version: 66.04
glider: 164
mission: 3
dive: 161
start: 6 11 109 15 41 43
data:
$ID,164
$MISSION,3
$DIVE,161
$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,-36383.148
$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,46
$R_STBD_OVSHOOT,32
$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
$GPS1,153207,2513.996,12246.622,26,1.1,26,-3.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-67.4
$GPS2,154138,2514.472,12246.682,14,1.1,14,-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,184.8,45377,-16.4,-12.000
$D_GRID,1345
$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,-243.4,0.0,0.0,0,91,0.00,0.00,-76.43,0.000,2,0.000,0.000,115,1452,2804
$GC,92,-1.08,-243.4,3.3,-7.8,12,127,8.35,1.95,-22.08,0.000,4,0.204,0.063,2386,223,3943
$GC,228,-0.66,-243.4,44.0,-30.5,36,236,0.43,1.90,0.00,0.000,6,0.156,0.033,2528,1478,3945
$GC,555,-0.66,-243.4,97.7,-13.4,97,562,0.00,2.10,0.00,0.000,4,0.000,0.039,2527,2874,3947
$GC,620,-0.70,-243.4,105.9,-12.7,109,626,0.00,2.08,0.00,0.000,6,0.000,0.032,2528,1494,3947
$GC,946,-0.75,-243.4,142.6,-10.9,170,952,0.00,2.10,0.00,0.000,4,0.000,0.040,2528,2878,3948
$GC,1047,-0.90,-243.4,153.3,-9.8,189,1054,0.17,2.08,0.00,0.000,6,0.041,0.031,2435,1492,3949
$GC,1373,-0.75,-243.4,204.0,-16.5,250,1380,0.22,1.95,0.00,0.000,4,0.126,0.043,2503,206,3949
$GC,1390,-0.67,-243.4,206.3,-14.4,253,1396,0.00,1.92,0.00,0.000,6,0.000,0.035,2503,1497,3949
$GC,1716,-0.75,-243.4,240.4,-9.6,314,1722,0.00,2.05,0.00,0.000,4,0.000,0.040,2503,2868,3949
$GC,1758,-0.87,-243.4,244.2,-8.6,322,1765,0.10,2.03,0.00,0.000,6,0.048,0.032,2441,1507,3949
$GC,2086,-0.79,-243.4,289.1,-13.5,383,2091,0.17,1.95,0.00,0.000,4,0.127,0.044,2500,209,3949
$GC,2176,-0.86,-243.4,298.5,-9.5,400,2184,0.08,1.90,0.00,0.000,6,0.061,0.032,2448,1485,3948
$GC,2493,-0.81,-243.4,336.2,-11.8,432,2494,0.12,0.00,0.00,0.000,6,0.137,0.000,2484,1485,3947
$GC,2805,-0.88,-243.4,362.8,-9.4,462,2808,0.00,2.08,0.00,0.000,4,0.000,0.041,2484,2883,3945
$GC,2873,-1.01,-243.4,369.3,-9.1,468,2881,0.15,2.08,0.00,0.000,6,0.044,0.032,2402,1492,3944
$GC,3189,-0.87,-243.4,418.9,-15.4,499,3192,0.20,2.08,0.00,0.000,4,0.132,0.041,2461,2883,3943
$GC,3247,-0.94,-243.4,426.3,-11.5,504,3255,0.00,2.08,0.00,0.000,6,0.000,0.034,2461,1497,3942
$GC,3564,-0.99,-243.4,460.7,-11.0,535,3567,0.10,2.08,0.00,0.000,4,0.079,0.041,2405,2879,3940
$GC,3658,-0.92,-243.4,473.5,-13.7,544,3663,0.10,2.05,0.00,0.000,6,0.126,0.034,2441,1515,3939
$GC,3977,-0.92,-243.4,514.0,-12.7,570,3982,0.00,2.08,0.00,0.000,4,0.000,0.043,2441,2875,3938
$GC,4009,-0.96,-243.4,518.1,-12.3,571,4013,0.00,2.05,0.00,0.000,6,0.000,0.035,2441,1517,3937
$GC,4326,-0.96,-243.4,555.0,-11.2,587,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1517,3935
$GC,4630,-0.96,-243.4,587.7,-10.5,602,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,1517,3932
$GC,4936,-0.96,-243.4,618.9,-10.4,617,4939,0.00,2.03,0.00,0.000,4,0.000,0.051,2441,213,3929
$GC,4978,-0.96,-243.4,623.8,-11.6,619,4982,0.00,1.95,0.00,0.000,6,0.000,0.036,2441,1507,3929
$GC,5305,-0.96,-243.4,657.4,-10.2,635,5308,0.00,2.05,0.00,0.000,4,0.000,0.046,2441,2874,3926
$GC,5357,-1.01,-243.4,662.5,-9.9,637,5361,0.00,2.05,0.00,0.000,6,0.000,0.038,2441,1521,3927
$GC,5674,-1.01,-243.4,694.1,-10.2,653,5677,0.00,2.05,0.00,0.000,4,0.000,0.047,2441,2873,3924
$GC,5699,-1.06,-243.4,696.7,-9.4,654,5703,0.08,2.05,0.00,0.000,6,0.064,0.038,2394,1523,3924
$GC,6020,-0.96,-243.4,737.5,-13.2,670,6021,0.15,0.00,0.00,0.000,6,0.143,0.000,2435,1523,3921
$GC,6326,-0.96,-243.4,769.3,-10.0,685,6329,0.00,2.05,0.00,0.000,4,0.000,0.048,2436,2869,3919
$GC,6352,-1.00,-243.4,771.8,-9.8,686,6356,0.00,2.08,0.00,0.000,6,0.000,0.040,2436,1512,3919
$GC,6673,-1.00,-243.4,803.9,-10.1,702,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1512,3917
$GC,6979,-1.00,-243.4,835.6,-10.4,717,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1512,3915
$GC,7283,-1.00,-243.4,866.3,-10.2,732,7287,0.00,2.10,0.00,0.000,4,0.000,0.049,2436,2866,3913
$GC,7342,-1.07,-243.4,871.9,-9.9,734,7349,0.08,2.08,0.00,0.000,6,0.066,0.041,2391,1518,3912
$GC,7652,-0.98,-243.4,910.3,-12.6,750,7653,0.12,0.00,0.00,0.000,6,0.149,0.000,2425,1518,3911
$GC,7958,-0.98,-243.4,944.5,-11.3,765,7959,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1518,3909
$GC,8262,-0.98,-243.4,977.8,-10.8,780,8263,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,1517,3908
$STATE,8383,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8383,begin apogee
$GC,8386,-0.24,0.0,990.3,10.1,786,8593,0.73,0.00,203.77,1.493,6,0.117,0.000,2662,1581,2947
$STATE,8593,end apogee,CONTROL_FINISHED_OK
$STATE,8593,begin climb
$GC,8595,1.08,243.4,998.7,0.0,796,8820,1.27,2.40,218.32,1.442,4,0.064,0.056,3095,211,1953
$GC,8858,0.55,243.4,958.5,26.4,809,8863,0.62,2.28,0.00,0.000,6,0.185,0.039,2928,1580,1949
$GC,9180,0.47,243.4,911.8,14.3,825,9181,0.12,0.00,0.00,0.000,6,0.159,0.000,2894,1580,1944
$GC,9484,0.55,280.8,878.4,10.8,840,9529,0.00,2.25,34.58,1.300,4,0.000,0.057,2894,208,1800
$GC,9565,0.66,291.1,869.5,11.7,843,9580,0.15,2.17,10.45,1.206,6,0.054,0.040,2961,1578,1760
$GC,9897,0.50,291.1,815.6,16.7,860,9901,0.20,2.15,0.00,0.000,4,0.158,0.048,2907,2981,1753
$GC,9965,0.51,303.4,806.5,11.6,863,9982,0.00,2.17,11.55,1.226,6,0.000,0.043,2907,1593,1709
$GC,10286,0.53,319.7,770.0,11.5,879,10315,0.00,2.28,17.65,1.143,4,0.000,0.058,2907,209,1642
$GC,10369,0.60,320.1,760.2,12.0,883,10373,0.00,2.15,0.00,0.000,6,0.000,0.041,2907,1573,1640
$GC,10696,0.69,348.9,722.9,11.0,899,10738,0.17,0.00,29.55,1.222,6,0.064,0.000,2981,1573,1523
$GC,11040,0.50,348.9,659.7,18.0,916,11044,0.28,2.22,0.00,0.000,4,0.158,0.049,2905,2985,1516
$GC,11088,0.55,348.9,652.8,12.6,918,11092,0.00,2.20,0.00,0.000,6,0.000,0.044,2905,1588,1515
$GC,11409,0.69,389.5,617.4,10.7,934,11457,0.17,2.25,38.70,1.195,4,0.069,0.058,2976,206,1357
$GC,11482,0.54,389.5,605.5,19.9,937,11489,0.17,2.20,0.00,0.000,6,0.154,0.043,2923,1578,1354
$GC,11793,0.54,389.5,560.9,13.0,953,11796,0.00,2.22,0.00,0.000,4,0.000,0.050,2923,2985,1348
$GC,11851,0.59,389.5,552.7,14.2,955,11857,0.00,2.17,0.00,0.000,6,0.000,0.044,2923,1600,1348
$GC,12162,0.59,389.5,511.5,14.0,971,12165,0.00,2.20,0.00,0.000,4,0.000,0.059,2923,207,1346
$GC,12225,0.69,389.5,502.9,12.7,974,12230,0.08,2.15,0.00,0.000,6,0.069,0.044,2965,1580,1346
$GC,12546,0.60,389.5,444.0,17.4,1004,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,1580,1345
$GC,12858,0.55,389.5,392.8,16.0,1034,12861,0.17,2.15,0.00,0.000,4,0.147,0.049,2917,2988,1344
$GC,12915,0.67,389.5,384.9,12.5,1039,12922,0.10,2.20,0.00,0.000,6,0.064,0.044,2974,1572,1343
$GC,13231,0.60,389.5,336.5,13.9,1070,13235,0.15,2.15,0.00,0.000,4,0.160,0.057,2934,211,1343
$GC,13285,0.77,442.1,330.1,10.3,1075,13355,0.17,2.10,50.95,0.955,6,0.066,0.044,3011,1586,1144
$GC,13674,0.56,442.1,253.6,21.5,1132,13682,0.25,2.17,0.00,0.000,4,0.152,0.054,2934,208,1134
$GC,13702,0.56,442.1,248.6,16.6,1137,13708,0.00,2.12,0.00,0.000,6,0.000,0.043,2935,1563,1134
$GC,14027,0.85,489.7,211.4,10.4,1198,14072,0.22,0.00,40.90,0.940,6,0.051,0.000,3035,1563,949
$GC,14393,0.71,489.7,134.8,22.0,1265,14399,0.17,2.20,0.00,0.000,4,0.145,0.044,2980,2993,942
$GC,14473,0.92,516.5,123.1,11.1,1280,14500,0.12,2.20,23.10,0.847,6,0.048,0.039,3057,1572,841
$GC,14821,0.92,516.5,61.2,17.3,1344,14828,0.00,2.15,0.00,0.000,4,0.000,0.053,3057,214,834
$GC,14853,0.92,516.5,55.8,15.6,1350,14860,0.00,2.08,0.00,0.000,6,0.000,0.039,3057,1557,834
$GC,15180,1.14,577.2,21.4,10.0,1411,15238,0.15,2.15,50.97,0.764,4,0.060,0.051,3127,205,591
$GC,15274,1.14,577.2,6.8,17.0,1427,15280,0.00,2.12,0.00,0.000,6,0.000,0.036,3127,1567,588
$STATE,15299,end climb,SURFACE_DEPTH_REACHED
$STATE,15299,begin surface coast
$FINISH,-0.1,1.021553
$STATE,15316,end surface coast,CONTROL_FINISHED_OK
$STATE,15316,begin surface
$SM_CCo,15390,0.00,0.000,0,0,586,579.15
$SM_GC,0.62,7.90,0.00,0.00,0.035,0.000,0.000,112,1455,586,-8.14,-0.45,579.15
$IRIDIUM_FIX,2503.20,12248.55,050998,151543
$TT8_MAMPS,0.049855
$HUMID,1580
$INTERNAL_PRESSURE,8.90906
$TCM_TEMP,25.30
$XPDR_PINGS,20
$24V_AH,23.0,33.805
$10V_AH,10.6,20.500
$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,24.025,122.525,730.500,0.000,0.000,61.703,67.462,267.781,13.000,0.000,0.000,15.938,0.000,11134.127,872.976,3299.751,627.082,0.000,2121.165,0.000,2780.171,0.000,53.948,0.000
$DEVICE_MAMPS,204.022,95.108,1493.349,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,972.296,975.928,1636.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81926,1435
$CAP_FILE_SIZE,161038,0
$CFSIZE,260165632,246149120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
$CURRENT,0.242, 13.7,1
$GPS,110609,195907,2513.645,12247.056,35,1.4,35,-3.6