version: 66.04
glider: 164
mission: 3
dive: 120
start: 6 6 109 1 10 49
data:
$ID,164
$MISSION,3
$DIVE,120
$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,-35488.922
$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,36
$R_STBD_OVSHOOT,36
$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
$GPS1,010407,2455.749,12237.132,39,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-70.0
$GPS2,011044,2455.878,12237.173,12,1.4,12,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$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,308.8,57650,-15.7,-10.000
$D_GRID,1444
$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,-194.7,0.0,0.0,0,89,0.00,0.00,-75.18,0.000,2,0.000,0.000,115,1457,2759
$GC,91,-0.99,-194.7,3.1,-7.6,12,124,8.57,2.22,-20.08,0.000,4,0.211,0.053,2415,2883,3743
$GC,209,-0.60,-194.7,34.1,-26.3,33,216,0.40,2.15,0.00,0.000,6,0.127,0.034,2546,1470,3745
$GC,536,-0.50,-194.7,86.7,-15.2,94,542,0.12,2.15,0.00,0.000,4,0.131,0.040,2582,2888,3746
$GC,568,-0.55,-194.7,91.0,-12.8,100,575,0.00,2.12,0.00,0.000,6,0.000,0.034,2582,1479,3747
$GC,894,-0.63,-194.7,125.9,-6.2,161,901,0.12,0.00,0.00,0.000,6,0.067,0.000,2515,1479,3748
$GC,1221,-0.57,-194.7,163.4,-13.4,222,1227,0.15,1.90,0.00,0.000,4,0.123,0.044,2559,222,3750
$GC,1269,-0.65,-194.7,169.1,-11.4,231,1276,0.00,1.88,0.00,0.000,6,0.000,0.034,2558,1478,3750
$GC,1595,-0.78,-194.7,201.0,-9.0,292,1602,0.20,2.08,0.00,0.000,4,0.055,0.039,2461,2876,3752
$GC,1633,-0.70,-194.7,205.4,-13.4,299,1639,0.15,2.08,0.00,0.000,6,0.117,0.032,2514,1474,3751
$GC,1958,-0.70,-194.7,239.2,-11.1,360,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1474,3751
$GC,2279,-0.73,-194.7,273.8,-10.9,420,2286,0.00,1.90,0.00,0.000,4,0.000,0.044,2515,223,3751
$GC,2327,-0.73,-194.7,279.4,-11.2,429,2335,0.00,1.85,0.00,0.000,6,0.000,0.033,2515,1467,3751
$GC,2656,-0.79,-194.7,312.3,-9.6,479,2659,0.00,2.10,0.00,0.000,4,0.000,0.040,2515,2872,3750
$GC,2698,-0.90,-194.7,316.3,-9.1,483,2702,0.15,2.08,0.00,0.000,6,0.046,0.033,2434,1476,3750
$GC,3018,-0.74,-194.7,357.4,-12.3,514,3023,0.22,1.90,0.00,0.000,4,0.130,0.044,2502,218,3749
$GC,3051,-0.74,-194.7,360.7,-9.2,517,3054,0.00,1.88,0.00,0.000,6,0.000,0.033,2502,1480,3749
$GC,3371,-0.80,-194.7,388.3,-9.9,548,3375,0.00,1.92,0.00,0.000,4,0.000,0.045,2502,224,3747
$GC,3461,-0.85,-194.7,398.1,-9.9,556,3469,0.00,1.85,0.00,0.000,6,0.000,0.032,2502,1474,3747
$GC,3778,-0.90,-194.7,426.3,-8.2,587,3781,0.15,1.90,0.00,0.000,4,0.062,0.048,2433,213,3745
$GC,3809,-0.74,-194.7,430.1,-13.7,590,3813,0.20,1.88,0.00,0.000,6,0.123,0.033,2500,1466,3745
$GC,4130,-0.81,-194.7,456.8,-7.7,621,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,2500,1468,3743
$GC,4441,-0.88,-194.7,486.4,-10.2,651,4445,0.12,1.90,0.00,0.000,4,0.075,0.048,2444,210,3741
$GC,4569,-0.77,-194.7,504.2,-14.0,662,4572,0.17,1.88,0.00,0.000,6,0.133,0.034,2495,1488,3740
$GC,4895,-0.84,-194.7,533.2,-7.6,678,4898,0.00,2.05,0.00,0.000,4,0.000,0.044,2495,2877,3738
$GC,5045,-0.97,-194.7,542.6,-6.7,685,5049,0.17,2.08,0.00,0.000,6,0.058,0.037,2417,1476,3736
$GC,5367,-0.83,-194.7,585.0,-15.5,701,5370,0.17,2.10,0.00,0.000,4,0.138,0.044,2473,2872,3734
$GC,5407,-0.91,-194.7,590.3,-11.4,703,5412,0.00,2.10,0.00,0.000,6,0.000,0.037,2473,1479,3733
$GC,5729,-0.91,-194.7,622.5,-8.7,719,5733,0.00,1.95,0.00,0.000,4,0.000,0.051,2473,219,3732
$GC,5803,-0.91,-194.7,629.3,-8.6,722,5807,0.00,1.90,0.00,0.000,6,0.000,0.035,2473,1485,3732
$GC,6119,-0.91,-194.7,654.5,-8.3,738,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1486,3729
$GC,6424,-0.91,-194.7,684.6,-10.4,753,6428,0.00,2.10,0.00,0.000,4,0.000,0.045,2473,2872,3727
$GC,6472,-1.00,-194.7,689.1,-10.1,755,6476,0.12,2.10,0.00,0.000,6,0.054,0.039,2404,1483,3726
$GC,6794,-0.85,-194.7,730.7,-12.7,771,6796,0.22,0.00,0.00,0.000,6,0.135,0.000,2471,1482,3725
$GC,7098,-0.85,-194.7,758.2,-8.8,786,7102,0.00,1.98,0.00,0.000,4,0.000,0.058,2471,219,3723
$GC,7156,-0.85,-194.7,763.9,-10.0,788,7163,0.00,1.90,0.00,0.000,6,0.000,0.038,2471,1477,3723
$GC,7467,-0.89,-194.7,789.8,-8.0,804,7471,0.00,2.12,0.00,0.000,4,0.000,0.048,2471,2869,3721
$GC,7493,-0.97,-194.7,791.8,-7.8,805,7498,0.10,2.12,0.00,0.000,6,0.059,0.041,2415,1474,3721
$GC,7816,-0.86,-194.7,824.5,-9.9,821,7819,0.17,1.95,0.00,0.000,4,0.140,0.054,2471,207,3719
$GC,7900,-0.86,-194.7,831.6,-7.9,825,7904,0.00,1.90,0.00,0.000,6,0.000,0.038,2471,1465,3718
$GC,8227,-0.90,-194.7,855.8,-8.2,841,8231,0.00,2.15,0.00,0.000,4,0.000,0.048,2471,2871,3717
$GC,8274,-0.99,-194.7,859.7,-8.1,843,8278,0.10,2.12,0.00,0.000,6,0.058,0.041,2415,1474,3716
$GC,8596,-0.89,-194.7,897.2,-11.7,859,8597,0.15,0.00,0.00,0.000,6,0.143,0.000,2457,1474,3715
$GC,8900,-0.89,-194.7,923.5,-7.8,874,8904,0.00,2.15,0.00,0.000,4,0.000,0.048,2457,2868,3714
$GC,8959,-0.95,-194.7,927.6,-6.7,876,8966,0.00,2.12,0.00,0.000,6,0.000,0.041,2457,1476,3713
$GC,9269,-0.95,-194.7,949.6,-7.0,892,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1476,3712
$GC,9575,-0.95,-194.7,973.1,-7.9,907,9578,0.00,1.98,0.00,0.000,4,0.000,0.058,2457,219,3711
$GC,9643,-0.95,-194.7,979.1,-9.6,910,9647,0.00,1.90,0.00,0.000,6,0.000,0.041,2457,1464,3711
$STATE,9780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9780,begin apogee
$GC,9784,-0.24,0.0,990.5,8.2,917,9947,0.62,0.00,161.35,1.478,6,0.117,0.000,2663,1581,2946
$STATE,9948,end apogee,CONTROL_FINISHED_OK
$STATE,9948,begin climb
$GC,9950,0.99,194.7,994.6,0.0,925,10128,1.17,2.42,172.10,1.431,4,0.070,0.055,3064,220,2153
$GC,10165,0.48,194.7,968.4,21.3,935,10171,0.55,2.22,0.00,0.000,6,0.172,0.038,2905,1575,2149
$GC,10475,0.41,194.7,931.7,11.2,951,10479,0.00,2.17,0.00,0.000,4,0.000,0.057,2905,219,2145
$GC,10539,0.36,194.7,924.0,12.3,954,10543,0.12,2.10,0.00,0.000,6,0.143,0.040,2864,1562,2144
$GC,10865,0.46,221.1,893.5,9.1,970,10892,0.00,2.20,22.75,1.335,4,0.000,0.058,2864,208,2044
$GC,10912,0.58,236.9,889.0,9.5,972,10932,0.15,2.15,15.25,1.272,6,0.058,0.039,2933,1572,1980
$GC,11250,0.43,236.9,842.7,13.9,989,11254,0.17,2.17,0.00,0.000,4,0.154,0.047,2881,2980,1973
$GC,11270,0.37,236.9,840.0,12.7,990,11274,0.00,2.20,0.00,0.000,6,0.000,0.044,2881,1580,1973
$GC,11591,0.44,262.0,809.2,9.1,1006,11618,0.00,2.20,22.65,1.308,4,0.000,0.058,2881,211,1876
$GC,11693,0.53,277.5,799.9,9.5,1011,11714,0.00,2.10,14.95,1.245,6,0.000,0.041,2881,1550,1814
$GC,12018,0.61,292.5,768.7,9.5,1027,12043,0.17,2.17,15.95,1.099,4,0.064,0.058,2955,207,1753
$GC,12075,0.45,292.5,760.7,15.2,1030,12079,0.20,2.12,0.00,0.000,6,0.149,0.041,2893,1550,1751
$GC,12401,0.45,292.5,723.7,10.6,1046,12405,0.00,2.15,0.00,0.000,4,0.000,0.058,2893,213,1748
$GC,12459,0.50,292.5,717.1,11.0,1048,12467,0.00,2.05,0.00,0.000,6,0.000,0.041,2893,1531,1747
$GC,12770,0.54,292.5,682.1,11.7,1064,12771,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1531,1746
$GC,13075,0.58,292.5,646.5,12.1,1079,13080,0.12,2.10,0.00,0.000,4,0.074,0.058,2949,214,1745
$GC,13112,0.46,292.5,641.1,15.0,1080,13119,0.15,2.03,0.00,0.000,6,0.147,0.043,2900,1521,1745
$GC,13422,0.46,292.5,602.4,12.2,1096,13423,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1521,1745
$GC,13728,0.46,292.5,568.1,11.0,1111,13732,0.00,2.10,0.00,0.000,4,0.000,0.058,2902,207,1744
$GC,13797,0.46,292.5,560.6,11.4,1114,13801,0.00,2.03,0.00,0.000,6,0.000,0.043,2902,1516,1744
$GC,14118,0.50,292.5,525.5,10.4,1130,14119,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1516,1744
$GC,14424,0.56,292.5,493.0,10.0,1148,14428,0.00,2.28,0.00,0.000,4,0.000,0.049,2902,2983,1744
$GC,14450,0.61,292.5,490.3,11.2,1150,14458,0.08,2.25,0.00,0.000,6,0.071,0.044,2949,1523,1744
$GC,14766,0.51,292.5,443.0,14.8,1181,14770,0.15,2.08,0.00,0.000,4,0.160,0.058,2908,210,1743
$GC,14884,0.58,304.4,430.3,9.6,1192,14898,0.00,1.98,10.38,1.009,6,0.000,0.043,2908,1494,1704
$GC,15215,0.71,340.6,400.8,8.8,1224,15252,0.17,2.40,32.62,1.073,4,0.060,0.048,2986,2983,1557
$GC,15267,0.56,340.6,394.0,14.7,1228,15274,0.20,2.38,0.00,0.000,6,0.154,0.044,2926,1497,1555
$GC,15583,0.56,340.6,356.9,11.2,1259,15586,0.00,2.05,0.00,0.000,4,0.000,0.056,2929,214,1549
$GC,15604,0.48,340.6,354.2,12.3,1261,15608,0.08,2.03,0.00,0.000,6,0.139,0.044,2903,1506,1548
$GC,15924,0.65,354.1,327.0,9.5,1292,15940,0.15,2.08,11.77,0.936,4,0.067,0.057,2972,199,1502
$GC,15978,0.58,354.1,319.6,15.9,1297,15982,0.15,2.00,0.00,0.000,6,0.146,0.041,2932,1501,1500
$GC,16299,0.62,354.1,277.3,13.6,1344,16306,0.00,2.05,0.00,0.000,4,0.000,0.055,2932,213,1497
$GC,16363,0.68,354.1,269.1,12.6,1356,16370,0.00,1.98,0.00,0.000,6,0.000,0.041,2932,1487,1497
$GC,16690,0.77,354.1,234.1,10.1,1417,16697,0.17,2.28,0.00,0.000,4,0.060,0.045,3012,2994,1497
$GC,16728,0.64,354.1,228.9,14.3,1424,16735,0.17,2.33,0.00,0.000,6,0.152,0.041,2957,1492,1497
$GC,17054,0.64,354.1,186.8,12.5,1485,17061,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,1492,1497
$GC,17381,0.95,503.3,151.7,4.9,1546,17514,0.25,2.12,125.28,0.854,4,0.051,0.052,3070,211,894
$GC,17545,0.75,503.3,123.1,20.4,1573,17553,0.25,2.03,0.00,0.000,6,0.138,0.038,2992,1482,890
$GC,17873,1.08,563.2,92.3,7.9,1634,17930,0.28,2.08,50.40,0.784,4,0.045,0.051,3115,198,647
$GC,17939,0.90,563.2,80.3,19.4,1645,17947,0.25,2.03,0.00,0.000,6,0.140,0.037,3037,1475,645
$GC,18267,1.16,609.0,42.7,8.4,1706,18306,0.22,2.33,32.50,0.727,4,0.048,0.038,3139,2992,490
$GC,18337,1.02,609.0,29.9,20.7,1718,18343,0.20,2.35,0.00,0.000,6,0.144,0.038,3063,1488,486
$STATE,18544,end climb,SURFACE_DEPTH_REACHED
$STATE,18544,begin surface coast
$FINISH,-0.1,1.021465
$STATE,18565,end surface coast,CONTROL_FINISHED_OK
$STATE,18565,begin surface
$SM_CCo,18639,0.00,0.000,0,0,484,604.17
$SM_GC,0.77,7.62,0.00,0.00,0.034,0.000,0.000,110,1487,484,-8.15,0.45,604.17
$IRIDIUM_FIX,2448.93,12236.11,300898,202047
$TT8_MAMPS,0.049855
$HUMID,1502
$INTERNAL_PRESSURE,8.94812
$TCM_TEMP,26.40
$XPDR_PINGS,26
$24V_AH,23.1,25.147
$10V_AH,10.7,15.477
$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,25.825,162.275,687.950,0.000,0.000,28.988,32.183,227.900,14.500,0.000,0.000,14.031,0.000,13517.927,834.170,4099.974,551.739,0.000,2377.223,0.000,3474.670,0.000,53.949,0.000
$DEVICE_MAMPS,210.925,67.496,1478.009,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1193.339,1201.218,2010.652,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101124,1761
$CAP_FILE_SIZE,197643,0
$CFSIZE,260165632,249159680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.182, 46.7,1
$GPS,060609,062225,2458.994,12236.013,38,1.0,38,-3.6