version: 66.04
glider: 164
mission: 3
dive: 154
start: 6 10 109 11 34 26
data:
$ID,164
$MISSION,3
$DIVE,154
$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,-36267.93
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,112436,2518.123,12237.820,23,1.8,23,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-68.3
$GPS2,113421,2518.088,12237.649,12,2.4,31,-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,146.5,61040,-16.4,-12.000
$D_GRID,794
$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,-243.4,0.0,0.0,0,103,0.00,0.00,-88.82,0.000,2,0.000,0.000,108,1448,2953
$GC,104,-1.08,-243.4,3.7,-8.6,14,136,8.25,2.17,-17.98,0.000,4,0.199,0.052,2381,2886,3942
$GC,162,-0.65,-243.4,23.7,-33.3,24,169,0.45,2.15,0.00,0.000,6,0.122,0.036,2530,1484,3943
$GC,488,-0.65,-243.4,72.0,-11.1,85,495,0.00,1.95,0.00,0.000,4,0.000,0.045,2530,215,3946
$GC,574,-0.65,-243.4,82.0,-12.6,101,581,0.00,1.90,0.00,0.000,6,0.000,0.034,2530,1472,3946
$GC,901,-0.75,-243.4,114.1,-10.0,162,907,0.00,1.95,0.00,0.000,4,0.000,0.046,2530,210,3948
$GC,943,-0.86,-243.4,118.6,-10.2,170,950,0.15,1.90,0.00,0.000,6,0.044,0.035,2448,1468,3947
$GC,1270,-0.76,-243.4,172.0,-17.2,231,1277,0.17,2.10,0.00,0.000,4,0.125,0.041,2500,2873,3947
$GC,1298,-0.80,-243.4,176.2,-14.4,236,1304,0.00,2.12,0.00,0.000,6,0.000,0.034,2501,1453,3948
$GC,1624,-0.86,-243.4,213.5,-9.2,297,1630,0.00,2.15,0.00,0.000,4,0.000,0.040,2501,2876,3947
$GC,1704,-0.99,-243.4,220.1,-7.9,312,1710,0.17,2.10,0.00,0.000,6,0.042,0.033,2404,1472,3948
$GC,2030,-0.81,-243.4,269.9,-15.4,373,2036,0.25,1.88,0.00,0.000,4,0.130,0.045,2480,215,3947
$GC,2126,-0.81,-243.4,280.1,-9.2,391,2133,0.00,1.90,0.00,0.000,6,0.000,0.035,2480,1482,3947
$GC,2450,-0.86,-243.4,311.0,-11.4,443,2454,0.00,2.08,0.00,0.000,4,0.000,0.041,2480,2878,3946
$GC,2546,-0.96,-243.4,321.6,-10.3,452,2550,0.10,2.10,0.00,0.000,6,0.051,0.034,2417,1477,3946
$GC,2867,-0.85,-243.4,368.1,-15.3,483,2871,0.17,2.12,0.00,0.000,4,0.132,0.041,2467,2879,3944
$GC,2903,-0.93,-243.4,372.7,-11.2,486,2910,0.00,2.10,0.00,0.000,6,0.000,0.035,2467,1481,3944
$GC,3220,-0.97,-243.4,408.8,-11.8,517,3221,0.10,0.00,0.00,0.000,6,0.077,0.000,2415,1481,3941
$GC,3530,-0.88,-243.4,454.7,-14.7,547,3534,0.15,2.10,0.00,0.000,4,0.136,0.044,2458,2878,3939
$GC,3572,-0.96,-243.4,459.8,-11.1,551,3576,0.00,2.08,0.00,0.000,6,0.000,0.037,2458,1504,3939
$GC,3893,-1.01,-243.4,494.3,-10.2,582,3897,0.12,1.98,0.00,0.000,4,0.068,0.050,2396,218,3937
$GC,3967,-0.85,-243.4,505.6,-15.7,587,3971,0.20,1.92,0.00,0.000,6,0.132,0.035,2459,1502,3936
$GC,4284,-0.91,-243.4,539.7,-10.3,603,4287,0.00,2.05,0.00,0.000,4,0.000,0.046,2459,2867,3935
$GC,4331,-1.02,-243.4,544.2,-9.1,605,4335,0.10,2.08,0.00,0.000,6,0.055,0.038,2401,1502,3935
$GC,4653,-0.92,-243.4,589.1,-13.8,621,4654,0.15,0.00,0.00,0.000,6,0.146,0.000,2442,1502,3932
$GC,4957,-0.92,-243.4,621.6,-10.4,636,4961,0.00,2.10,0.00,0.000,4,0.000,0.047,2442,2866,3930
$GC,5005,-1.01,-243.4,626.9,-11.3,638,5009,0.00,2.05,0.00,0.000,6,0.000,0.040,2442,1520,3929
$GC,5326,-1.05,-243.4,662.0,-10.4,654,5330,0.12,2.08,0.00,0.000,4,0.070,0.048,2385,2870,3927
$GC,5362,-0.97,-243.4,666.4,-12.7,655,5371,0.12,2.08,0.00,0.000,6,0.129,0.040,2427,1515,3927
$GC,5674,-0.97,-243.4,701.7,-11.4,671,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1515,3925
$GC,5979,-0.97,-243.4,734.4,-10.1,686,5979,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,1515,3924
$GC,6284,-0.97,-243.4,765.3,-10.1,701,6288,0.00,2.05,0.00,0.000,4,0.000,0.057,2427,212,3921
$GC,6320,-0.97,-243.4,769.3,-11.4,702,6328,0.00,2.00,0.00,0.000,6,0.000,0.039,2427,1522,3921
$STATE,6487,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6487,begin apogee
$GC,6491,-0.24,0.0,787.7,11.4,711,6692,0.73,0.00,198.43,1.338,6,0.114,0.000,2667,1523,2947
$STATE,6693,end apogee,CONTROL_FINISHED_OK
$STATE,6693,begin climb
$GC,6694,1.08,243.4,796.4,0.0,721,6910,1.20,2.42,207.70,1.289,4,0.066,0.046,3086,2979,1952
$GC,6951,0.60,243.4,757.1,25.8,733,6956,0.52,2.33,0.00,0.000,6,0.179,0.043,2944,1583,1948
$GC,7268,0.51,243.4,713.9,13.4,749,7271,0.12,2.20,0.00,0.000,4,0.162,0.058,2910,216,1943
$GC,7336,0.57,257.7,705.7,11.5,752,7354,0.00,2.12,12.23,1.124,6,0.000,0.041,2909,1571,1895
$GC,7657,0.67,305.9,672.0,10.4,768,7701,0.15,0.00,42.80,1.233,6,0.069,0.000,2974,1571,1699
$GC,8003,0.54,305.9,617.9,16.2,785,8006,0.20,2.20,0.00,0.000,4,0.154,0.049,2919,2988,1689
$GC,8055,0.54,305.9,610.4,12.6,787,8060,0.00,2.22,0.00,0.000,6,0.000,0.044,2919,1572,1688
$GC,8371,0.54,305.9,569.7,12.5,803,8375,0.00,2.22,0.00,0.000,4,0.000,0.049,2919,2985,1686
$GC,8392,0.54,305.9,567.0,13.4,804,8396,0.00,2.20,0.00,0.000,6,0.000,0.044,2919,1577,1685
$GC,8718,0.59,305.9,524.5,12.3,820,8722,0.00,2.17,0.00,0.000,4,0.000,0.059,2919,213,1684
$GC,8771,0.71,340.4,518.5,10.9,822,8806,0.12,2.10,29.05,1.155,6,0.058,0.044,2982,1564,1559
$GC,9111,0.60,340.4,463.3,14.2,849,9112,0.17,0.00,0.00,0.000,6,0.157,0.000,2935,1565,1550
$GC,9423,0.68,376.1,428.9,10.8,879,9459,0.00,2.22,31.25,1.098,4,0.000,0.059,2935,219,1412
$GC,9492,0.80,389.3,420.5,11.6,885,9510,0.15,2.15,12.98,1.003,6,0.055,0.044,3006,1569,1359
$GC,9818,0.61,389.3,355.9,22.7,917,9822,0.22,2.20,0.00,0.000,4,0.153,0.049,2945,2992,1349
$GC,9876,0.65,389.3,346.1,14.7,922,9883,0.00,2.17,0.00,0.000,6,0.000,0.043,2945,1603,1348
$GC,10193,0.73,389.3,302.6,12.2,953,10194,0.10,0.00,0.00,0.000,6,0.085,0.000,2989,1603,1347
$GC,10512,0.66,389.3,253.3,15.1,1011,10520,0.12,2.20,0.00,0.000,4,0.150,0.057,2957,212,1346
$GC,10620,0.76,389.3,239.4,13.4,1031,10627,0.00,2.17,0.00,0.000,6,0.000,0.041,2957,1621,1345
$GC,10948,0.88,413.3,197.4,11.2,1092,10973,0.20,0.00,20.00,0.901,6,0.055,0.000,3046,1621,1260
$GC,11294,0.67,413.3,130.7,19.6,1156,11299,0.25,2.20,0.00,0.000,4,0.149,0.053,2972,206,1255
$GC,11379,0.87,487.8,120.4,9.5,1172,11448,0.10,2.15,63.42,0.858,6,0.057,0.040,3034,1605,957
$GC,11768,0.87,487.8,47.9,16.8,1243,11775,0.00,2.22,0.00,0.000,4,0.000,0.052,3038,211,948
$GC,11844,0.99,496.1,37.7,11.7,1257,11857,0.00,2.12,7.18,0.653,6,0.000,0.038,3038,1587,923
$GC,12177,1.31,591.7,8.7,8.8,1319,12217,0.32,0.00,38.25,0.743,2,0.044,0.000,3174,1587,742
$STATE,12217,end climb,SURFACE_DEPTH_REACHED
$STATE,12217,begin surface coast
$FINISH,-0.1,1.021875
$STATE,12231,end surface coast,CONTROL_FINISHED_OK
$STATE,12231,begin surface
$SM_CCo,12305,0.00,0.000,0,0,736,542.36
$SM_GC,0.63,8.07,0.00,0.00,0.036,0.000,0.000,115,1446,736,-8.14,-0.71,542.36
$IRIDIUM_FIX,2510.35,12239.24,040998,111107
$TT8_MAMPS,0.049855
$HUMID,1609
$INTERNAL_PRESSURE,8.91882
$TCM_TEMP,24.70
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,726.1,85.8
$24V_AH,23.3,31.874
$10V_AH,10.7,19.589
$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,23.575,101.450,663.275,0.000,0.000,59.861,68.838,269.438,10.250,0.000,0.000,35.120,0.000,8489.551,750.219,3028.156,598.135,0.000,1890.408,0.000,2549.195,0.000,40.391,0.000
$DEVICE_MAMPS,199.420,59.059,1337.648,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,899.018,940.961,1578.375,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75714,1328
$CAP_FILE_SIZE,139892,0
$CFSIZE,260165632,246759424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.328,330.6,1
$GPS,100609,150025,2518.191,12237.761,35,1.2,35,-3.6