version: 66.04
glider: 164
mission: 3
dive: 104
start: 6 3 109 14 0 15
data:
$ID,164
$MISSION,3
$DIVE,104
$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,396
$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,200
$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,-35194.34
$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,32
$R_STBD_OVSHOOT,37
$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
$GPS1,134606,2428.253,12245.738,25,1.9,25,-3.5
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-68.3
$GPS2,140010,2428.093,12245.679,10,5.2,29,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,269.4,39346,-15.7,-10.000
$D_GRID,745
$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,-0.99,-194.7,0.0,0.0,0,84,0.00,0.00,-70.20,0.000,2,0.000,0.000,108,1509,2773
$GC,86,-0.99,-194.7,3.2,-7.6,11,119,8.35,2.05,-19.25,0.000,4,0.199,0.057,2418,207,3744
$GC,358,-0.48,-194.7,83.2,-29.6,61,365,0.50,1.90,0.00,0.000,6,0.156,0.031,2580,1480,3746
$GC,685,-0.56,-194.7,119.8,-11.2,122,691,0.00,1.95,0.00,0.000,4,0.000,0.044,2580,209,3747
$GC,930,-0.69,-194.7,147.7,-9.1,168,938,0.15,1.90,0.00,0.000,6,0.041,0.031,2494,1482,3748
$GC,1258,-0.60,-194.7,186.0,-10.9,229,1264,0.17,0.00,0.00,0.000,6,0.123,0.000,2547,1482,3748
$GC,1583,-0.69,-194.7,213.3,-9.9,290,1590,0.00,1.95,0.00,0.000,4,0.000,0.043,2547,202,3748
$GC,1632,-0.78,-194.7,218.2,-9.9,299,1638,0.12,1.90,0.00,0.000,6,0.044,0.031,2473,1484,3748
$GC,1957,-0.67,-194.7,263.6,-14.3,360,1964,0.17,0.00,0.00,0.000,6,0.128,0.000,2526,1484,3748
$GC,2284,-0.74,-194.7,296.5,-9.3,421,2290,0.00,2.08,0.00,0.000,4,0.000,0.038,2526,2875,3747
$GC,2331,-0.87,-194.7,300.9,-9.1,429,2338,0.15,2.10,0.00,0.000,6,0.044,0.031,2444,1455,3747
$GC,2647,-0.72,-194.7,345.1,-13.5,460,2651,0.22,1.88,0.00,0.000,4,0.129,0.044,2513,212,3746
$GC,2684,-0.72,-194.7,349.6,-11.0,463,2694,0.00,1.88,0.00,0.000,6,0.000,0.031,2513,1480,3745
$GC,2999,-0.79,-194.7,379.3,-9.8,494,3004,0.00,2.08,0.00,0.000,4,0.000,0.038,2513,2871,3744
$GC,3074,-0.92,-194.7,385.7,-8.1,501,3078,0.12,2.05,0.00,0.000,6,0.050,0.033,2428,1490,3744
$GC,3394,-0.75,-194.7,431.0,-14.9,532,3399,0.25,1.92,0.00,0.000,4,0.131,0.053,2505,217,3742
$GC,3453,-0.75,-194.7,438.1,-11.6,537,3459,0.00,1.88,0.00,0.000,6,0.000,0.031,2504,1483,3741
$GC,3769,-0.80,-194.7,473.0,-11.1,568,3773,0.00,2.05,0.00,0.000,4,0.000,0.041,2504,2872,3738
$GC,3854,-0.92,-194.7,481.2,-8.6,576,3858,0.12,2.08,0.00,0.000,6,0.050,0.034,2433,1480,3738
$GC,4183,-0.79,-194.7,518.4,-10.7,600,4187,0.20,1.92,0.00,0.000,4,0.135,0.048,2493,216,3735
$GC,4294,-0.79,-194.7,527.3,-8.1,605,4298,0.00,1.88,0.00,0.000,6,0.000,0.032,2493,1478,3735
$GC,4616,-0.83,-194.7,547.7,-6.5,621,4619,0.00,1.95,0.00,0.000,4,0.000,0.048,2493,217,3732
$GC,4663,-0.83,-194.7,551.3,-8.2,623,4667,0.00,1.88,0.00,0.000,6,0.000,0.033,2493,1476,3732
$GC,4984,-0.88,-194.7,582.7,-11.8,639,4985,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1477,3730
$GC,5289,-0.95,-194.7,619.0,-10.2,654,5293,0.15,1.95,0.00,0.000,4,0.066,0.051,2427,220,3727
$GC,5363,-0.81,-194.7,629.8,-15.0,657,5368,0.17,1.88,0.00,0.000,6,0.134,0.035,2481,1470,3726
$GC,5680,-0.84,-194.7,669.6,-13.1,673,5683,0.00,2.12,0.00,0.000,4,0.000,0.045,2481,2872,3724
$GC,5733,-0.94,-194.7,675.6,-10.5,675,5737,0.12,2.08,0.00,0.000,6,0.071,0.038,2425,1476,3724
$GC,6049,-0.84,-194.7,715.5,-12.2,691,6052,0.17,1.92,0.00,0.000,4,0.140,0.051,2475,213,3722
$GC,6159,-0.84,-194.7,727.2,-10.5,696,6164,0.00,1.90,0.00,0.000,6,0.000,0.035,2475,1475,3721
$STATE,6378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6378,begin apogee
$GC,6382,-0.24,0.0,746.7,8.4,707,6542,0.57,0.00,155.98,1.282,6,0.113,0.000,2666,1579,2947
$STATE,6542,end apogee,CONTROL_FINISHED_OK
$STATE,6542,begin climb
$GC,6544,0.99,194.7,750.2,0.0,715,6715,1.12,2.28,162.00,1.241,4,0.072,0.053,3064,221,2152
$GC,6767,0.51,194.7,719.4,23.7,725,6771,0.52,2.15,0.00,0.000,6,0.172,0.035,2914,1576,2148
$GC,7083,0.53,242.5,683.8,8.3,741,7128,0.00,2.28,39.70,1.195,4,0.000,0.054,2915,218,1958
$GC,7161,0.54,248.0,676.7,9.8,744,7171,0.00,2.12,6.07,0.899,6,0.000,0.038,2915,1563,1935
$GC,7471,0.54,248.0,639.2,11.5,760,7476,0.00,2.20,0.00,0.000,4,0.000,0.044,2915,2986,1929
$GC,7508,0.54,248.0,635.2,10.7,761,7515,0.00,2.17,0.00,0.000,6,0.000,0.039,2915,1584,1928
$GC,7819,0.58,284.3,607.0,8.7,777,7854,0.00,2.20,31.27,1.168,4,0.000,0.053,2915,207,1787
$GC,7962,0.58,284.3,592.7,11.4,783,7966,0.00,2.08,0.00,0.000,6,0.000,0.037,2915,1567,1781
$GC,8288,0.58,284.3,554.4,11.3,799,8292,0.00,2.15,0.00,0.000,4,0.000,0.054,2915,213,1778
$GC,8324,0.58,284.3,550.2,11.8,800,8333,0.00,2.05,0.00,0.000,6,0.000,0.038,2915,1545,1778
$GC,8635,0.58,284.3,514.8,11.5,816,8639,0.00,2.10,0.00,0.000,4,0.000,0.054,2915,221,1776
$GC,8677,0.58,284.3,509.6,12.8,818,8682,0.00,2.00,0.00,0.000,6,0.000,0.039,2915,1529,1776
$GC,8999,0.58,284.3,471.8,11.8,845,9002,0.00,2.05,0.00,0.000,4,0.000,0.055,2915,211,1774
$GC,9099,0.63,284.3,459.7,11.6,854,9106,0.00,2.00,0.00,0.000,6,0.000,0.039,2915,1518,1775
$GC,9416,0.69,303.3,428.7,9.3,885,9437,0.15,0.00,15.15,1.029,6,0.070,0.000,2984,1518,1710
$GC,9745,0.52,303.3,378.6,15.6,917,9749,0.25,2.22,0.00,0.000,4,0.153,0.044,2913,2993,1706
$GC,9771,0.52,303.3,375.0,13.2,919,9778,0.00,2.28,0.00,0.000,6,0.000,0.040,2915,1514,1706
$GC,10088,0.58,303.3,341.6,10.3,950,10089,0.00,0.00,0.00,0.000,6,0.000,0.000,2914,1514,1705
$GC,10398,0.73,353.3,314.5,8.3,980,10446,0.17,2.12,43.30,0.987,4,0.067,0.054,2998,210,1505
$GC,10512,0.55,353.3,295.4,18.2,992,10519,0.22,2.00,0.00,0.000,6,0.149,0.037,2928,1491,1499
$GC,10840,0.64,353.3,259.0,11.2,1053,10845,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1491,1496
$GC,11164,0.83,392.4,223.1,8.6,1114,11202,0.22,2.10,33.10,0.902,4,0.053,0.052,3029,208,1345
$GC,11238,0.63,392.4,212.1,18.4,1127,11244,0.25,2.00,0.00,0.000,6,0.145,0.036,2951,1495,1341
$GC,11564,0.73,392.4,169.7,10.3,1188,11571,0.00,2.28,0.00,0.000,4,0.000,0.042,2952,2977,1337
$GC,11618,0.85,392.4,164.2,10.2,1198,11625,0.15,2.25,0.00,0.000,6,0.045,0.038,3038,1518,1337
$GC,11945,0.75,392.4,109.1,14.6,1259,11952,0.17,2.22,0.00,0.000,4,0.143,0.039,2988,2985,1336
$GC,11972,0.75,392.4,105.7,12.3,1264,11980,0.00,2.25,0.00,0.000,6,0.000,0.038,2988,1514,1336
$GC,12300,1.07,492.8,82.8,6.5,1325,12389,0.28,2.30,82.88,0.782,4,0.045,0.038,3114,2992,936
$GC,12410,0.88,492.8,62.7,19.2,1343,12416,0.30,2.30,0.00,0.000,6,0.153,0.036,3030,1514,933
$GC,12736,1.09,528.9,28.7,8.8,1404,12771,0.17,2.10,30.15,0.708,4,0.056,0.046,3121,204,789
$GC,12823,0.97,528.9,14.9,17.4,1419,12830,0.20,1.98,0.00,0.000,6,0.140,0.031,3058,1496,785
$STATE,12918,end climb,SURFACE_DEPTH_REACHED
$STATE,12918,begin surface coast
$FINISH,-0.3,1.021720
$STATE,12946,end surface coast,CONTROL_FINISHED_OK
$STATE,12946,begin surface
$SM_CCo,13019,0.00,0.000,0,0,782,531.07
$SM_GC,0.61,7.70,0.00,0.00,0.039,0.000,0.000,111,1496,782,-8.16,0.71,531.07
$IRIDIUM_FIX,2420.48,12309.87,280898,131342
$TT8_MAMPS,0.049855
$HUMID,1482
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,26.70
$XPDR_PINGS,18
$ALTIM_BOTTOM_PING,700.4,80.4
$24V_AH,23.9,21.860
$10V_AH,10.7,13.336
$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,23.650,111.450,599.600,0.000,0.000,122.467,139.124,273.026,10.000,0.000,0.000,32.217,0.000,9045.885,704.080,3337.757,747.419,0.000,1950.655,0.000,2828.918,0.000,38.761,0.000
$DEVICE_MAMPS,199.420,73.632,1281.657,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,973.148,1026.211,1715.691,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82010,1442
$CAP_FILE_SIZE,151301,0
$CFSIZE,260165632,250523648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.248,  2.7,1
$GPS,030609,173806,2429.666,12243.655,33,1.4,33,-3.5