version: 66.04
glider: 164
mission: 3
dive: 156
start: 6 10 109 18 32 55
data:
$ID,164
$MISSION,3
$DIVE,156
$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,-36299.129
$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,46
$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
$GPS1,182706,2517.166,12238.389,34,0.9,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-69.1
$GPS2,183249,2517.349,12238.530,8,0.9,13,-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,143.8,59027,-16.4,-12.000
$D_GRID,844
$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,-243.4,0.0,0.0,0,95,0.00,0.00,-80.85,0.000,2,0.000,0.000,114,1453,2735
$GC,97,-1.08,-243.4,3.1,-7.6,12,136,8.40,2.20,-23.88,0.000,4,0.207,0.056,2386,2883,3942
$GC,332,-0.77,-243.4,63.2,-21.8,55,339,0.32,2.12,0.00,0.000,6,0.123,0.034,2493,1484,3946
$GC,659,-0.77,-243.4,109.6,-12.6,116,665,0.00,2.15,0.00,0.000,4,0.000,0.042,2493,2888,3948
$GC,718,-0.82,-243.4,116.6,-11.6,127,724,0.00,2.12,0.00,0.000,6,0.000,0.035,2493,1482,3949
$GC,1044,-0.82,-243.4,158.1,-11.8,188,1050,0.00,2.12,0.00,0.000,4,0.000,0.041,2493,2876,3949
$GC,1087,-0.89,-243.4,163.1,-11.1,196,1093,0.08,2.12,0.00,0.000,6,0.057,0.034,2443,1471,3949
$GC,1413,-0.77,-243.4,211.3,-14.1,257,1421,0.17,2.12,0.00,0.000,4,0.130,0.042,2494,2890,3949
$GC,1436,-0.77,-243.4,214.1,-12.2,261,1443,0.00,2.12,0.00,0.000,6,0.000,0.035,2495,1475,3949
$GC,1763,-0.84,-243.4,247.3,-9.5,322,1769,0.00,2.12,0.00,0.000,4,0.000,0.041,2495,2877,3949
$GC,1843,-0.95,-243.4,253.4,-7.7,337,1850,0.12,2.08,0.00,0.000,6,0.047,0.035,2422,1497,3949
$GC,2170,-0.83,-243.4,294.8,-11.9,398,2177,0.17,2.10,0.00,0.000,4,0.133,0.041,2473,2882,3949
$GC,2219,-0.91,-243.4,299.5,-9.5,407,2224,0.00,2.10,0.00,0.000,6,0.000,0.035,2473,1491,3949
$GC,2539,-0.91,-243.4,335.1,-11.1,439,2543,0.00,2.12,0.00,0.000,4,0.000,0.041,2474,2888,3948
$GC,2656,-1.00,-243.4,346.7,-9.0,450,2660,0.12,2.08,0.00,0.000,6,0.049,0.035,2402,1511,3948
$GC,2977,-0.86,-243.4,390.8,-14.5,481,2981,0.22,2.00,0.00,0.000,4,0.131,0.049,2470,210,3946
$GC,3063,-0.86,-243.4,401.0,-11.6,489,3066,0.00,1.95,0.00,0.000,6,0.000,0.035,2470,1507,3946
$GC,3383,-0.92,-243.4,437.3,-10.9,520,3387,0.00,2.08,0.00,0.000,4,0.000,0.044,2470,2874,3944
$GC,3431,-1.02,-243.4,442.2,-10.1,524,3438,0.12,2.08,0.00,0.000,6,0.051,0.036,2402,1498,3944
$GC,3747,-0.89,-243.4,485.7,-13.6,555,3751,0.17,2.08,0.00,0.000,4,0.135,0.044,2453,2862,3943
$GC,3826,-0.95,-243.4,494.0,-9.7,562,3833,0.00,2.05,0.00,0.000,6,0.000,0.037,2452,1512,3942
$GC,4139,-0.95,-243.4,525.4,-10.6,581,4142,0.00,2.05,0.00,0.000,4,0.000,0.046,2453,2871,3940
$GC,4239,-1.01,-243.4,536.1,-10.8,585,4247,0.08,2.05,0.00,0.000,6,0.061,0.038,2403,1522,3939
$GC,4549,-0.91,-243.4,579.5,-13.8,601,4553,0.15,2.08,0.00,0.000,4,0.138,0.047,2446,2872,3937
$GC,4656,-0.97,-243.4,590.7,-10.3,606,4660,0.00,2.03,0.00,0.000,6,0.000,0.038,2446,1541,3936
$GC,4982,-0.97,-243.4,623.5,-9.5,622,4986,0.00,2.05,0.00,0.000,4,0.000,0.047,2446,2872,3935
$GC,5025,-1.04,-243.4,627.7,-9.8,624,5029,0.08,2.03,0.00,0.000,6,0.061,0.040,2398,1544,3935
$GC,5352,-0.93,-243.4,669.4,-11.7,640,5355,0.15,2.03,0.00,0.000,4,0.139,0.048,2440,2878,3932
$GC,5436,-0.99,-243.4,676.5,-7.5,644,5440,0.00,2.00,0.00,0.000,6,0.000,0.040,2440,1570,3931
$GC,5762,-0.99,-243.4,705.6,-9.4,660,5766,0.00,2.00,0.00,0.000,4,0.000,0.048,2440,2861,3929
$GC,5821,-1.06,-243.4,711.3,-10.3,662,5828,0.08,1.98,0.00,0.000,6,0.061,0.041,2392,1575,3929
$GC,6135,-0.95,-243.4,752.0,-14.2,678,6137,0.17,0.00,0.00,0.000,6,0.135,0.000,2443,1576,3928
$GC,6437,-0.98,-243.4,792.3,-13.8,693,6441,0.00,2.00,0.00,0.000,4,0.000,0.050,2443,2860,3926
$GC,6500,-1.07,-243.4,801.4,-12.9,696,6504,0.10,1.98,0.00,0.000,6,0.058,0.042,2389,1575,3926
$STATE,6743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6743,begin apogee
$GC,6747,-0.24,0.0,844.6,18.1,708,6952,0.85,0.00,202.05,1.384,6,0.123,0.000,2662,1574,2947
$STATE,6952,end apogee,CONTROL_FINISHED_OK
$STATE,6952,begin climb
$GC,6954,1.08,243.4,862.8,0.0,718,7170,1.23,0.00,212.52,1.341,6,0.067,0.000,3085,1574,1954
$GC,7464,0.64,243.4,757.6,34.4,743,7468,0.47,2.17,0.00,0.000,4,0.176,0.057,2955,213,1944
$GC,7533,0.55,243.4,739.4,24.9,746,7538,0.10,2.10,0.00,0.000,6,0.142,0.041,2923,1546,1944
$GC,7854,0.76,414.2,699.6,6.3,762,8018,0.20,2.42,150.40,1.241,4,0.066,0.050,3003,2981,1257
$GC,8060,0.55,414.2,661.7,23.3,771,8067,0.28,2.28,0.00,0.000,6,0.160,0.043,2925,1588,1251
$GC,8371,0.55,414.2,610.5,16.2,787,8375,0.00,2.22,0.00,0.000,4,0.000,0.058,2925,210,1244
$GC,8397,0.60,414.2,606.3,15.5,788,8401,0.00,2.12,0.00,0.000,6,0.000,0.042,2924,1565,1244
$GC,8718,0.67,414.2,562.4,14.0,804,8723,0.10,2.22,0.00,0.000,4,0.084,0.049,2971,2988,1241
$GC,8760,0.62,414.2,555.3,18.2,806,8765,0.00,2.20,0.00,0.000,6,0.000,0.045,2972,1586,1241
$GC,9077,0.53,414.2,496.8,17.3,822,9081,0.20,2.17,0.00,0.000,4,0.159,0.051,2916,2979,1240
$GC,9141,0.67,434.9,488.1,11.3,828,9164,0.10,2.12,16.77,1.091,6,0.065,0.044,2973,1614,1173
$GC,9472,0.58,434.9,434.3,16.9,860,9476,0.15,2.15,0.00,0.000,4,0.159,0.050,2933,2983,1168
$GC,9498,0.58,434.9,430.1,15.2,862,9507,0.00,2.12,0.00,0.000,6,0.000,0.044,2933,1623,1168
$GC,9815,0.70,468.3,392.3,10.9,893,9850,0.10,2.33,30.27,1.067,4,0.086,0.059,2975,215,1036
$GC,9924,0.70,468.3,376.1,16.2,903,9928,0.00,2.17,0.00,0.000,6,0.000,0.043,2974,1608,1032
$GC,10246,0.62,468.3,321.5,17.2,934,10249,0.00,2.15,0.00,0.000,4,0.000,0.050,2974,2999,1029
$GC,10319,0.62,468.3,308.9,16.7,941,10323,0.08,2.15,0.00,0.000,6,0.159,0.044,2951,1620,1029
$GC,10644,0.71,468.3,262.4,13.8,996,10650,0.00,2.15,0.00,0.000,4,0.000,0.048,2950,2992,1027
$GC,10696,0.84,468.3,254.7,14.2,1006,10705,0.15,2.12,0.00,0.000,6,0.053,0.043,3029,1623,1027
$GC,11025,0.62,468.3,178.3,24.5,1067,11031,0.30,2.20,0.00,0.000,4,0.150,0.055,2943,222,1027
$GC,11062,0.70,468.3,171.6,14.6,1074,11070,0.00,2.15,0.00,0.000,6,0.000,0.043,2943,1614,1026
$GC,11390,0.90,494.1,135.2,11.1,1135,11417,0.25,2.28,22.08,0.861,4,0.050,0.055,3056,211,931
$GC,11438,0.71,494.1,126.1,23.2,1143,11444,0.22,2.17,0.00,0.000,6,0.140,0.041,2970,1607,929
$GC,11765,1.02,588.1,89.4,8.9,1204,11853,0.25,2.20,80.88,0.831,4,0.050,0.044,3088,2992,547
$GC,11868,0.74,588.1,65.9,27.0,1221,11874,0.35,2.25,0.00,0.000,6,0.152,0.040,2979,1592,545
$GC,12194,1.42,588.1,30.6,12.2,1282,12201,0.62,2.15,0.00,0.000,4,0.077,0.052,3199,208,538
$GC,12324,1.13,588.1,6.8,24.2,1306,12332,0.28,2.10,0.00,0.000,6,0.159,0.036,3105,1582,538
$STATE,12340,end climb,SURFACE_DEPTH_REACHED
$STATE,12340,begin surface coast
$FINISH,0.3,1.021965
$STATE,12351,end surface coast,CONTROL_FINISHED_OK
$STATE,12351,begin surface
$SM_CCo,12424,0.00,0.000,0,0,537,591.17
$SM_GC,0.51,7.72,0.00,0.00,0.032,0.000,0.000,110,1449,537,-8.15,-0.62,591.17
$IRIDIUM_FIX,2507.97,12232.66,040998,151502
$TT8_MAMPS,0.050622
$HUMID,1625
$INTERNAL_PRESSURE,8.85046
$TCM_TEMP,23.70
$XPDR_PINGS,10
$ALTIM_BOTTOM_PING,752.0,115.1
$24V_AH,23.1,32.387
$10V_AH,10.6,19.830
$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,24.725,123.250,714.975,0.000,0.000,31.565,34.436,171.318,8.500,0.000,0.000,15.868,0.000,8386.630,836.431,3077.784,444.869,0.000,2014.212,0.000,2609.486,0.000,42.122,0.000
$DEVICE_MAMPS,207.090,62.127,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,888.540,928.801,1556.777,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75887,1311
$CAP_FILE_SIZE,143485,0
$CFSIZE,260165632,246603776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116, 56.5,1
$GPS,100609,220055,2515.897,12240.506,37,1.3,37,-3.6