version: 66.04
glider: 164
mission: 3
dive: 12
start: 5 22 109 21 20 7
data:
$ID,164
$MISSION,3
$DIVE,12
$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,-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,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,-33300.086
$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,22.9
$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,1471
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,36
$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,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
$GPS1,211400,2535.982,12332.295,40,0.9,40,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-69.3
$GPS2,212002,2536.085,12332.351,15,1.0,15,-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,283.2,11886,-16.8,-10.000
$D_GRID,861
$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,-0.94,-170.3,0.0,0.0,0,75,0.00,0.00,-61.00,0.000,2,0.000,0.000,112,1563,2941
$GC,77,-0.94,-170.3,3.4,-9.6,9,103,8.82,2.17,-13.30,0.000,4,0.222,0.066,2438,197,3645
$GC,343,-0.40,-170.3,78.3,-27.6,58,350,0.55,1.95,0.00,0.000,6,0.134,0.036,2609,1481,3647
$GC,670,-0.57,-170.3,116.9,-11.0,119,678,0.15,1.98,0.00,0.000,4,0.060,0.048,2538,201,3649
$GC,842,-0.52,-170.3,146.0,-16.6,151,850,0.10,1.90,0.00,0.000,6,0.125,0.036,2573,1466,3649
$GC,1170,-0.66,-170.3,179.0,-8.9,212,1176,0.12,1.92,0.00,0.000,4,0.067,0.048,2508,207,3651
$GC,1234,-0.54,-170.3,187.5,-14.8,224,1241,0.17,1.90,0.00,0.000,6,0.123,0.036,2566,1477,3651
$GC,1561,-0.73,-170.3,216.1,-7.5,285,1567,0.17,2.05,0.00,0.000,4,0.053,0.041,2474,2883,3652
$GC,1604,-0.65,-170.3,220.8,-12.6,293,1610,0.15,2.12,0.00,0.000,6,0.117,0.037,2539,1455,3652
$GC,1931,-0.76,-170.3,250.3,-7.2,354,1937,0.12,1.85,0.00,0.000,4,0.066,0.047,2474,214,3653
$GC,2107,-0.64,-170.3,271.5,-11.8,387,2115,0.17,1.88,0.00,0.000,6,0.123,0.036,2535,1474,3652
$GC,2434,-0.80,-170.3,297.1,-8.3,448,2441,0.15,1.92,0.00,0.000,4,0.060,0.049,2461,214,3652
$GC,2488,-0.66,-170.3,303.6,-12.9,456,2492,0.20,1.88,0.00,0.000,6,0.123,0.036,2530,1472,3652
$GC,2809,-0.83,-170.3,330.4,-8.3,487,2813,0.15,2.08,0.00,0.000,4,0.062,0.043,2459,2869,3652
$GC,2873,-0.83,-170.3,337.3,-10.5,493,2877,0.00,2.08,0.00,0.000,6,0.000,0.038,2459,1475,3652
$GC,3193,-0.76,-170.3,372.7,-11.5,524,3197,0.15,1.92,0.00,0.000,4,0.137,0.051,2504,210,3651
$GC,3338,-0.76,-170.3,387.4,-10.2,537,3344,0.00,1.88,0.00,0.000,6,0.000,0.036,2504,1469,3650
$GC,3653,-0.85,-170.3,415.8,-9.4,568,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,1469,3648
$GC,3964,-0.96,-170.3,446.2,-10.1,598,3967,0.17,1.90,0.00,0.000,4,0.058,0.052,2424,211,3646
$GC,4038,-0.75,-170.3,456.6,-14.0,605,4042,0.22,1.88,0.00,0.000,6,0.130,0.038,2499,1465,3646
$GC,4358,-0.86,-170.3,485.9,-8.7,636,4362,0.00,2.12,0.00,0.000,4,0.000,0.046,2499,2876,3644
$GC,4406,-1.02,-170.3,490.0,-8.4,640,4413,0.20,2.10,0.00,0.000,6,0.045,0.041,2399,1478,3644
$GC,4719,-0.81,-170.3,531.8,-13.6,660,4722,0.28,1.90,0.00,0.000,4,0.137,0.054,2483,215,3642
$GC,4808,-0.81,-170.3,541.3,-9.5,664,4813,0.00,1.88,0.00,0.000,6,0.000,0.038,2483,1466,3642
$GC,5130,-0.89,-170.3,569.2,-8.6,680,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1466,3639
$GC,5435,-0.96,-170.3,596.2,-9.2,695,5439,0.12,1.95,0.00,0.000,4,0.071,0.057,2428,213,3636
$GC,5482,-0.79,-170.3,602.1,-12.2,697,5487,0.17,1.90,0.00,0.000,6,0.130,0.040,2486,1469,3636
$GC,5805,-0.89,-170.3,631.3,-9.0,713,5806,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1469,3634
$GC,6109,-1.00,-170.3,657.4,-8.0,728,6113,0.17,2.12,0.00,0.000,4,0.064,0.051,2411,2869,3631
$GC,6140,-0.89,-170.3,660.6,-10.6,729,6145,0.12,2.12,0.00,0.000,6,0.135,0.044,2454,1473,3631
$GC,6457,-0.89,-170.3,689.2,-9.0,745,6460,0.00,1.95,0.00,0.000,4,0.000,0.059,2454,221,3629
$GC,6499,-0.84,-170.3,693.4,-10.4,747,6503,0.00,1.90,0.00,0.000,6,0.000,0.043,2454,1467,3629
$GC,6825,-0.84,-170.3,724.5,-9.8,763,6829,0.00,1.98,0.00,0.000,4,0.000,0.061,2454,212,3627
$GC,6867,-0.84,-170.3,729.2,-11.0,765,6871,0.00,1.92,0.00,0.000,6,0.000,0.043,2454,1479,3627
$GC,7194,-0.84,-170.3,761.1,-9.7,781,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1480,3625
$GC,7499,-0.84,-170.3,789.4,-8.9,796,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1480,3624
$GC,7804,-0.84,-170.3,815.9,-8.8,811,7808,0.00,2.00,0.00,0.000,4,0.000,0.062,2453,214,3622
$GC,7835,-0.84,-170.3,819.0,-9.8,812,7840,0.00,1.92,0.00,0.000,6,0.000,0.044,2454,1474,3622
$GC,8151,-0.84,-170.3,848.3,-9.6,828,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,1476,3620
$STATE,8293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8293,begin apogee
$GC,8297,-0.22,0.0,862.4,10.0,835,8438,0.68,0.00,139.32,1.364,6,0.124,0.000,2676,1702,2947
$STATE,8439,end apogee,CONTROL_FINISHED_OK
$STATE,8439,begin climb
$GC,8440,0.94,170.3,867.8,0.0,842,8590,1.08,0.00,146.07,1.318,6,0.072,0.000,3049,1702,2251
$GC,8892,0.46,170.3,804.9,17.2,864,8897,0.52,2.28,0.00,0.000,4,0.171,0.060,2902,282,2244
$GC,8940,0.48,186.0,799.4,9.4,866,8958,0.00,2.22,13.38,1.179,6,0.000,0.045,2902,1695,2188
$GC,9260,0.49,193.9,768.0,9.7,882,9272,0.00,2.25,7.85,1.072,4,0.000,0.061,2902,293,2156
$GC,9345,0.49,193.9,759.7,10.3,886,9349,0.00,2.20,0.00,0.000,6,0.000,0.045,2902,1693,2155
$GC,9666,0.49,193.9,726.4,10.7,902,9670,0.00,2.25,0.00,0.000,4,0.000,0.061,2903,290,2152
$GC,9724,0.49,193.9,720.1,11.2,904,9731,0.00,2.17,0.00,0.000,6,0.000,0.046,2902,1690,2153
$GC,10035,0.49,193.9,687.7,10.4,920,10039,0.00,2.22,0.00,0.000,4,0.000,0.062,2902,296,2151
$GC,10093,0.49,193.9,681.6,10.5,922,10100,0.00,2.15,0.00,0.000,6,0.000,0.047,2902,1685,2151
$GC,10403,0.49,193.9,648.9,10.6,938,10408,0.00,2.22,0.00,0.000,4,0.000,0.062,2903,287,2150
$GC,10483,0.49,193.9,640.1,10.9,941,10490,0.00,2.17,0.00,0.000,6,0.000,0.048,2902,1691,2150
$GC,10794,0.49,193.9,606.7,11.0,957,10798,0.00,2.22,0.00,0.000,4,0.000,0.062,2902,292,2149
$GC,10858,0.53,193.9,599.6,11.5,960,10862,0.00,2.17,0.00,0.000,6,0.000,0.048,2902,1694,2149
$GC,11184,0.56,214.8,566.9,9.2,976,11207,0.00,2.25,17.95,1.141,4,0.000,0.062,2902,281,2070
$GC,11308,0.65,214.8,555.3,10.1,981,11314,0.15,2.20,0.00,0.000,6,0.078,0.048,2966,1697,2068
$GC,11617,0.50,214.8,515.8,13.3,997,11621,0.20,2.22,0.00,0.000,4,0.162,0.062,2916,280,2066
$GC,11638,0.45,214.8,513.2,11.2,998,11642,0.00,2.20,0.00,0.000,6,0.000,0.049,2916,1689,2066
$GC,11958,0.47,229.8,481.0,9.4,1022,11980,0.00,2.30,13.30,1.056,4,0.000,0.063,2916,286,2009
$GC,12107,0.54,238.1,467.0,9.7,1036,12120,0.00,2.17,8.48,0.966,6,0.000,0.048,2916,1693,1976
$GC,12427,0.61,238.1,434.2,10.2,1067,12431,0.00,2.25,0.00,0.000,4,0.000,0.062,2916,293,1972
$GC,12556,0.73,260.7,422.1,9.1,1079,12580,0.15,2.17,20.58,1.045,6,0.058,0.048,2987,1691,1884
$GC,12888,0.54,260.7,370.3,16.5,1111,12892,0.25,2.25,0.00,0.000,4,0.164,0.062,2918,293,1877
$GC,12946,0.65,260.7,363.1,11.5,1116,12953,0.08,2.20,0.00,0.000,6,0.068,0.048,2964,1692,1877
$GC,13262,0.59,260.7,323.3,12.0,1147,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,1692,1876
$GC,13575,0.59,260.7,285.1,13.5,1188,13583,0.00,2.22,0.00,0.000,4,0.000,0.060,2971,296,1876
$GC,13677,0.59,260.7,271.2,14.6,1207,13685,0.10,2.15,0.00,0.000,6,0.157,0.046,2940,1691,1876
$GC,14005,0.68,260.7,235.1,10.2,1268,14011,0.00,2.20,0.00,0.000,4,0.000,0.059,2942,300,1876
$GC,14069,0.80,272.0,229.1,9.6,1280,14082,0.12,2.15,9.77,0.818,6,0.055,0.045,3010,1698,1838
$GC,14403,0.67,272.0,185.5,13.4,1342,14409,0.17,2.17,0.00,0.000,4,0.153,0.048,2957,3129,1836
$GC,14424,0.67,272.0,182.9,12.4,1346,14431,0.00,2.22,0.00,0.000,6,0.000,0.047,2958,1694,1835
$GC,14751,0.92,335.9,155.3,7.5,1407,14810,0.25,2.33,53.72,0.831,4,0.051,0.057,3069,281,1576
$GC,14885,0.68,335.9,135.2,17.8,1430,14891,0.35,2.17,0.00,0.000,6,0.151,0.041,2968,1701,1570
$GC,15211,1.09,432.7,109.5,6.2,1491,15300,0.35,2.38,79.68,0.774,4,0.043,0.053,3127,277,1179
$GC,15326,0.76,432.7,88.4,23.0,1510,15333,0.40,2.25,0.00,0.000,6,0.151,0.040,2990,1694,1175
$GC,15653,1.14,490.1,55.1,7.7,1571,15705,0.32,2.28,46.85,0.714,4,0.042,0.053,3134,283,947
$GC,15806,0.86,490.1,22.7,22.4,1598,15812,0.32,2.20,0.00,0.000,6,0.142,0.038,3031,1696,940
$STATE,15955,end climb,SURFACE_DEPTH_REACHED
$STATE,15955,begin surface coast
$FINISH,0.6,1.021967
$STATE,15976,end surface coast,CONTROL_FINISHED_OK
$STATE,15976,begin surface
$SM_CCo,16049,0.00,0.000,0,0,938,492.81
$SM_GC,0.69,7.72,0.00,0.00,0.047,0.000,0.000,111,1453,938,-8.17,-0.51,492.81
$IRIDIUM_FIX,2527.05,12415.87,160898,171733
$TT8_MAMPS,0.049855
$HUMID,1435
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,26.30
$XPDR_PINGS,16
$24V_AH,23.8,5.723
$10V_AH,10.7,2.952
$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,25.900,139.200,556.950,0.000,0.000,23.999,44.600,190.632,10.750,0.000,0.000,16.940,0.000,11466.590,683.460,3752.793,479.805,0.000,2076.119,0.000,3190.498,0.000,45.689,0.000
$DEVICE_MAMPS,222.430,65.962,1363.726,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1102.757,1118.376,1872.339,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91558,1630
$CAP_FILE_SIZE,171556,0
$CFSIZE,260165632,256692224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.288, 83.6,1
$GPS,230509,014831,2536.816,12332.575,36,2.0,36,-3.8