.4,692.5,-12.8,652,5588,0.10,2.08,0.00,0.000,6,0.133,0.040,2422,1511,3933
$GC,5911,-0.99,-243.4,728.3,-11.0,668,5914,0.00,2.03,0.00,0.000,4,0.000,0.054,2422,217,3930
$GC,6006,-0.99,-243.4,740.2,-11.3,672,6010,0.00,1.95,0.00,0.000,6,0.000,0.039,2422,1503,3930
$STATE,6056,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6056,begin apogee
$GC,6060,-0.24,0.0,746.5,12.5,675,6262,0.75,0.00,199.73,1.303,6,0.121,0.000,2665,1577,2947
$STATE,6263,end apogee,CONTROL_FINISHED_OK
$STATE,6263,begin climb
$GC,6264,1.08,243.4,754.5,0.0,685,6478,1.20,2.40,205.35,1.259,4,0.067,0.054,3085,212,1954
$GC,6643,0.61,243.4,693.8,22.2,702,6649,0.47,2.15,0.00,0.000,6,0.179,0.038,2950,1567,1947
$GC,6953,0.51,243.4,650.8,14.0,718,6957,0.15,2.20,0.00,0.000,4,0.155,0.046,2908,2996,1944
$GC,7021,0.60,266.9,642.4,11.2,721,7046,0.00,2.17,20.02,1.154,6,0.000,0.040,2907,1594,1858
$GC,7364,0.72,315.8,607.4,10.4,738,7413,0.20,2.30,42.70,1.187,4,0.064,0.055,2992,216,1657
$GC,7446,0.56,315.8,594.1,17.7,742,7450,0.20,2.20,0.00,0.000,6,0.153,0.041,2932,1596,1654
$GC,7772,0.56,315.8,549.1,14.0,758,7776,0.00,2.22,0.00,0.000,4,0.000,0.056,2932,210,1648
$GC,7803,0.56,315.8,544.8,14.1,759,7808,0.00,2.12,0.00,0.000,6,0.000,0.041,2931,1572,1648
$GC,8120,0.56,315.8,503.4,13.3,775,8123,0.00,2.20,0.00,0.000,4,0.000,0.048,2932,2986,1647
$GC,8167,0.56,315.8,497.2,12.7,777,8174,0.00,2.17,0.00,0.000,6,0.000,0.041,2932,1584,1646
$GC,8484,0.60,315.8,461.1,12.2,808,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1584,1645
$GC,8794,0.72,379.5,428.8,9.9,838,8853,0.15,2.28,54.25,1.103,4,0.071,0.048,2998,2994,1398
$GC,8869,0.58,379.5,418.3,16.4,845,8873,0.20,2.25,0.00,0.000,6,0.154,0.041,2938,1594,1395
$GC,9190,0.62,379.5,381.5,12.2,876,9194,0.00,2.20,0.00,0.000,4,0.000,0.055,2938,217,1387
$GC,9216,0.71,393.0,378.5,11.6,878,9234,0.08,2.15,11.50,0.967,6,0.070,0.042,2981,1593,1343
$GC,9543,0.63,393.0,324.9,18.4,910,9547,0.12,2.15,0.00,0.000,4,0.161,0.047,2950,2980,1338
$GC,9607,0.67,393.0,314.2,16.2,916,9611,0.00,2.12,0.00,0.000,6,0.000,0.041,2949,1610,1338
$GC,9930,0.81,444.9,272.2,10.3,967,9980,0.17,2.25,45.40,0.979,4,0.064,0.045,3031,2993,1132
$GC,10022,0.65,444.9,256.2,20.2,983,10028,0.22,2.17,0.00,0.000,6,0.153,0.041,2962,1618,1128
$GC,10348,0.73,444.9,213.1,12.2,1044,10356,0.00,2.22,0.00,0.000,4,0.000,0.054,2962,220,1122
$GC,10430,0.84,444.9,203.4,12.5,1059,10436,0.12,2.12,0.00,0.000,6,0.052,0.041,3030,1594,1121
$GC,10756,0.70,444.9,141.8,21.2,1120,10764,0.17,2.15,0.00,0.000,4,0.144,0.051,2976,203,1121
$GC,10789,0.70,444.9,136.2,15.3,1126,10796,0.00,2.10,0.00,0.000,6,0.000,0.040,2975,1567,1120
$GC,11116,0.85,486.8,98.1,10.6,1187,11156,0.12,2.25,34.92,0.831,4,0.064,0.043,3041,2987,962
$GC,11182,0.74,486.8,87.8,17.5,1198,11188,0.17,2.22,0.00,0.000,6,0.140,0.040,2987,1569,959
$GC,11508,1.14,615.7,57.7,7.7,1259,11611,0.32,2.25,96.47,0.786,4,0.044,0.050,3134,209,489
$GC,11759,1.05,615.7,7.6,19.1,1303,11766,0.15,2.08,0.00,0.000,6,0.137,0.035,3086,1548,480
$STATE,11790,end climb,SURFACE_DEPTH_REACHED
$STATE,11790,begin surface coast
$FINISH,-0.0,1.021859
$STATE,11806,end surface coast,CONTROL_FINISHED_OK
$STATE,11806,begin surface
$SM_CCo,11880,0.00,0.000,0,0,479,605.40
$SM_GC,0.52,7.80,0.00,0.00,0.036,0.000,0.000,107,1450,479,-8.16,-0.57,605.40
$IRIDIUM_FIX,2510.35,12232.66,040998,050539
$TT8_MAMPS,0.049855
$HUMID,1609
$INTERNAL_PRESSURE,8.88952
$TCM_TEMP,24.20
$XPDR_PINGS,15
$ALTIM_BOTTOM_PING,702.1,68.6
$24V_AH,23.4,31.631
$10V_AH,10.7,19.465
$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,22.350,110.975,710.350,0.000,0.000,25.901,32.967,182.162,9.250,0.000,0.000,16.717,0.000,7981.908,767.335,3016.381,433.629,0.000,1927.949,0.000,2562.412,0.000,38.692,0.000
$DEVICE_MAMPS,200.187,94.341,1303.133,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,887.465,935.283,1568.977,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75843,1312
$CAP_FILE_SIZE,136643,0
$CFSIZE,260165632,246841344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,345.3,1
$GPS,100609,112436,2518.123,12237.820,23,1.8,23,-3.6