version: 66.04
glider: 160
mission: 3
dive: 647
start: 8 10 109 16 48 23
data:
$ID,160
$MISSION,3
$DIVE,647
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,200
$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,480
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,51810
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-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,626.98682
$N_FILEKB,8
$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,-20767.803
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2613
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,140
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.059999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,220
$ROLL_MAX,3792
$ROLL_DEG,40
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2270
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3046
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,146
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.900637
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043896637
$SEABIRD_T_H,0.00063842954
$SEABIRD_T_I,2.5580319e-05
$SEABIRD_T_J,2.7701631e-06
$SEABIRD_C_G,-10.180033
$SEABIRD_C_H,1.1381946
$SEABIRD_C_I,-0.00092952099
$SEABIRD_C_J,0.0001655513
$GPS1,163600,6305.813,344.610,35,1.1,41,-2.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.38
$_SM_ANGLEo,1.6
$GPS2,163600,6305.813,344.610,35,1.1,41,-2.8
$SPEED_LIMITS,0.119,0.206
$TGT_NAME,OFFSHORE
$TGT_LATLONG,6506.000,-100.000
$TGT_RADIUS,4000.000
$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,286.9,314318,-13.7,-6.875
$D_GRID,973
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.77,-116.7,0.0,0.0,0,25,0.00,0.00,-7.45,0.000,2,0.000,0.000,140,2189,1696
$GC,30,-0.77,-116.7,3.4,-0.0,1,132,7.93,2.38,-86.03,0.000,4,0.180,0.061,2354,3593,3523
$GC,385,-1.68,-116.7,48.1,-14.1,59,394,0.73,2.33,0.00,0.000,6,0.045,0.032,2059,2177,3525
$GC,709,-2.60,-116.7,141.4,-29.9,81,714,0.73,2.38,0.00,0.000,4,0.047,0.044,1766,3594,3525
$GC,972,-2.60,-116.7,253.8,-44.2,92,977,0.00,2.33,0.00,0.000,6,0.000,0.033,1768,2177,3525
$GC,1304,-2.60,-116.7,394.7,-41.2,105,1309,0.00,2.38,0.00,0.000,4,0.000,0.046,1766,3584,3525
$GC,1570,-2.60,-116.7,501.9,-39.8,112,1575,0.00,2.33,0.00,0.000,6,0.000,0.036,1771,2179,3526
$GC,1892,-2.60,-116.7,627.8,-39.0,118,1897,0.00,2.38,0.00,0.000,4,0.000,0.047,1766,3575,3526
$GC,2158,-2.60,-116.7,733.1,-39.1,121,2163,0.00,2.30,0.00,0.000,6,0.000,0.035,1771,2182,3524
$GC,2479,-2.60,-116.7,854.7,-38.0,127,2484,0.00,2.40,0.00,0.000,4,0.000,0.048,1766,3581,3523
$GC,2746,-2.60,-116.7,958.6,-38.6,130,2750,0.00,2.35,0.00,0.000,6,0.000,0.038,1771,2181,3521
$STATE,2816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2816,begin apogee
$GC,2826,-0.23,0.0,987.4,37.6,132,2932,2.92,0.00,100.05,1.359,6,0.191,0.000,2534,2288,3046
$STATE,2932,end apogee,CONTROL_FINISHED_OK
$STATE,2932,begin climb
$GC,2936,0.77,116.7,997.3,0.0,133,3061,1.00,2.80,111.40,1.300,4,0.084,0.047,2852,866,2569
$GC,3322,1.53,151.1,985.1,5.5,138,3364,0.65,2.33,30.73,1.294,6,0.045,0.035,3113,2256,2428
$GC,3721,2.26,151.1,930.2,14.4,145,3726,0.60,2.30,0.00,0.000,4,0.058,0.043,3353,850,2425
$GC,3990,2.99,151.1,874.6,21.4,148,3995,0.57,2.28,0.00,0.000,6,0.062,0.031,3570,2280,2423
$GC,4312,2.99,151.1,793.2,25.7,154,4317,0.00,2.35,0.00,0.000,4,0.000,0.037,3579,849,2421
$GC,4578,2.99,151.1,725.4,24.7,157,4583,0.00,2.28,0.00,0.000,6,0.000,0.031,3579,2272,2419
$GC,4899,2.99,151.1,646.3,24.7,163,4904,0.00,2.33,0.00,0.000,4,0.000,0.034,3588,855,2419
$GC,5165,2.99,151.1,580.3,23.9,166,5170,0.00,2.28,0.00,0.000,6,0.000,0.030,3588,2283,2418
$GC,5486,2.99,151.1,505.2,23.4,172,5491,0.00,2.38,0.00,0.000,4,0.000,0.035,3597,847,2417
$GC,5753,2.99,151.1,444.1,23.7,178,5757,0.00,2.28,0.00,0.000,6,0.000,0.030,3597,2259,2416
$GC,6073,0.78,151.1,372.1,22.5,189,6082,2.83,2.35,0.00,0.000,4,0.216,0.035,2878,858,2415
$GC,6191,0.83,186.6,362.9,5.5,192,6223,0.00,2.28,27.05,0.976,6,0.000,0.034,2878,2276,2285
$GC,6552,0.84,200.9,341.7,6.3,204,6567,0.00,0.00,12.95,0.922,6,0.000,0.000,2878,2275,2226
$GC,6856,0.84,200.9,320.3,7.2,214,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2275,2223
$GC,7162,0.84,200.9,297.8,7.3,224,7163,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2276,2223
$GC,7472,0.84,200.9,275.1,7.3,239,7473,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2275,2223
$GC,7781,0.85,204.8,253.2,6.7,254,7787,0.00,0.00,4.47,0.651,6,0.000,0.000,2877,2276,2211
$GC,8090,0.85,204.8,231.2,7.4,269,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2276,2211
$GC,8400,0.85,204.8,207.3,7.6,284,8404,0.00,2.38,0.00,0.000,4,0.000,0.044,2877,861,2211
$GC,8428,0.85,204.8,205.1,7.6,285,8432,0.00,2.25,0.00,0.000,6,0.000,0.032,2878,2281,2211
$GC,8751,0.85,205.9,177.9,6.8,301,8752,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2281,2212
$GC,9060,0.85,206.0,160.4,6.9,316,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2281,2212
$GC,9369,0.85,208.7,136.3,6.8,331,9376,0.00,0.00,5.70,0.633,6,0.000,0.000,2878,2281,2195
$GC,9678,0.85,208.7,118.4,7.1,346,9682,0.00,2.38,0.00,0.000,4,0.000,0.045,2878,860,2195
$GC,9720,1.32,524.6,115.3,-5.7,348,9981,0.45,2.22,249.27,0.709,6,0.043,0.033,3052,2279,904
$STATE,10226,end climb,SURFACE_DEPTH_REACHED
$STATE,10226,begin surface coast
$FINISH,3.9,1.024033
$STATE,10242,end surface coast,CONTROL_FINISHED_OK
$STATE,10242,begin surface
$SM_CCo,10264,80.03,0.634,0,0,489,626.99
$SM_GC,4.20,0.00,0.00,80.03,0.000,0.000,0.634,138,2173,489,-7.74,-0.20,626.99
$IRIDIUM_FIX,6235.17,347.90,041198,090951
$TT8_MAMPS,0.027612
$HUMID,3286
$INTERNAL_PRESSURE,9.16438
$TCM_TEMP,19.00
$XPDR_PINGS,0
$24V_AH,21.0,101.719
$10V_AH,10.3,70.219
$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,26.150,61.250,541.625,80.025,0.000,166.438,144.550,0.000,0.000,0.000,0.000,14.754,928.719,6653.374,563.501,2129.072,779.938,0.000,1404.719,0.000,2176.792,0.000,0.536,0.000
$DEVICE_MAMPS,215.527,61.360,1359.124,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.491,293.913,174.005,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19144,404
$CAP_FILE_SIZE,179854,0
$CFSIZE,260165632,200851456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$CURRENT,0.250,140.4,1
$GPS,100809,194206,6306.400,343.210,33,0.9,33,-2.8