version: 66.04
glider: 164
mission: 3
dive: 9
start: 5 22 109 9 17 52
data:
$ID,164
$MISSION,3
$DIVE,9
$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,330
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,175
$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,425
$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,-33254.508
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,126
$PITCH_MAX,3926
$C_PITCH,2747
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23.6
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1559
$C_ROLL_CLIMB,1804
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0.0001158597
$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,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
$GPS1,091136,2531.606,12329.321,9,1.1,26,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-71.3
$GPS2,091732,2531.736,12329.361,13,1.1,13,-3.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,IN_4
$TGT_LATLONG,2541.300,12328.200
$TGT_RADIUS,5000.000
$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,312.6,17818,-16.8,-10.000
$D_GRID,712
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.92,-170.3,0.0,0.0,0,72,0.00,0.00,-58.70,0.000,2,0.000,0.000,115,1537,2808
$GC,73,-0.92,-170.3,3.5,-9.1,9,105,8.82,2.00,-16.98,0.000,4,0.225,0.062,2442,218,3643
$GC,344,-0.40,-170.3,83.8,-30.8,59,352,0.55,2.03,0.00,0.000,6,0.143,0.036,2612,1566,3647
$GC,672,-0.62,-170.3,125.5,-9.2,120,679,0.20,2.05,0.00,0.000,4,0.055,0.048,2521,224,3647
$GC,918,-0.49,-170.3,165.1,-16.5,166,925,0.20,1.98,0.00,0.000,6,0.127,0.035,2584,1553,3648
$GC,1245,-0.74,-170.3,197.3,-8.8,227,1252,0.22,2.03,0.00,0.000,4,0.051,0.047,2485,214,3649
$GC,1492,-0.63,-170.3,232.8,-12.5,273,1498,0.15,2.00,0.00,0.000,6,0.128,0.035,2536,1564,3649
$GC,1818,-0.75,-170.3,261.9,-9.9,334,1824,0.00,2.05,0.00,0.000,4,0.000,0.048,2537,220,3650
$GC,1877,-0.86,-170.3,268.0,-10.1,345,1883,0.15,2.00,0.00,0.000,6,0.050,0.037,2459,1566,3649
$GC,2206,-0.76,-170.3,307.3,-11.3,401,2210,0.15,2.05,0.00,0.000,4,0.140,0.048,2502,216,3649
$GC,2344,-0.76,-170.3,321.9,-10.6,414,2349,0.00,2.00,0.00,0.000,6,0.000,0.035,2502,1560,3650
$GC,2665,-0.84,-170.3,356.9,-10.5,445,2669,0.00,2.05,0.00,0.000,4,0.000,0.049,2503,218,3649
$GC,2809,-0.84,-170.3,372.5,-9.6,458,2816,0.00,2.00,0.00,0.000,6,0.000,0.036,2502,1563,3648
$GC,3126,-0.94,-170.3,398.5,-8.4,489,3129,0.17,2.05,0.00,0.000,4,0.061,0.050,2426,206,3646
$GC,3248,-0.73,-170.3,415.7,-14.9,500,3255,0.25,2.03,0.00,0.000,6,0.136,0.036,2505,1568,3645
$GC,3563,-0.85,-170.3,444.2,-8.3,531,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,1569,3645
$GC,3875,-0.98,-170.3,469.9,-8.2,561,3878,0.17,2.05,0.00,0.000,4,0.064,0.052,2423,218,3641
$GC,4119,-0.77,-170.3,504.6,-14.2,582,4124,0.22,2.00,0.00,0.000,6,0.133,0.038,2497,1555,3640
$GC,4435,-0.89,-170.3,533.3,-8.9,598,4439,0.12,2.05,0.00,0.000,4,0.075,0.054,2442,224,3638
$GC,4600,-0.78,-170.3,553.3,-11.4,605,4607,0.15,2.00,0.00,0.000,6,0.133,0.038,2493,1563,3637
$GC,4911,-0.88,-170.3,579.1,-8.1,621,4915,0.00,2.08,0.00,0.000,4,0.000,0.056,2493,222,3634
$GC,5028,-0.95,-170.3,589.8,-9.6,626,5032,0.12,2.00,0.00,0.000,6,0.058,0.040,2430,1556,3633
$GC,5344,-0.87,-170.3,624.8,-11.1,642,5348,0.12,2.05,0.00,0.000,4,0.154,0.056,2464,229,3630
$GC,5439,-0.87,-170.3,635.3,-10.4,646,5444,0.00,2.00,0.00,0.000,6,0.000,0.040,2464,1559,3630
$GC,5755,-0.87,-170.3,666.3,-9.9,662,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1559,3627
$GC,6061,-1.45,-170.3,682.0,-0.2,677,6065,0.50,2.05,0.00,0.000,4,0.068,0.061,2278,224,3625
$STATE,6123,end dive,NO_VERTICAL_VELOCITY
$STATE,6123,begin apogee
$GC,6128,-0.21,0.0,682.1,0.0,680,6267,1.12,0.00,135.88,1.220,6,0.081,0.000,2682,1812,2947
$STATE,6268,end apogee,CONTROL_FINISHED_OK
$STATE,6268,begin climb
$GC,6269,0.92,170.3,682.0,0.0,687,6417,1.02,2.40,141.10,1.182,4,0.079,0.058,3038,404,2252
$GC,6496,0.50,170.3,672.7,13.4,697,6503,0.43,2.22,0.00,0.000,6,0.177,0.044,2915,1805,2247
$GC,6807,0.51,179.3,640.8,9.6,713,6820,0.00,2.28,7.85,0.969,4,0.000,0.058,2915,405,2214
$GC,6858,0.55,208.2,636.0,8.9,715,6892,0.00,2.17,25.20,1.127,6,0.000,0.044,2915,1802,2097
$GC,7194,0.55,213.0,604.4,9.8,732,7204,0.00,2.22,4.57,0.779,4,0.000,0.059,2915,415,2078
$GC,7334,0.60,213.0,590.7,10.4,738,7337,0.00,2.15,0.00,0.000,6,0.000,0.046,2915,1802,2076
$GC,7648,0.60,213.0,558.8,10.3,754,7653,0.00,2.20,0.00,0.000,4,0.000,0.060,2915,411,2075
$GC,7782,0.68,232.0,545.3,9.3,760,7803,0.10,2.15,16.90,1.088,6,0.070,0.046,2969,1804,2001
$GC,8125,0.55,232.0,502.3,13.1,777,8129,0.17,2.17,0.00,0.000,4,0.173,0.061,2922,409,1995
$GC,8269,0.61,238.2,487.6,9.8,789,8279,0.00,2.15,6.22,0.881,6,0.000,0.048,2922,1803,1975
$GC,8589,0.66,238.2,454.1,11.3,820,8593,0.10,2.20,0.00,0.000,4,0.090,0.061,2969,410,1972
$GC,8802,0.57,238.2,426.2,12.3,840,8807,0.10,2.15,0.00,0.000,6,0.171,0.047,2937,1803,1972
$GC,9124,0.58,253.8,394.5,9.4,871,9142,0.00,2.25,14.18,0.992,4,0.000,0.061,2937,410,1911
$GC,9177,0.60,264.5,389.2,9.6,875,9196,0.00,2.17,10.82,0.940,6,0.000,0.048,2937,1803,1866
$GC,9505,0.60,264.5,353.8,10.6,907,9509,0.00,2.22,0.00,0.000,4,0.000,0.061,2937,408,1862
$GC,9649,0.68,269.5,339.9,9.8,920,9659,0.00,2.15,5.12,0.739,6,0.000,0.047,2937,1797,1847
$GC,9975,0.75,273.8,308.1,9.8,952,9988,0.15,2.20,5.18,0.725,4,0.070,0.059,3000,415,1829
$GC,10142,0.62,273.8,286.2,14.6,977,10148,0.15,2.15,0.00,0.000,6,0.156,0.044,2954,1808,1828
$GC,10468,0.70,285.1,249.9,9.6,1038,10482,0.00,2.25,10.85,0.846,4,0.000,0.058,2955,410,1783
$GC,10705,0.81,285.1,224.9,13.2,1082,10713,0.10,2.15,0.00,0.000,6,0.059,0.044,3012,1804,1781
$GC,11032,0.71,285.1,179.9,13.7,1143,11040,0.12,2.17,0.00,0.000,4,0.159,0.056,2985,409,1780
$GC,11098,0.77,285.1,172.0,11.9,1155,11106,0.00,2.12,0.00,0.000,6,0.000,0.044,2985,1803,1780
$GC,11425,0.90,331.5,143.9,8.2,1216,11470,0.15,2.22,39.15,0.814,4,0.067,0.054,3065,400,1593
$GC,11550,0.75,331.5,126.4,14.8,1238,11556,0.25,2.15,0.00,0.000,6,0.153,0.042,2993,1807,1588
$GC,11876,0.95,352.1,98.8,9.2,1299,11898,0.17,2.25,17.23,0.732,4,0.058,0.054,3081,408,1509
$GC,11961,0.82,352.1,87.2,13.3,1314,11967,0.20,2.15,0.00,0.000,6,0.147,0.041,3017,1802,1507
$GC,12287,1.02,386.0,58.2,8.7,1375,12321,0.17,2.25,28.62,0.711,4,0.057,0.052,3106,402,1372
$GC,12422,0.85,386.0,37.6,16.8,1399,12429,0.28,2.12,0.00,0.000,6,0.150,0.039,3026,1811,1367
$GC,12749,1.08,416.9,4.8,8.8,1460,12777,0.20,0.00,25.45,0.659,2,0.054,0.000,3118,1812,1248
$STATE,12777,end climb,SURFACE_DEPTH_REACHED
$STATE,12777,begin surface coast
$FINISH,-0.0,1.007839
$STATE,12801,end surface coast,CONTROL_FINISHED_OK
$STATE,12801,begin surface
$SM_CCo,12815,6.78,0.542,0,0,1213,425.10
$SM_GC,1.72,0.00,0.00,6.78,0.000,0.000,0.542,112,1558,1213,-8.24,-0.03,425.10
$IRIDIUM_FIX,2519.89,12326.84,160898,060604
$TT8_MAMPS,0.049855
$HUMID,1458
$INTERNAL_PRESSURE,9.03601
$TCM_TEMP,26.90
$XPDR_PINGS,12
$ALTIM_BOTTOM_PING,550.1,134.0
$24V_AH,24.1,5.174
$10V_AH,10.7,2.525
$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,25.200,110.850,494.325,6.775,0.000,29.337,33.607,206.792,7.000,0.000,0.000,15.903,0.000,8611.797,606.265,3501.674,454.515,0.000,1885.512,0.000,2997.262,0.000,29.896,0.000
$DEVICE_MAMPS,225.498,62.127,1219.530,541.502,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,992.327,1051.152,1759.766,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82200,1469
$CAP_FILE_SIZE,149064,0
$CFSIZE,260165632,256987136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.322, 66.0,1
$GPS,220509,125230,2533.568,12330.397,36,1.9,36,-3.8