version: 66.04
glider: 164
mission: 3
dive: 160
start: 6 11 109 11 20 6
data:
$ID,164
$MISSION,3
$DIVE,160
$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,-36366.582
$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,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
$GPS1,111406,2513.728,12245.818,25,1.5,25,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.58
$_SM_ANGLEo,-63.2
$GPS2,112001,2513.981,12245.949,8,1.4,13,-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,176.5,45599,-16.4,-12.000
$D_GRID,1369
$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,-243.4,0.0,0.0,0,100,0.00,0.00,-86.32,0.000,2,0.000,0.000,110,1451,2834
$GC,102,-1.08,-243.4,3.3,-7.8,13,141,8.25,1.92,-21.27,0.000,4,0.200,0.063,2388,229,3944
$GC,300,-0.67,-243.4,58.4,-23.7,49,307,0.43,1.90,0.00,0.000,6,0.127,0.033,2523,1483,3946
$GC,627,-0.72,-243.4,98.9,-11.2,110,634,0.00,2.10,0.00,0.000,4,0.000,0.041,2523,2872,3949
$GC,671,-0.83,-243.4,103.6,-10.2,118,679,0.10,2.08,0.00,0.000,6,0.047,0.032,2458,1495,3950
$GC,998,-0.74,-243.4,156.0,-16.6,179,1005,0.15,2.10,0.00,0.000,4,0.128,0.041,2502,2880,3951
$GC,1063,-0.86,-243.4,164.3,-11.7,191,1069,0.08,2.10,0.00,0.000,6,0.052,0.032,2448,1476,3951
$GC,1389,-0.77,-243.4,212.4,-14.2,252,1395,0.17,0.00,0.00,0.000,6,0.126,0.000,2500,1477,3951
$GC,1716,-0.85,-243.4,250.3,-11.3,313,1721,0.00,2.10,0.00,0.000,4,0.000,0.041,2500,2886,3951
$GC,1790,-0.98,-243.4,258.5,-10.8,327,1796,0.17,2.12,0.00,0.000,6,0.043,0.032,2405,1465,3951
$GC,2113,-0.80,-243.4,313.5,-15.7,380,2114,0.25,0.00,0.00,0.000,6,0.127,0.000,2481,1465,3950
$GC,2424,-0.86,-243.4,345.1,-9.0,410,2427,0.00,2.12,0.00,0.000,4,0.000,0.041,2481,2886,3949
$GC,2552,-0.97,-243.4,356.6,-9.5,422,2555,0.15,2.10,0.00,0.000,6,0.061,0.033,2408,1460,3949
$GC,2872,-0.84,-243.4,407.0,-17.0,453,2876,0.22,2.15,0.00,0.000,4,0.128,0.042,2474,2876,3948
$GC,2909,-0.95,-243.4,412.3,-13.1,456,2916,0.08,2.10,0.00,0.000,6,0.060,0.034,2422,1475,3948
$GC,3225,-0.87,-243.4,460.0,-14.2,487,3229,0.15,2.12,0.00,0.000,4,0.135,0.044,2464,2869,3946
$GC,3278,-0.97,-243.4,466.2,-11.3,492,3282,0.00,2.08,0.00,0.000,6,0.000,0.034,2465,1490,3946
$GC,3601,-1.03,-243.4,500.1,-10.3,523,3604,0.15,2.10,0.00,0.000,4,0.063,0.043,2392,2882,3943
$GC,3647,-0.94,-243.4,506.5,-13.1,525,3652,0.12,2.10,0.00,0.000,6,0.124,0.035,2436,1490,3943
$GC,3964,-0.94,-243.4,542.7,-11.5,541,3967,0.00,2.10,0.00,0.000,4,0.000,0.044,2435,2878,3940
$GC,3984,-0.94,-243.4,545.2,-11.7,542,3988,0.00,2.10,0.00,0.000,6,0.000,0.036,2436,1492,3940
$GC,4310,-0.94,-243.4,584.1,-11.4,558,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1492,3939
$GC,4617,-0.94,-243.4,618.0,-10.8,573,4620,0.00,2.10,0.00,0.000,4,0.000,0.046,2436,2877,3936
$GC,4674,-0.98,-243.4,624.1,-10.6,575,4680,0.00,2.10,0.00,0.000,6,0.000,0.037,2436,1497,3936
$GC,4985,-0.98,-243.4,659.1,-11.6,591,4988,0.00,2.12,0.00,0.000,4,0.000,0.047,2435,2894,3933
$GC,5048,-1.02,-243.4,666.0,-10.8,594,5052,0.00,2.10,0.00,0.000,6,0.000,0.038,2435,1510,3933
$GC,5374,-1.02,-243.4,705.8,-12.3,610,5379,0.00,2.10,0.00,0.000,4,0.000,0.047,2436,2872,3931
$GC,5423,-1.07,-243.4,711.4,-10.9,612,5427,0.08,2.08,0.00,0.000,6,0.063,0.038,2390,1514,3930
$GC,5744,-0.97,-243.4,757.3,-14.1,628,5748,0.15,2.08,0.00,0.000,4,0.143,0.048,2431,2879,3928
$GC,5781,-1.01,-243.4,761.6,-10.8,629,5787,0.00,2.08,0.00,0.000,6,0.000,0.038,2431,1520,3928
$GC,6091,-1.01,-243.4,796.0,-10.7,645,6095,0.00,2.10,0.00,0.000,4,0.000,0.048,2431,2876,3926
$GC,6112,-1.01,-243.4,798.1,-10.2,646,6116,0.00,2.08,0.00,0.000,6,0.000,0.038,2431,1520,3926
$GC,6439,-1.01,-243.4,834.3,-11.4,662,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1520,3924
$GC,6744,-1.01,-243.4,869.7,-11.7,677,6747,0.00,2.10,0.00,0.000,4,0.000,0.048,2431,2877,3923
$GC,6796,-1.08,-243.4,875.8,-10.9,679,6800,0.00,2.08,0.00,0.000,6,0.000,0.039,2431,1519,3922
$GC,7113,-1.08,-243.4,912.6,-11.5,695,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,1520,3921
$GC,7417,-1.08,-243.4,948.7,-11.8,710,7421,0.00,2.10,0.00,0.000,4,0.000,0.049,2432,2875,3919
$GC,7443,-1.13,-243.4,951.7,-12.8,711,7448,0.12,2.05,0.00,0.000,6,0.058,0.041,2369,1538,3919
$STATE,7723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7723,begin apogee
$GC,7727,-0.24,0.0,992.7,14.6,725,7936,0.93,0.00,206.00,1.483,6,0.127,0.000,2663,1537,2947
$STATE,7936,end apogee,CONTROL_FINISHED_OK
$STATE,7936,begin climb
$GC,7937,1.08,243.4,1001.0,0.0,735,8164,1.27,2.33,218.88,1.438,4,0.066,0.055,3091,224,1952
$GC,8180,0.58,243.4,965.7,25.0,747,8185,0.57,2.25,0.00,0.000,6,0.182,0.038,2939,1569,1950
$GC,8496,0.49,243.4,918.8,14.0,763,8500,0.12,2.20,0.00,0.000,4,0.163,0.057,2905,216,1944
$GC,8517,0.45,243.4,916.0,13.2,764,8521,0.00,2.12,0.00,0.000,6,0.000,0.040,2905,1576,1944
$GC,8843,0.51,294.5,880.6,10.3,780,8897,0.00,0.00,47.38,1.322,6,0.000,0.000,2905,1578,1746
$GC,9189,0.60,328.1,844.4,10.9,797,9230,0.00,0.00,32.42,1.269,6,0.000,0.000,2905,1578,1608
$GC,9534,0.67,347.1,804.4,11.4,814,9560,0.17,0.00,19.75,1.170,6,0.067,0.000,2975,1577,1531
$GC,9859,0.50,347.1,741.8,19.3,830,9863,0.25,2.20,0.00,0.000,4,0.156,0.048,2906,2984,1524
$GC,9881,0.42,347.1,738.2,17.4,831,9884,0.00,2.20,0.00,0.000,6,0.000,0.042,2906,1577,1524
$GC,10207,0.49,355.5,698.5,11.7,847,10216,0.00,0.00,7.88,1.096,6,0.000,0.000,2906,1577,1497
$GC,10512,0.58,367.0,663.0,11.6,862,10535,0.00,2.28,13.62,1.020,4,0.000,0.048,2906,2989,1450
$GC,10577,0.68,367.0,655.1,12.6,865,10581,0.12,2.20,0.00,0.000,6,0.060,0.043,2968,1592,1448
$GC,10903,0.52,367.0,591.9,20.0,881,10905,0.20,0.00,0.00,0.000,6,0.160,0.000,2914,1592,1446
$GC,11208,0.59,367.0,548.0,13.0,896,11212,0.00,2.17,0.00,0.000,4,0.000,0.058,2915,223,1445
$GC,11240,0.68,367.0,544.1,12.4,897,11244,0.10,2.08,0.00,0.000,6,0.064,0.043,2968,1557,1444
$GC,11557,0.54,367.0,489.7,16.5,915,11558,0.17,0.00,0.00,0.000,6,0.156,0.000,2920,1557,1444
$GC,11868,0.73,438.4,456.0,9.6,945,11946,0.17,2.38,66.43,1.116,4,0.064,0.048,2995,2995,1158
$GC,12009,0.54,438.4,428.8,21.3,958,12013,0.25,2.28,0.00,0.000,6,0.158,0.043,2924,1575,1153
$GC,12330,0.66,438.4,385.9,13.1,989,12334,0.10,2.17,0.00,0.000,4,0.084,0.058,2971,211,1147
$GC,12351,0.73,438.4,383.0,13.8,991,12355,0.00,2.15,0.00,0.000,6,0.000,0.044,2971,1580,1147
$GC,12673,0.65,438.4,331.6,16.3,1022,12673,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,1580,1146
$GC,12985,0.65,438.4,286.6,12.3,1061,12991,0.00,2.17,0.00,0.000,4,0.000,0.056,2971,210,1144
$GC,13022,0.65,438.4,281.8,12.4,1068,13029,0.00,2.10,0.00,0.000,6,0.000,0.042,2971,1568,1144
$GC,13349,0.65,438.4,240.7,13.8,1129,13355,0.00,2.15,0.00,0.000,4,0.000,0.055,2972,214,1143
$GC,13396,0.71,438.4,234.1,13.2,1138,13403,0.00,2.05,0.00,0.000,6,0.000,0.041,2971,1545,1143
$GC,13723,0.77,438.4,182.5,15.2,1199,13730,0.00,2.12,0.00,0.000,4,0.000,0.054,2971,206,1143
$GC,13745,0.84,438.4,179.2,15.3,1203,13752,0.08,2.05,0.00,0.000,6,0.066,0.041,3022,1541,1143
$GC,14073,0.79,438.4,127.5,15.0,1264,14079,0.00,2.10,0.00,0.000,4,0.000,0.053,3024,210,1143
$GC,14120,0.79,438.4,120.8,14.1,1273,14127,0.00,2.03,0.00,0.000,6,0.000,0.038,3024,1537,1142
$GC,14447,1.01,544.7,79.7,8.5,1334,14542,0.12,2.33,87.05,0.820,4,0.073,0.041,3088,2989,724
$GC,14643,1.01,544.7,51.0,15.8,1368,14650,0.00,2.28,0.00,0.000,6,0.000,0.037,3095,1535,720
$GC,14970,1.13,573.5,4.2,11.0,1429,14983,0.00,0.00,12.07,0.675,2,0.000,0.000,3095,1535,667
$STATE,14984,end climb,SURFACE_DEPTH_REACHED
$STATE,14984,begin surface coast
$FINISH,0.2,1.021277
$STATE,15002,end surface coast,CONTROL_FINISHED_OK
$STATE,15002,begin surface
$SM_CCo,15076,0.00,0.000,0,0,664,560.02
$SM_GC,0.56,7.75,0.00,0.00,0.034,0.000,0.000,117,1453,664,-8.13,-0.51,560.02
$IRIDIUM_FIX,2503.20,12241.97,050998,070709
$TT8_MAMPS,0.050622
$HUMID,1543
$INTERNAL_PRESSURE,8.93835
$TCM_TEMP,25.50
$XPDR_PINGS,30
$24V_AH,23.0,33.519
$10V_AH,10.7,20.366
$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,23.225,119.200,711.475,0.000,0.000,30.027,31.076,187.335,15.500,0.000,0.000,15.179,0.000,10820.231,870.838,3244.514,468.886,0.000,2080.377,0.000,2738.906,0.000,53.948,0.000
$DEVICE_MAMPS,200.187,95.108,1483.378,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,973.488,986.151,1652.298,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82234,1435
$CAP_FILE_SIZE,153979,0
$CFSIZE,260165632,246243328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.336,  7.5,1
$GPS,110609,153207,2513.996,12246.622,26,1.1,26,-3.6