version: 66.04
glider: 164
mission: 3
dive: 164
start: 6 12 109 6 7 55
data:
$ID,164
$MISSION,3
$DIVE,164
$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,-36425.965
$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,40
$R_STBD_OVSHOOT,40
$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
$GPS1,060137,2513.594,12248.777,28,0.9,28,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-69.6
$GPS2,060750,2513.772,12249.005,9,1.7,9,-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,187.4,41785,-16.8,-10.000
$D_GRID,1413
$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,-170.3,0.0,0.0,0,90,0.00,0.00,-75.43,0.000,2,0.000,0.000,108,1451,2837
$GC,92,-1.01,-170.3,3.6,-9.4,12,123,8.52,2.22,-15.23,0.000,4,0.205,0.054,2412,2885,3646
$GC,315,-0.70,-170.3,58.9,-22.0,53,321,0.30,2.15,0.00,0.000,6,0.126,0.033,2512,1473,3649
$GC,641,-0.59,-170.3,116.1,-16.2,114,649,0.15,2.15,0.00,0.000,4,0.130,0.040,2557,2883,3650
$GC,685,-0.67,-170.3,121.3,-11.0,122,693,0.00,2.12,0.00,0.000,6,0.000,0.033,2557,1474,3651
$GC,1013,-0.79,-170.3,148.8,-8.7,183,1019,0.20,2.10,0.00,0.000,4,0.051,0.039,2458,2882,3652
$GC,1061,-0.68,-170.3,154.5,-13.0,192,1068,0.17,2.12,0.00,0.000,6,0.115,0.032,2520,1465,3653
$GC,1388,-0.73,-170.3,185.9,-9.9,253,1394,0.00,2.15,0.00,0.000,4,0.000,0.039,2518,2885,3654
$GC,1409,-0.79,-170.3,188.0,-9.8,257,1416,0.00,2.10,0.00,0.000,6,0.000,0.033,2518,1481,3654
$GC,1735,-0.84,-170.3,220.9,-10.8,318,1742,0.12,0.00,0.00,0.000,6,0.068,0.000,2454,1481,3654
$GC,2062,-0.74,-170.3,265.9,-12.3,379,2068,0.17,2.10,0.00,0.000,4,0.130,0.041,2504,2872,3654
$GC,2104,-0.84,-170.3,270.3,-9.8,387,2110,0.00,2.10,0.00,0.000,6,0.000,0.033,2504,1468,3654
$GC,2435,-0.89,-170.3,302.6,-10.2,447,2439,0.12,2.12,0.00,0.000,4,0.067,0.040,2442,2878,3653
$GC,2509,-0.83,-170.3,311.3,-11.8,454,2513,0.08,2.12,0.00,0.000,6,0.129,0.033,2469,1458,3653
$GC,2830,-0.83,-170.3,348.5,-11.3,485,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1457,3652
$GC,3142,-0.83,-170.3,383.5,-11.6,515,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2469,1458,3651
$GC,3451,-0.83,-170.3,419.6,-11.4,545,3455,0.00,2.15,0.00,0.000,4,0.000,0.042,2469,2871,3649
$GC,3494,-0.88,-170.3,424.3,-11.0,549,3498,0.00,2.10,0.00,0.000,6,0.000,0.035,2470,1475,3649
$GC,3814,-0.88,-170.3,457.6,-8.5,580,3818,0.00,2.12,0.00,0.000,4,0.000,0.042,2470,2872,3646
$GC,3830,-0.92,-170.3,458.9,-8.0,581,3836,0.00,2.10,0.00,0.000,6,0.000,0.035,2469,1477,3646
$GC,4146,-0.92,-170.3,488.8,-8.6,612,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1476,3644
$GC,4453,-0.92,-170.3,513.1,-8.0,634,4457,0.00,2.15,0.00,0.000,4,0.000,0.043,2470,2882,3642
$GC,4549,-0.99,-170.3,521.3,-8.9,638,4553,0.10,2.10,0.00,0.000,6,0.054,0.036,2408,1493,3642
$GC,4866,-0.85,-170.3,555.7,-10.7,654,4867,0.20,0.00,0.00,0.000,6,0.137,0.000,2467,1493,3640
$GC,5170,-0.85,-170.3,577.8,-7.1,669,5174,0.00,2.12,0.00,0.000,4,0.000,0.045,2467,2875,3637
$GC,5201,-0.92,-170.3,580.0,-6.4,670,5205,0.00,2.12,0.00,0.000,6,0.000,0.038,2467,1475,3637
$GC,5517,-0.92,-170.3,605.8,-8.7,686,5521,0.00,2.15,0.00,0.000,4,0.000,0.045,2467,2874,3635
$GC,5539,-0.97,-170.3,607.6,-8.7,687,5542,0.08,2.12,0.00,0.000,6,0.061,0.038,2405,1477,3634
$GC,5865,-0.83,-170.3,648.4,-12.6,703,5869,0.22,1.98,0.00,0.000,4,0.134,0.053,2472,209,3632
$GC,5896,-0.83,-170.3,651.8,-10.8,704,5900,0.00,1.92,0.00,0.000,6,0.000,0.035,2472,1485,3632
$GC,6212,-0.88,-170.3,679.2,-8.0,720,6213,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1487,3631
$GC,6518,-0.93,-170.3,703.0,-7.6,735,6519,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1487,3628
$GC,6822,-0.98,-170.3,726.6,-7.7,750,6826,0.12,2.12,0.00,0.000,4,0.074,0.048,2411,2874,3626
$GC,6875,-0.92,-170.3,731.8,-10.2,752,6880,0.10,2.12,0.00,0.000,6,0.137,0.040,2445,1480,3626
$GC,7191,-0.92,-170.3,762.7,-10.0,768,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1481,3625
$GC,7497,-0.92,-170.3,795.4,-11.3,783,7500,0.00,1.98,0.00,0.000,4,0.000,0.057,2445,227,3623
$GC,7517,-0.92,-170.3,797.8,-11.9,784,7521,0.00,1.90,0.00,0.000,6,0.000,0.038,2445,1475,3623
$GC,7844,-0.92,-170.3,831.0,-10.5,800,7847,0.00,2.15,0.00,0.000,4,0.000,0.050,2445,2870,3621
$GC,7913,-0.92,-170.3,837.8,-10.0,803,7917,0.00,2.10,0.00,0.000,6,0.000,0.041,2445,1505,3621
$GC,8234,-0.92,-170.3,868.1,-9.1,819,8238,0.00,2.08,0.00,0.000,4,0.000,0.050,2444,2872,3620
$GC,8345,-0.92,-170.3,877.7,-8.3,824,8349,0.00,2.10,0.00,0.000,6,0.000,0.041,2445,1506,3619
$GC,8667,-0.92,-170.3,904.1,-8.5,840,8670,0.00,2.05,0.00,0.000,4,0.000,0.058,2445,210,3619
$GC,8709,-0.88,-170.3,908.1,-9.8,842,8713,0.00,1.98,0.00,0.000,6,0.000,0.040,2445,1504,3618
$GC,9035,-0.88,-170.3,938.9,-9.7,858,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1505,3617
$GC,9341,-0.88,-170.3,968.6,-9.9,873,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1505,3616
$STATE,9562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9562,begin apogee
$GC,9566,-0.24,0.0,990.7,9.9,884,9711,0.68,0.00,142.38,1.501,6,0.117,0.000,2665,1583,2946
$STATE,9712,end apogee,CONTROL_FINISHED_OK
$STATE,9712,begin climb
$GC,9713,1.01,170.3,995.4,0.0,891,9873,1.20,2.38,151.73,1.457,4,0.071,0.045,3070,2990,2252
$GC,9899,0.56,170.3,976.4,19.5,900,9904,0.52,2.35,0.00,0.000,6,0.176,0.041,2928,1590,2249
$GC,10221,0.48,170.3,939.3,10.7,916,10225,0.00,2.22,0.00,0.000,4,0.000,0.057,2928,216,2245
$GC,10290,0.42,170.3,931.5,11.7,919,10294,0.12,2.12,0.00,0.000,6,0.145,0.041,2887,1573,2245
$GC,10611,0.51,188.5,901.9,9.3,935,10634,0.00,2.20,16.10,1.329,4,0.000,0.058,2888,210,2177
$GC,10687,0.58,188.5,894.8,10.4,938,10690,0.10,2.10,0.00,0.000,6,0.068,0.041,2936,1549,2175
$GC,11002,0.50,188.5,858.6,11.0,954,11006,0.12,2.22,0.00,0.000,4,0.163,0.048,2905,2973,2172
$GC,11044,0.50,188.5,853.3,12.4,956,11048,0.00,2.20,0.00,0.000,6,0.000,0.044,2905,1570,2171
$GC,11370,0.50,188.5,817.4,10.9,972,11375,0.00,2.20,0.00,0.000,4,0.000,0.048,2905,2972,2171
$GC,11402,0.50,188.5,813.6,12.1,973,11406,0.00,2.20,0.00,0.000,6,0.000,0.044,2905,1567,2171
$GC,11718,0.50,188.5,777.6,11.4,989,11722,0.00,2.22,0.00,0.000,4,0.000,0.048,2905,3005,2170
$GC,11755,0.50,188.5,773.4,11.9,990,11762,0.00,2.22,0.00,0.000,6,0.000,0.043,2905,1579,2170
$GC,12065,0.50,188.5,740.8,10.0,1006,12069,0.00,2.17,0.00,0.000,4,0.000,0.059,2905,215,2170
$GC,12161,0.50,188.5,731.3,10.1,1010,12166,0.00,2.10,0.00,0.000,6,0.000,0.044,2905,1566,2170
$GC,12477,0.56,209.4,702.0,9.2,1026,12500,0.00,2.22,17.85,1.272,4,0.000,0.050,2905,2996,2091
$GC,12520,0.56,209.4,697.6,10.1,1028,12524,0.00,2.25,0.00,0.000,6,0.000,0.044,2905,1571,2090
$GC,12847,0.62,216.5,665.7,9.7,1044,12858,0.12,2.22,7.30,1.072,4,0.080,0.058,2959,204,2063
$GC,12926,0.51,216.5,655.3,12.6,1048,12930,0.15,2.12,0.00,0.000,6,0.148,0.043,2912,1557,2062
$GC,13253,0.51,216.5,619.0,11.4,1064,13257,0.00,2.15,0.00,0.000,4,0.000,0.058,2912,220,2060
$GC,13274,0.51,216.5,616.7,11.0,1065,13278,0.00,2.08,0.00,0.000,6,0.000,0.044,2912,1550,2061
$GC,13600,0.56,216.5,580.4,10.4,1081,13604,0.00,2.15,0.00,0.000,4,0.000,0.059,2911,210,2059
$GC,13632,0.62,216.8,577.4,10.0,1082,13635,0.00,2.08,0.00,0.000,6,0.000,0.044,2911,1544,2059
$GC,13947,0.70,230.0,545.3,9.5,1098,13969,0.17,2.30,12.52,1.130,4,0.064,0.050,2987,2990,2008
$GC,14075,0.53,230.0,527.0,15.6,1104,14079,0.28,2.20,0.00,0.000,6,0.165,0.044,2912,1567,2006
$GC,14396,0.68,286.5,499.2,7.8,1120,14451,0.15,2.33,49.83,1.185,4,0.068,0.049,2976,2977,1777
$GC,14468,0.57,286.5,491.1,13.5,1127,14472,0.20,2.25,0.00,0.000,6,0.163,0.044,2928,1568,1774
$GC,14788,0.57,286.5,458.6,10.6,1158,14792,0.00,2.20,0.00,0.000,4,0.000,0.058,2929,207,1767
$GC,14821,0.62,289.1,455.5,9.9,1161,14824,0.00,2.12,0.00,0.000,6,0.000,0.044,2929,1575,1766
$GC,15141,0.67,289.1,421.7,11.3,1192,15145,0.00,2.17,0.00,0.000,4,0.000,0.057,2929,217,1765
$GC,15178,0.75,289.1,417.4,12.1,1195,15186,0.12,2.10,0.00,0.000,6,0.060,0.044,2994,1558,1765
$GC,15493,0.61,289.1,363.6,17.5,1226,15498,0.20,2.15,0.00,0.000,4,0.156,0.057,2942,209,1764
$GC,15541,0.65,289.1,356.7,13.9,1230,15548,0.00,2.10,0.00,0.000,6,0.000,0.043,2942,1557,1764
$GC,15858,0.65,289.1,319.2,11.1,1261,15861,0.00,2.20,0.00,0.000,4,0.000,0.048,2942,2992,1764
$GC,15909,0.65,289.1,313.1,11.4,1266,15914,0.00,2.22,0.00,0.000,6,0.000,0.043,2942,1562,1764
$GC,16232,0.76,306.3,282.9,9.3,1313,16252,0.15,2.28,15.80,0.964,4,0.068,0.047,3012,2992,1696
$GC,16272,0.64,306.3,277.5,14.3,1320,16279,0.17,2.22,0.00,0.000,6,0.152,0.044,2958,1574,1695
$GC,16599,0.69,306.3,239.3,13.1,1381,16604,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,1574,1692
$GC,16924,0.75,306.3,203.9,12.4,1442,16931,0.00,2.15,0.00,0.000,4,0.000,0.054,2958,211,1692
$GC,17000,0.83,306.3,195.2,12.1,1456,17006,0.12,2.10,0.00,0.000,6,0.053,0.040,3025,1580,1692
$GC,17327,0.72,306.3,146.1,12.5,1517,17333,0.17,2.15,0.00,0.000,4,0.145,0.043,2971,2997,1692
$GC,17417,0.85,351.0,138.1,8.2,1534,17462,0.10,2.12,37.85,0.877,6,0.057,0.038,3039,1613,1514
$GC,17782,0.85,351.0,88.6,13.9,1601,17789,0.00,2.22,0.00,0.000,4,0.000,0.052,3042,212,1506
$GC,17836,0.85,351.0,81.3,13.2,1611,17843,0.00,2.15,0.00,0.000,6,0.000,0.038,3042,1604,1506
$GC,18164,0.92,373.3,45.8,9.1,1672,18189,0.00,2.12,18.67,0.757,4,0.000,0.041,3042,2992,1423
$GC,18247,0.99,373.3,36.3,12.4,1687,18255,0.00,2.15,0.00,0.000,6,0.000,0.038,3042,1606,1421
$GC,18575,1.24,432.1,11.8,7.7,1748,18632,0.28,2.25,49.45,0.738,4,0.046,0.050,3174,210,1183
$STATE,18634,end climb,SURFACE_DEPTH_REACHED
$STATE,18635,begin surface coast
$FINISH,0.0,1.021418
$STATE,18651,end surface coast,CONTROL_FINISHED_OK
$STATE,18651,begin surface
$SM_CCo,18727,0.00,0.000,0,0,1177,434.18
$SM_GC,0.76,8.10,0.00,0.00,0.035,0.000,0.000,105,1472,1177,-8.16,0.03,434.18
$IRIDIUM_FIX,2505.59,12246.55,060998,010124
$TT8_MAMPS,0.049855
$HUMID,1499
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,25.90
$XPDR_PINGS,19
$24V_AH,23.0,34.456
$10V_AH,10.7,20.959
$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,23.925,171.875,519.475,0.000,0.000,23.686,35.304,204.394,12.750,0.000,0.000,11.571,0.000,13743.177,704.471,4063.930,556.197,0.000,2212.574,0.000,3454.581,0.000,53.945,0.000
$DEVICE_MAMPS,204.789,86.671,1501.019,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1197.206,1209.134,2017.865,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100993,1761
$CAP_FILE_SIZE,193229,0
$CFSIZE,260165632,245813248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.331, 32.1,1
$GPS,120609,112101,2513.910,12250.450,40,1.5,40,-3.7