version: 66.04
glider: 164
mission: 3
dive: 158
start: 6 11 109 2 39 13
data:
$ID,164
$MISSION,3
$DIVE,158
$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,275
$T_MISSION,330
$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,250
$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,-36332.418
$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,49
$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
$GPS1,023306,2515.442,12242.226,39,1.1,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-64.2
$GPS2,023908,2515.632,12242.246,14,1.1,14,-3.6
$SPEED_LIMITS,0.208,0.348
$TGT_NAME,OFF_3
$TGT_LATLONG,2456.800,12305.400
$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,167.6,52231,-16.4,-12.000
$D_GRID,1141
$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,-1.08,-243.4,0.0,0.0,0,107,0.00,0.00,-93.15,0.000,2,0.000,0.000,113,1441,3062
$GC,109,-1.08,-243.4,3.8,-8.3,15,141,8.38,1.92,-15.52,0.000,4,0.206,0.066,2394,225,3945
$GC,359,-0.72,-243.4,73.5,-20.7,61,367,0.35,1.90,0.00,0.000,6,0.123,0.034,2507,1477,3947
$GC,687,-0.72,-243.4,109.3,-14.0,122,693,0.00,2.12,0.00,0.000,4,0.000,0.041,2507,2882,3950
$GC,762,-0.79,-243.4,119.5,-13.9,136,768,0.00,2.10,0.00,0.000,6,0.000,0.034,2508,1493,3950
$GC,1088,-0.84,-243.4,168.3,-13.7,197,1096,0.10,2.10,0.00,0.000,4,0.074,0.041,2454,2880,3951
$GC,1122,-0.79,-243.4,173.1,-14.6,203,1128,0.08,2.10,0.00,0.000,6,0.123,0.035,2482,1483,3951
$GC,1448,-0.79,-243.4,208.5,-9.6,264,1455,0.00,2.12,0.00,0.000,4,0.000,0.041,2482,2879,3951
$GC,1507,-0.85,-243.4,213.5,-8.6,275,1513,0.00,2.05,0.00,0.000,6,0.000,0.034,2482,1493,3951
$GC,1832,-0.85,-243.4,248.3,-12.3,336,1839,0.00,2.10,0.00,0.000,4,0.000,0.041,2482,2878,3951
$GC,1886,-0.93,-243.4,254.8,-12.3,346,1893,0.08,2.05,0.00,0.000,6,0.060,0.034,2428,1509,3951
$GC,2217,-0.82,-243.4,309.2,-16.3,403,2220,0.17,1.95,0.00,0.000,4,0.131,0.046,2481,217,3950
$GC,2302,-0.82,-243.4,320.3,-12.1,411,2305,0.00,1.90,0.00,0.000,6,0.000,0.035,2480,1481,3950
$GC,2622,-0.88,-243.4,354.9,-9.2,442,2626,0.00,2.10,0.00,0.000,4,0.000,0.041,2480,2874,3950
$GC,2755,-1.00,-243.4,364.0,-6.5,454,2762,0.12,2.08,0.00,0.000,6,0.048,0.035,2406,1497,3949
$GC,3071,-0.87,-243.4,404.7,-13.8,485,3073,0.20,0.00,0.00,0.000,6,0.131,0.000,2465,1497,3948
$GC,3383,-0.91,-243.4,437.2,-9.9,515,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1497,3946
$GC,3693,-0.95,-243.4,470.6,-11.8,545,3697,0.00,2.08,0.00,0.000,4,0.000,0.043,2465,2886,3944
$GC,3724,-1.03,-243.4,474.2,-11.1,548,3729,0.12,2.10,0.00,0.000,6,0.049,0.037,2395,1498,3944
$GC,4053,-0.91,-243.4,525.6,-15.1,572,4057,0.20,2.08,0.00,0.000,4,0.136,0.044,2454,2877,3941
$GC,4127,-0.99,-243.4,533.9,-10.2,575,4131,0.00,2.08,0.00,0.000,6,0.000,0.037,2454,1504,3940
$GC,4443,-1.03,-243.4,566.5,-10.0,591,4447,0.12,2.08,0.00,0.000,4,0.071,0.046,2395,2878,3938
$GC,4560,-0.95,-243.4,580.6,-12.1,596,4564,0.10,2.05,0.00,0.000,6,0.130,0.038,2429,1525,3938
$GC,4876,-0.95,-243.4,615.7,-11.2,612,4879,0.00,2.03,0.00,0.000,4,0.000,0.053,2430,222,3935
$GC,4987,-0.95,-243.4,629.4,-11.8,617,4991,0.00,1.98,0.00,0.000,6,0.000,0.037,2429,1529,3934
$GC,5309,-0.95,-243.4,665.0,-10.9,633,5312,0.00,2.03,0.00,0.000,4,0.000,0.053,2430,219,3932
$GC,5400,-0.95,-243.4,675.5,-12.1,637,5403,0.00,1.95,0.00,0.000,6,0.000,0.038,2430,1508,3931
$GC,5720,-0.95,-243.4,708.4,-9.4,653,5724,0.00,2.08,0.00,0.000,4,0.000,0.048,2430,2867,3930
$GC,5806,-0.95,-243.4,717.6,-9.4,657,5809,0.00,2.03,0.00,0.000,6,0.000,0.040,2430,1539,3928
$GC,6133,-0.95,-243.4,752.1,-10.9,673,6136,0.00,2.05,0.00,0.000,4,0.000,0.050,2429,2878,3927
$GC,6164,-0.99,-243.4,755.4,-10.2,674,6167,0.00,2.05,0.00,0.000,6,0.000,0.041,2430,1538,3926
$GC,6479,-0.99,-243.4,785.6,-8.9,690,6480,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1538,3925
$GC,6784,-0.99,-243.4,815.3,-9.6,705,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1538,3923
$GC,7089,-0.99,-243.4,845.0,-9.4,720,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1538,3922
$GC,7395,-0.99,-243.4,872.3,-9.5,735,7396,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1538,3920
$GC,7700,-0.99,-243.4,905.1,-11.1,750,7704,0.00,2.08,0.00,0.000,4,0.000,0.052,2430,2864,3919
$GC,7748,-1.06,-243.4,910.3,-10.8,752,7752,0.00,2.05,0.00,0.000,6,0.000,0.044,2430,1541,3918
$GC,8068,-1.06,-243.4,946.2,-12.1,768,8069,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,1541,3916
$GC,8374,-1.06,-243.4,985.3,-12.9,783,8378,0.00,2.08,0.00,0.000,4,0.000,0.052,2430,2868,3916
$STATE,8409,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8409,begin apogee
$GC,8415,-0.24,0.0,990.0,13.0,784,8623,0.68,0.00,205.18,1.495,6,0.114,0.000,2660,1587,2947
$STATE,8623,end apogee,CONTROL_FINISHED_OK
$STATE,8623,begin climb
$GC,8625,1.08,243.4,1001.9,0.0,795,8852,1.25,2.42,218.12,1.443,4,0.070,0.058,3084,222,1953
$GC,8947,0.60,243.4,951.2,25.5,810,8952,0.50,2.20,0.00,0.000,6,0.180,0.040,2946,1576,1947
$GC,9269,0.50,243.4,902.6,14.9,826,9270,0.15,0.00,0.00,0.000,6,0.160,0.000,2905,1577,1943
$GC,9574,0.52,266.0,867.4,11.2,841,9605,0.00,2.22,21.77,1.216,4,0.000,0.059,2905,209,1861
$GC,9625,0.60,302.5,861.7,10.8,843,9663,0.00,2.17,34.03,1.343,6,0.000,0.041,2905,1579,1713
$GC,9981,0.65,302.5,820.9,12.1,861,9985,0.15,2.17,0.00,0.000,4,0.071,0.048,2967,2987,1702
$GC,10006,0.55,302.5,816.9,15.8,862,10010,0.15,2.22,0.00,0.000,6,0.160,0.044,2923,1574,1702
$GC,10327,0.55,302.5,768.6,15.5,878,10331,0.00,2.17,0.00,0.000,4,0.000,0.059,2922,218,1700
$GC,10348,0.55,302.5,765.4,15.2,879,10352,0.00,2.10,0.00,0.000,6,0.000,0.044,2922,1568,1700
$GC,10675,0.55,302.5,720.0,13.8,895,10679,0.00,2.22,0.00,0.000,4,0.000,0.051,2922,2986,1699
$GC,10722,0.55,302.5,713.6,13.3,897,10726,0.00,2.20,0.00,0.000,6,0.000,0.044,2922,1577,1698
$GC,11044,0.55,302.5,671.9,12.2,913,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,1577,1698
$GC,11348,0.55,302.5,635.5,12.1,928,11352,0.00,2.17,0.00,0.000,4,0.000,0.060,2922,214,1698
$GC,11434,0.59,302.5,624.9,12.7,932,11438,0.00,2.12,0.00,0.000,6,0.000,0.044,2922,1585,1698
$GC,11760,0.59,302.5,581.4,13.6,948,11764,0.00,2.20,0.00,0.000,4,0.000,0.059,2922,209,1697
$GC,11786,0.59,302.5,578.1,12.2,949,11790,0.00,2.12,0.00,0.000,6,0.000,0.044,2922,1579,1697
$GC,12108,0.59,302.5,540.5,12.3,965,12112,0.00,2.17,0.00,0.000,4,0.000,0.051,2922,2979,1696
$GC,12133,0.63,302.5,537.0,12.8,966,12138,0.00,2.17,0.00,0.000,6,0.000,0.044,2922,1576,1696
$GC,12444,0.63,302.5,498.0,12.7,982,12449,0.00,2.15,0.00,0.000,4,0.000,0.058,2922,222,1695
$GC,12471,0.69,302.5,494.6,12.2,984,12478,0.10,2.10,0.00,0.000,6,0.065,0.044,2973,1579,1696
$GC,12787,0.58,302.5,447.9,15.2,1015,12791,0.17,2.15,0.00,0.000,4,0.158,0.058,2929,203,1695
$GC,12823,0.58,302.5,442.6,13.8,1018,12831,0.00,2.12,0.00,0.000,6,0.000,0.044,2929,1575,1695
$GC,13141,0.61,302.5,403.1,12.9,1049,13144,0.00,2.17,0.00,0.000,4,0.000,0.050,2929,2997,1695
$GC,13192,0.65,302.5,395.7,13.7,1054,13197,0.00,2.20,0.00,0.000,6,0.000,0.044,2929,1576,1695
$GC,13515,0.89,434.7,362.4,7.6,1085,13640,0.25,2.30,114.25,1.052,4,0.060,0.057,3044,217,1173
$GC,13694,0.65,434.7,328.8,22.6,1101,13701,0.28,2.17,0.00,0.000,6,0.146,0.041,2961,1575,1166
$GC,14013,0.65,434.7,282.2,15.8,1143,14020,0.00,2.20,0.00,0.000,4,0.000,0.048,2961,2977,1160
$GC,14062,0.69,434.7,274.4,15.6,1152,14069,0.00,2.17,0.00,0.000,6,0.000,0.043,2961,1591,1159
$GC,14389,0.77,434.7,219.9,15.8,1213,14394,0.00,2.15,0.00,0.000,4,0.000,0.046,2961,2985,1158
$GC,14409,0.85,434.7,216.4,16.5,1217,14416,0.12,2.17,0.00,0.000,6,0.054,0.042,3031,1588,1158
$GC,14736,0.71,434.7,148.3,19.5,1278,14742,0.20,2.17,0.00,0.000,4,0.146,0.054,2975,210,1157
$GC,14810,0.83,434.7,137.1,14.0,1292,14817,0.08,2.10,0.00,0.000,6,0.058,0.040,3024,1572,1156
$GC,15137,0.80,434.7,84.8,15.2,1353,15143,0.00,2.17,0.00,0.000,4,0.000,0.044,3025,2988,1155
$GC,15265,0.91,463.3,67.2,11.1,1377,15292,0.00,2.12,22.38,0.798,6,0.000,0.039,3025,1598,1057
$GC,15613,1.29,608.6,35.3,7.2,1441,15738,0.32,2.30,116.03,0.766,4,0.045,0.051,3176,217,489
$STATE,15778,end climb,SURFACE_DEPTH_REACHED
$STATE,15778,begin surface coast
$FINISH,-0.1,1.021640
$STATE,15789,end surface coast,CONTROL_FINISHED_OK
$STATE,15789,begin surface
$SM_CCo,15865,0.00,0.000,0,0,483,604.42
$SM_GC,0.42,8.15,0.00,0.00,0.036,0.000,0.000,110,1474,483,-8.15,0.11,604.42
$IRIDIUM_FIX,2507.97,12241.25,040998,222227
$TT8_MAMPS,0.050622
$HUMID,1582
$INTERNAL_PRESSURE,8.88952
$TCM_TEMP,25.00
$XPDR_PINGS,15
$24V_AH,23.0,32.943
$10V_AH,10.6,20.106
$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,22.575,139.475,731.750,0.000,0.000,25.481,33.267,194.512,11.750,0.000,0.000,16.000,0.000,11411.363,821.812,3479.722,484.820,0.000,2173.466,0.000,2950.329,0.000,53.938,0.000
$DEVICE_MAMPS,205.556,65.962,1494.883,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,997.547,1002.736,1681.921,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85409,1471
$CAP_FILE_SIZE,161070,0
$CFSIZE,260165632,246411264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.175, 26.9,1
$GPS,110609,070436,2514.419,12243.578,39,1.2,39,-3.6