version: 66.04
glider: 164
mission: 3
dive: 162
start: 6 11 109 20 5 19
data:
$ID,164
$MISSION,3
$DIVE,162
$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,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,-36399.613
$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,47
$R_STBD_OVSHOOT,38
$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
$GPS1,195907,2513.645,12247.056,35,1.4,35,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-70.2
$GPS2,200514,2513.938,12247.172,14,1.4,14,-3.6
$SPEED_LIMITS,0.173,0.279
$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,184.6,44095,-16.8,-10.000
$D_GRID,1387
$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,-1.01,-170.3,0.0,0.0,0,91,0.00,0.00,-77.25,0.000,2,0.000,0.000,112,1453,2698
$GC,93,-1.01,-170.3,3.1,-7.9,12,126,8.50,2.25,-19.23,0.000,4,0.206,0.052,2402,2893,3644
$GC,365,-0.66,-170.3,68.8,-18.8,62,372,0.35,2.15,0.00,0.000,6,0.127,0.034,2532,1475,3647
$GC,691,-0.66,-170.3,106.3,-11.6,123,698,0.00,2.15,0.00,0.000,4,0.000,0.039,2532,2887,3650
$GC,740,-0.72,-170.3,111.6,-11.3,132,746,0.00,2.15,0.00,0.000,6,0.000,0.033,2531,1459,3650
$GC,1066,-0.75,-170.3,141.9,-6.9,193,1073,0.00,2.15,0.00,0.000,4,0.000,0.040,2531,2881,3651
$GC,1142,-0.87,-170.3,145.5,-5.1,207,1148,0.15,2.12,0.00,0.000,6,0.043,0.032,2448,1462,3652
$GC,1468,-0.73,-170.3,186.6,-14.7,268,1474,0.20,0.00,0.00,0.000,6,0.132,0.000,2507,1461,3651
$GC,1794,-0.76,-170.3,222.1,-9.4,329,1801,0.00,2.12,0.00,0.000,4,0.000,0.040,2507,2887,3651
$GC,1859,-0.86,-170.3,227.3,-7.5,341,1866,0.08,2.12,0.00,0.000,6,0.058,0.033,2453,1466,3651
$GC,2186,-0.76,-170.3,262.2,-12.1,402,2193,0.15,1.90,0.00,0.000,4,0.139,0.045,2496,217,3651
$GC,2224,-0.76,-170.3,266.3,-10.4,409,2231,0.00,1.88,0.00,0.000,6,0.000,0.034,2496,1473,3651
$GC,2555,-0.76,-170.3,301.5,-10.4,470,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2496,1473,3650
$GC,2867,-0.81,-170.3,334.4,-11.0,500,2870,0.00,2.10,0.00,0.000,4,0.000,0.042,2496,2883,3649
$GC,2935,-0.91,-170.3,341.3,-9.5,506,2942,0.10,2.10,0.00,0.000,6,0.052,0.034,2435,1478,3649
$GC,3251,-0.79,-170.3,379.7,-12.2,537,3255,0.20,2.10,0.00,0.000,4,0.133,0.042,2494,2864,3646
$GC,3299,-0.88,-170.3,384.3,-9.0,541,3306,0.00,2.08,0.00,0.000,6,0.000,0.035,2494,1483,3646
$GC,3615,-0.94,-170.3,411.6,-8.7,572,3619,0.15,2.10,0.00,0.000,4,0.064,0.041,2421,2883,3645
$GC,3710,-0.85,-170.3,422.7,-12.0,580,3717,0.12,2.10,0.00,0.000,6,0.128,0.035,2465,1490,3644
$GC,4026,-0.85,-170.3,453.8,-9.1,611,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1490,3643
$GC,4338,-0.85,-170.3,480.7,-8.3,641,4341,0.00,1.95,0.00,0.000,4,0.000,0.050,2465,208,3641
$GC,4368,-0.85,-170.3,483.7,-9.3,644,4372,0.00,1.92,0.00,0.000,6,0.000,0.034,2465,1497,3641
$GC,4698,-0.85,-170.3,513.6,-9.4,669,4701,0.00,2.05,0.00,0.000,4,0.000,0.045,2465,2871,3638
$GC,4729,-0.89,-170.3,516.5,-9.0,670,4733,0.00,2.08,0.00,0.000,6,0.000,0.037,2465,1497,3638
$GC,5044,-0.89,-170.3,547.6,-10.2,686,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1497,3635
$GC,5350,-0.89,-170.3,578.7,-10.2,701,5354,0.00,2.10,0.00,0.000,4,0.000,0.044,2465,2864,3633
$GC,5403,-0.94,-170.3,583.9,-10.4,703,5407,0.00,2.08,0.00,0.000,6,0.000,0.038,2465,1501,3633
$GC,5719,-0.94,-170.3,616.6,-10.7,719,5722,0.00,2.10,0.00,0.000,4,0.000,0.047,2465,2867,3630
$GC,5761,-1.02,-170.3,620.9,-10.0,721,5765,0.10,2.08,0.00,0.000,6,0.052,0.039,2394,1504,3630
$GC,6089,-0.85,-170.3,666.4,-14.2,737,6092,0.20,2.10,0.00,0.000,4,0.145,0.047,2459,2877,3628
$GC,6156,-0.91,-170.3,674.5,-11.1,740,6162,0.00,2.08,0.00,0.000,6,0.000,0.038,2459,1518,3627
$GC,6472,-0.91,-170.3,711.2,-11.9,756,6476,0.00,2.05,0.00,0.000,4,0.000,0.054,2459,209,3626
$GC,6546,-0.91,-170.3,720.8,-12.8,759,6551,0.00,1.95,0.00,0.000,6,0.000,0.037,2459,1498,3625
$GC,6863,-0.91,-170.3,759.4,-12.5,775,6866,0.00,2.08,0.00,0.000,4,0.000,0.049,2459,2870,3623
$GC,6969,-0.98,-170.3,772.7,-12.9,780,6973,0.00,2.08,0.00,0.000,6,0.000,0.041,2459,1515,3622
$GC,7295,-0.98,-170.3,810.5,-11.0,796,7299,0.00,2.05,0.00,0.000,4,0.000,0.055,2459,212,3621
$GC,7360,-0.98,-170.3,817.6,-10.3,799,7364,0.00,1.98,0.00,0.000,6,0.000,0.039,2458,1509,3620
$GC,7686,-0.98,-170.3,846.8,-8.8,815,7689,0.00,2.05,0.00,0.000,4,0.000,0.056,2459,213,3619
$GC,7723,-0.98,-170.3,850.4,-11.0,816,7729,0.00,2.00,0.00,0.000,6,0.000,0.040,2459,1524,3619
$GC,8034,-1.01,-170.3,876.9,-8.0,832,8035,0.12,0.00,0.00,0.000,6,0.077,0.000,2403,1525,3618
$GC,8338,-0.90,-170.3,907.7,-10.5,847,8340,0.17,0.00,0.00,0.000,6,0.144,0.000,2452,1525,3616
$GC,8643,-0.90,-170.3,932.9,-8.8,862,8647,0.00,2.10,0.00,0.000,4,0.000,0.051,2453,2874,3615
$GC,8712,-0.96,-170.3,938.9,-8.3,865,8716,0.00,2.10,0.00,0.000,6,0.000,0.042,2453,1514,3614
$GC,9034,-0.96,-170.3,965.7,-8.3,881,9038,0.00,2.08,0.00,0.000,4,0.000,0.064,2453,209,3613
$GC,9076,-0.96,-170.3,969.7,-9.7,883,9080,0.00,2.00,0.00,0.000,6,0.000,0.041,2453,1515,3613
$STATE,9319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9319,begin apogee
$GC,9323,-0.24,0.0,990.1,8.5,895,9467,0.65,0.00,141.30,1.502,6,0.115,0.000,2665,1582,2947
$STATE,9467,end apogee,CONTROL_FINISHED_OK
$STATE,9467,begin climb
$GC,9469,1.01,170.3,993.2,0.0,902,9629,1.17,2.38,151.82,1.455,4,0.074,0.045,3066,2981,2250
$GC,9654,0.58,170.3,970.8,21.1,911,9658,0.45,2.35,0.00,0.000,6,0.177,0.041,2937,1584,2247
$GC,9982,0.49,170.3,924.6,13.0,927,9985,0.12,2.20,0.00,0.000,4,0.163,0.056,2904,209,2243
$GC,10055,0.49,170.3,915.9,11.2,930,10059,0.00,2.12,0.00,0.000,6,0.000,0.040,2903,1568,2242
$GC,10371,0.50,176.2,884.2,9.8,946,10380,0.00,2.22,4.82,0.960,4,0.000,0.049,2904,2981,2228
$GC,10402,0.50,176.2,880.8,10.9,947,10406,0.00,2.22,0.00,0.000,6,0.000,0.044,2904,1569,2227
$GC,10718,0.50,183.2,848.0,9.7,963,10729,0.00,2.12,7.00,1.128,4,0.000,0.058,2904,210,2202
$GC,10781,0.50,183.2,841.8,10.7,966,10785,0.00,2.10,0.00,0.000,6,0.000,0.041,2904,1558,2202
$GC,11102,0.53,203.3,812.3,9.2,982,11126,0.00,2.22,19.15,1.323,4,0.000,0.058,2904,212,2117
$GC,11194,0.57,203.3,803.6,10.5,986,11198,0.00,2.10,0.00,0.000,6,0.000,0.041,2904,1544,2115
$GC,11515,0.66,241.0,774.9,8.5,1002,11554,0.15,2.20,33.80,1.338,4,0.074,0.058,2968,207,1962
$GC,11569,0.53,241.0,768.6,12.5,1003,11576,0.17,2.12,0.00,0.000,6,0.151,0.042,2916,1531,1959
$GC,11880,0.53,241.0,735.9,10.2,1019,11883,0.00,2.28,0.00,0.000,4,0.000,0.049,2916,2990,1954
$GC,11954,0.53,241.0,727.7,11.2,1022,11958,0.00,2.28,0.00,0.000,6,0.000,0.043,2916,1543,1953
$GC,12270,0.53,241.0,691.8,12.0,1038,12274,0.00,2.12,0.00,0.000,4,0.000,0.058,2916,217,1952
$GC,12312,0.53,241.0,686.6,12.8,1040,12316,0.00,2.08,0.00,0.000,6,0.000,0.044,2916,1545,1952
$GC,12638,0.53,241.0,648.8,11.3,1056,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1545,1951
$GC,12944,0.53,241.0,615.8,10.4,1071,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1545,1951
$GC,13249,0.56,241.0,583.3,11.4,1086,13253,0.00,2.25,0.00,0.000,4,0.000,0.051,2916,2987,1950
$GC,13291,0.56,241.0,578.0,12.7,1088,13295,0.00,2.25,0.00,0.000,6,0.000,0.044,2916,1539,1950
$GC,13618,0.61,241.0,537.9,12.6,1104,13621,0.00,2.10,0.00,0.000,4,0.000,0.059,2916,216,1950
$GC,13639,0.65,241.0,535.3,12.1,1105,13643,0.08,2.05,0.00,0.000,6,0.076,0.045,2959,1537,1950
$GC,13957,0.56,241.0,488.5,15.5,1124,13960,0.12,2.22,0.00,0.000,4,0.159,0.051,2926,2989,1950
$GC,14025,0.56,241.0,479.1,12.0,1130,14033,0.00,2.25,0.00,0.000,6,0.000,0.043,2928,1537,1950
$GC,14342,0.58,250.4,445.5,9.6,1161,14353,0.00,2.15,7.10,0.956,4,0.000,0.059,2929,202,1926
$GC,14432,0.63,254.2,436.4,9.9,1169,14441,0.00,2.05,5.47,0.858,6,0.000,0.044,2929,1518,1909
$GC,14758,0.70,267.7,406.9,9.5,1201,14773,0.12,0.00,13.23,1.042,6,0.081,0.000,2986,1518,1855
$GC,15078,0.58,267.7,359.9,15.6,1232,15083,0.20,2.28,0.00,0.000,4,0.154,0.048,2932,2979,1850
$GC,15126,0.62,267.7,354.0,11.5,1236,15134,0.00,2.28,0.00,0.000,6,0.000,0.044,2932,1523,1849
$GC,15444,0.70,267.7,319.8,10.5,1267,15445,0.12,0.00,0.00,0.000,6,0.079,0.000,2986,1523,1849
$GC,15758,0.59,267.7,275.6,14.4,1313,15764,0.20,2.08,0.00,0.000,4,0.153,0.056,2931,209,1849
$GC,15806,0.67,267.7,270.2,10.0,1322,15814,0.00,2.05,0.00,0.000,6,0.000,0.043,2931,1533,1849
$GC,16134,0.84,313.3,245.0,8.2,1383,16183,0.22,2.17,38.67,0.968,4,0.054,0.054,3038,206,1667
$GC,16263,0.63,313.3,222.3,19.6,1406,16270,0.32,2.03,0.00,0.000,6,0.150,0.039,2946,1525,1662
$GC,16590,0.73,315.3,185.0,9.9,1467,16596,0.00,2.28,0.00,0.000,4,0.000,0.046,2946,2986,1659
$GC,16617,0.84,315.3,182.1,10.9,1472,16623,0.15,2.30,0.00,0.000,6,0.050,0.041,3024,1513,1659
$GC,16943,0.70,315.3,136.1,12.0,1533,16949,0.20,2.25,0.00,0.000,4,0.147,0.044,2969,2989,1658
$GC,16981,0.81,344.5,132.3,8.8,1540,17018,0.08,2.28,28.08,0.815,6,0.065,0.041,3021,1520,1542
$GC,17339,0.86,344.5,92.7,11.6,1606,17346,0.00,2.28,0.00,0.000,4,0.000,0.044,3021,2982,1535
$GC,17361,0.91,344.5,89.9,12.5,1610,17368,0.00,2.25,0.00,0.000,6,0.000,0.041,3024,1530,1534
$GC,17689,0.96,344.5,54.3,11.5,1671,17694,0.00,2.08,0.00,0.000,4,0.000,0.053,3024,213,1534
$GC,17758,1.13,397.5,48.4,7.9,1684,17809,0.17,2.00,43.70,0.783,6,0.050,0.038,3116,1517,1326
$STATE,18095,end climb,SURFACE_DEPTH_REACHED
$STATE,18095,begin surface coast
$FINISH,-0.0,1.021581
$STATE,18116,end surface coast,CONTROL_FINISHED_OK
$STATE,18116,begin surface
$SM_CCo,18130,13.77,0.691,0,0,1254,415.05
$SM_GC,1.74,0.00,0.00,13.77,0.000,0.000,0.691,112,1465,1254,-8.23,-0.17,415.05
$IRIDIUM_FIX,2507.97,12246.55,050998,151535
$TT8_MAMPS,0.050622
$HUMID,1566
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,25.40
$XPDR_PINGS,26
$24V_AH,23.0,34.004
$10V_AH,10.6,20.657
$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,23.100,161.750,494.150,13.775,0.000,30.733,32.519,194.946,14.500,0.000,0.000,15.836,0.000,13209.064,691.292,4052.994,531.568,0.000,2189.519,0.000,3442.244,0.000,53.964,0.000
$DEVICE_MAMPS,206.323,109.681,1501.786,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1190.791,1202.620,2012.240,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100957,1750
$CAP_FILE_SIZE,188646,0
$CFSIZE,260165632,246013952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.265, 19.2,1
$GPS,120609,010837,2513.768,12247.793,33,1.7,33,-3.6