version: 66.04
glider: 164
mission: 3
dive: 155
start: 6 10 109 15 8 31
data:
$ID,164
$MISSION,3
$DIVE,155
$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,-36282.633
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,150025,2518.191,12237.761,35,1.2,35,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-69.2
$GPS2,150826,2518.399,12237.615,11,1.1,11,-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,153.1,61457,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.08,-243.4,0.0,0.0,0,90,0.00,0.00,-75.50,0.000,2,0.000,0.000,115,1441,2821
$GC,92,-1.08,-243.4,3.5,-8.4,12,131,8.32,2.22,-21.77,0.000,4,0.202,0.054,2386,2877,3944
$GC,194,-0.72,-243.4,32.7,-27.8,30,201,0.35,2.15,0.00,0.000,6,0.131,0.035,2501,1470,3946
$GC,520,-0.72,-243.4,82.9,-14.5,91,527,0.00,2.15,0.00,0.000,4,0.000,0.041,2501,2877,3948
$GC,553,-0.76,-243.4,87.4,-14.0,97,561,0.00,2.15,0.00,0.000,6,0.000,0.035,2502,1455,3948
$GC,880,-0.76,-243.4,129.9,-12.9,158,887,0.00,2.17,0.00,0.000,4,0.000,0.041,2502,2883,3949
$GC,923,-0.85,-243.4,134.9,-11.1,166,929,0.00,2.12,0.00,0.000,6,0.000,0.034,2501,1469,3950
$GC,1249,-0.89,-243.4,165.8,-8.7,227,1255,0.12,0.00,0.00,0.000,6,0.067,0.000,2442,1469,3950
$GC,1574,-0.78,-243.4,211.4,-14.2,288,1581,0.17,1.90,0.00,0.000,4,0.130,0.045,2495,222,3950
$GC,1634,-0.78,-243.4,218.9,-11.8,299,1640,0.00,1.88,0.00,0.000,6,0.000,0.034,2495,1478,3950
$GC,1960,-0.82,-243.4,252.7,-9.9,360,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2494,1479,3950
$GC,2285,-0.90,-243.4,283.4,-9.1,421,2292,0.12,2.05,0.00,0.000,4,0.065,0.041,2431,2872,3948
$GC,2318,-0.86,-243.4,287.4,-13.2,427,2324,0.08,2.10,0.00,0.000,6,0.127,0.035,2458,1471,3949
$GC,2641,-0.86,-243.4,326.3,-12.4,468,2645,0.00,2.12,0.00,0.000,4,0.000,0.041,2458,2872,3948
$GC,2700,-0.90,-243.4,333.2,-12.0,473,2707,0.00,2.08,0.00,0.000,6,0.000,0.035,2459,1491,3948
$GC,3016,-0.90,-243.4,370.1,-11.9,504,3019,0.00,2.08,0.00,0.000,4,0.000,0.042,2459,2877,3947
$GC,3123,-0.97,-243.4,379.4,-5.5,514,3126,0.00,2.08,0.00,0.000,6,0.000,0.036,2459,1497,3946
$GC,3444,-0.97,-243.4,406.6,-8.4,545,3447,0.00,1.95,0.00,0.000,4,0.000,0.048,2459,210,3944
$GC,3615,-0.97,-243.4,424.0,-11.3,561,3618,0.00,1.88,0.00,0.000,6,0.000,0.034,2459,1486,3943
$GC,3935,-1.02,-243.4,455.2,-9.5,592,3936,0.12,0.00,0.00,0.000,6,0.071,0.000,2398,1487,3941
$GC,4246,-0.90,-243.4,498.7,-14.4,622,4247,0.17,0.00,0.00,0.000,6,0.133,0.000,2450,1487,3939
$GC,4551,-0.94,-243.4,532.5,-11.4,638,4555,0.00,1.98,0.00,0.000,4,0.000,0.051,2450,224,3937
$GC,4576,-0.94,-243.4,535.6,-12.9,639,4581,0.00,1.90,0.00,0.000,6,0.000,0.035,2450,1476,3937
$GC,4899,-0.99,-243.4,570.8,-11.3,655,4902,0.00,2.12,0.00,0.000,4,0.000,0.048,2449,2869,3935
$GC,4999,-1.08,-243.4,580.8,-9.4,659,5006,0.12,2.10,0.00,0.000,6,0.051,0.039,2385,1493,3934
$GC,5311,-0.96,-243.4,626.3,-15.4,675,5315,0.17,2.10,0.00,0.000,4,0.140,0.047,2441,2872,3931
$GC,5352,-1.03,-243.4,632.2,-12.4,677,5356,0.00,2.10,0.00,0.000,6,0.000,0.040,2441,1495,3931
$GC,5674,-1.07,-243.4,669.6,-10.9,693,5675,0.12,0.00,0.00,0.000,6,0.072,0.000,2386,1495,3929
$GC,5978,-0.94,-243.4,710.4,-14.8,708,5980,0.20,0.00,0.00,0.000,6,0.143,0.000,2443,1495,3927
$GC,6284,-0.98,-243.4,743.2,-9.8,723,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1495,3925
$STATE,6567,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6567,begin apogee
$GC,6571,-0.24,0.0,775.3,11.9,737,6773,0.68,0.00,199.32,1.334,6,0.110,0.000,2668,1587,2946
$STATE,6774,end apogee,CONTROL_FINISHED_OK
$STATE,6774,begin climb
$GC,6775,1.08,243.4,790.4,0.0,747,6987,1.23,0.00,208.12,1.290,6,0.064,0.000,3090,1587,1954
$GC,7282,0.59,243.4,695.8,25.2,772,7287,0.55,2.22,0.00,0.000,4,0.178,0.057,2939,217,1945
$GC,7384,0.53,243.4,680.5,13.0,776,7391,0.00,2.12,0.00,0.000,6,0.000,0.042,2939,1574,1944
$GC,7694,0.46,243.4,639.1,13.8,792,7696,0.15,0.00,0.00,0.000,6,0.150,0.000,2895,1574,1942
$GC,8000,0.58,299.3,606.1,10.1,807,8052,0.12,2.28,46.85,1.210,4,0.074,0.059,2949,220,1726
$GC,8079,0.52,299.3,595.8,14.3,810,8086,0.10,2.17,0.00,0.000,6,0.137,0.043,2918,1575,1722
$GC,8389,0.55,323.5,557.1,11.2,826,8412,0.00,0.00,21.20,1.145,6,0.000,0.000,2917,1575,1628
$GC,8715,0.61,374.9,522.6,10.3,842,8769,0.00,0.00,48.17,1.124,6,0.000,0.000,2917,1575,1418
$GC,9063,0.61,374.9,478.2,14.2,867,9067,0.00,2.22,0.00,0.000,4,0.000,0.059,2918,207,1407
$GC,9142,0.75,403.2,468.9,11.1,874,9182,0.15,2.15,26.55,1.037,6,0.057,0.043,2990,1576,1302
$GC,9491,0.58,403.2,400.6,19.8,908,9492,0.20,0.00,0.00,0.000,6,0.155,0.000,2937,1577,1295
$GC,9802,0.58,403.2,350.3,18.1,938,9805,0.00,2.17,0.00,0.000,4,0.000,0.058,2938,202,1292
$GC,9860,0.66,403.2,340.5,16.3,943,9868,0.00,2.12,0.00,0.000,6,0.000,0.044,2937,1566,1291
$GC,10178,0.72,403.2,292.1,14.0,979,10185,0.12,2.17,0.00,0.000,4,0.071,0.049,2997,2987,1290
$GC,10221,0.61,403.2,284.3,19.0,987,10229,0.20,2.20,0.00,0.000,6,0.158,0.044,2944,1549,1290
$GC,10550,0.69,429.6,242.0,11.1,1048,10579,0.00,2.15,22.60,0.948,4,0.000,0.058,2944,215,1193
$GC,10626,0.87,463.8,233.7,10.9,1062,10664,0.20,2.08,30.75,0.936,6,0.047,0.043,3042,1539,1055
$GC,10985,0.62,463.8,147.9,25.6,1128,10991,0.30,2.22,0.00,0.000,4,0.146,0.044,2950,2997,1047
$GC,11071,0.87,501.2,136.1,10.8,1144,11109,0.17,2.22,32.25,0.864,6,0.044,0.040,3043,1566,903
$GC,11430,0.72,501.2,56.5,19.5,1210,11436,0.20,2.20,0.00,0.000,4,0.145,0.043,2981,2994,896
$GC,11499,1.03,578.6,47.8,9.4,1223,11570,0.22,2.17,65.15,0.795,6,0.040,0.040,3109,1592,587
$STATE,11765,end climb,SURFACE_DEPTH_REACHED
$STATE,11765,begin surface coast
$FINISH,0.0,1.021909
$STATE,11782,end surface coast,CONTROL_FINISHED_OK
$STATE,11782,begin surface
$SM_CCo,11856,0.00,0.000,0,0,577,581.36
$SM_GC,0.54,7.82,0.00,0.00,0.034,0.000,0.000,114,1455,577,-8.13,-0.48,581.36
$IRIDIUM_FIX,2507.97,12237.96,040998,111132
$TT8_MAMPS,0.050622
$HUMID,1651
$INTERNAL_PRESSURE,8.86999
$TCM_TEMP,23.70
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,727.1,70.8
$24V_AH,23.3,32.124
$10V_AH,10.6,19.707
$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,22.525,80.575,700.975,0.000,0.000,61.291,64.757,194.265,10.000,0.000,0.000,14.074,0.000,8173.346,791.662,2842.799,505.120,0.000,1863.346,0.000,2417.379,0.000,40.351,0.000
$DEVICE_MAMPS,202.488,75.166,1333.813,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,862.493,885.923,1485.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,72634,1274
$CAP_FILE_SIZE,127277,0
$CFSIZE,260165632,246697984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.102,346.5,1
$GPS,100609,182706,2517.166,12238.389,34,0.9,40,-3.6