version: 66.04
glider: 164
mission: 3
dive: 166
start: 6 12 109 16 30 31
data:
$ID,164
$MISSION,3
$DIVE,166
$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,-36456.641
$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,29
$R_STBD_OVSHOOT,39
$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
$GPS1,162407,2515.078,12250.986,28,1.2,28,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-69.1
$GPS2,163026,2515.326,12251.010,15,1.4,15,-3.7
$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,193.5,41966,-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,11,begin dive
$GC,13,-1.01,-170.3,0.0,0.0,0,86,0.00,0.00,-70.65,0.000,2,0.000,0.000,105,1483,2731
$GC,88,-1.01,-170.3,3.1,-8.1,11,120,8.55,1.98,-17.98,0.000,4,0.206,0.058,2416,203,3643
$GC,343,-0.62,-170.3,67.6,-22.8,58,351,0.35,1.92,0.00,0.000,6,0.126,0.032,2533,1480,3646
$GC,671,-0.62,-170.3,109.7,-10.7,119,677,0.00,2.10,0.00,0.000,4,0.000,0.042,2532,2868,3648
$GC,714,-0.62,-170.3,113.8,-9.2,127,720,0.00,2.10,0.00,0.000,6,0.000,0.033,2532,1473,3648
$GC,1040,-0.62,-170.3,145.1,-9.5,188,1046,0.00,2.12,0.00,0.000,4,0.000,0.039,2531,2874,3649
$GC,1088,-0.69,-170.3,149.5,-9.0,197,1094,0.00,2.08,0.00,0.000,6,0.000,0.032,2531,1490,3649
$GC,1415,-0.76,-170.3,179.6,-7.8,258,1422,0.00,2.08,0.00,0.000,4,0.000,0.039,2531,2871,3650
$GC,1453,-0.90,-170.3,182.3,-6.9,265,1459,0.17,2.05,0.00,0.000,6,0.040,0.032,2437,1498,3650
$GC,1780,-0.73,-170.3,225.1,-13.5,326,1786,0.22,0.00,0.00,0.000,6,0.130,0.000,2505,1497,3650
$GC,2106,-0.73,-170.3,256.8,-9.8,387,2112,0.00,2.08,0.00,0.000,4,0.000,0.039,2505,2874,3650
$GC,2132,-0.80,-170.3,259.3,-9.8,392,2139,0.00,2.08,0.00,0.000,6,0.000,0.032,2505,1480,3650
$GC,2459,-0.85,-170.3,289.9,-9.4,453,2465,0.12,2.08,0.00,0.000,4,0.070,0.040,2445,2876,3650
$GC,2527,-0.78,-170.3,298.2,-12.7,466,2536,0.12,2.05,0.00,0.000,6,0.123,0.032,2488,1501,3650
$GC,2845,-0.78,-170.3,330.7,-9.6,498,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1502,3649
$GC,3156,-0.78,-170.3,360.7,-9.6,528,3159,0.00,2.05,0.00,0.000,4,0.000,0.041,2488,2876,3647
$GC,3230,-0.85,-170.3,367.7,-9.4,535,3234,0.00,2.03,0.00,0.000,6,0.000,0.033,2488,1520,3647
$GC,3552,-0.90,-170.3,400.4,-10.7,566,3555,0.12,2.03,0.00,0.000,4,0.070,0.041,2430,2882,3645
$GC,3598,-0.84,-170.3,406.2,-12.1,570,3607,0.10,2.05,0.00,0.000,6,0.127,0.033,2465,1513,3645
$GC,3914,-0.84,-170.3,436.4,-8.3,601,3918,0.00,2.00,0.00,0.000,4,0.000,0.047,2465,210,3643
$GC,3951,-0.79,-170.3,439.9,-9.5,604,3958,0.00,1.92,0.00,0.000,6,0.000,0.033,2465,1501,3643
$GC,4268,-0.79,-170.3,468.7,-9.4,635,4271,0.00,2.00,0.00,0.000,4,0.000,0.048,2465,182,3642
$GC,4314,-0.74,-170.3,474.0,-11.9,639,4321,0.10,1.98,0.00,0.000,6,0.127,0.033,2501,1506,3641
$GC,4630,-0.85,-170.3,499.6,-7.8,670,4634,0.00,2.08,0.00,0.000,4,0.000,0.043,2501,2872,3639
$GC,4716,-1.00,-170.3,506.0,-7.2,675,4720,0.20,2.05,0.00,0.000,6,0.046,0.036,2404,1514,3638
$GC,5042,-0.85,-170.3,546.9,-12.9,691,5044,0.22,0.00,0.00,0.000,6,0.133,0.000,2471,1512,3636
$GC,5348,-0.85,-170.3,575.3,-9.3,706,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1512,3634
$GC,5653,-0.85,-170.3,604.2,-9.1,721,5654,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1513,3632
$GC,5958,-0.90,-170.3,631.5,-8.9,736,5961,0.00,2.08,0.00,0.000,4,0.000,0.047,2471,2859,3630
$GC,6022,-0.98,-170.3,636.8,-7.9,739,6025,0.10,2.05,0.00,0.000,6,0.058,0.038,2415,1512,3628
$GC,6350,-0.88,-170.3,676.7,-12.5,755,6353,0.15,2.08,0.00,0.000,4,0.143,0.046,2456,2874,3627
$GC,6402,-0.93,-170.3,682.7,-10.9,757,6406,0.00,2.08,0.00,0.000,6,0.000,0.038,2456,1517,3626
$GC,6718,-0.93,-170.3,715.4,-10.1,773,6722,0.00,2.08,0.00,0.000,4,0.000,0.047,2456,2861,3624
$GC,6761,-0.99,-170.3,719.4,-9.6,775,6764,0.00,2.03,0.00,0.000,6,0.000,0.040,2456,1518,3623
$GC,7088,-0.99,-170.3,751.5,-9.6,791,7091,0.00,2.05,0.00,0.000,4,0.000,0.048,2456,2864,3622
$GC,7193,-1.05,-170.3,761.1,-8.4,796,7197,0.12,2.03,0.00,0.000,6,0.054,0.040,2391,1543,3621
$GC,7520,-0.90,-170.3,799.3,-12.0,812,7524,0.22,2.08,0.00,0.000,4,0.141,0.054,2457,216,3620
$GC,7605,-0.90,-170.3,807.9,-10.3,816,7609,0.00,2.00,0.00,0.000,6,0.000,0.039,2457,1528,3620
$GC,7931,-0.93,-170.3,836.2,-9.0,832,7935,0.00,2.08,0.00,0.000,4,0.000,0.055,2457,217,3618
$GC,7968,-0.93,-170.3,839.8,-9.8,833,7974,0.00,1.98,0.00,0.000,6,0.000,0.040,2457,1512,3618
$GC,8279,-0.93,-170.3,870.3,-10.1,849,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1513,3616
$GC,8584,-0.97,-170.3,899.4,-8.9,864,8588,0.00,2.10,0.00,0.000,4,0.000,0.050,2457,2871,3614
$GC,8610,-1.03,-170.3,901.8,-9.8,865,8614,0.10,2.05,0.00,0.000,6,0.058,0.041,2402,1541,3615
$GC,8932,-0.93,-170.3,936.0,-9.8,881,8935,0.15,2.05,0.00,0.000,4,0.148,0.057,2443,216,3613
$GC,8968,-0.89,-170.3,939.6,-9.4,882,8976,0.00,2.00,0.00,0.000,6,0.000,0.041,2443,1527,3613
$GC,9279,-0.89,-170.3,961.1,-6.7,898,9279,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1528,3612
$GC,9584,-0.89,-170.3,981.8,-7.1,913,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,1528,3611
$STATE,9704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9704,begin apogee
$GC,9708,-0.24,0.0,990.7,7.5,919,9851,0.68,0.00,140.98,1.501,6,0.117,0.000,2662,1528,2947
$STATE,9852,end apogee,CONTROL_FINISHED_OK
$STATE,9852,begin climb
$GC,9854,1.01,170.3,992.6,0.0,926,10013,1.17,2.45,151.38,1.453,4,0.073,0.045,3065,2981,2251
$GC,10086,0.55,170.3,960.2,22.0,937,10091,0.50,2.30,0.00,0.000,6,0.180,0.041,2927,1586,2246
$GC,10408,0.48,170.3,919.0,12.1,953,10411,0.00,2.22,0.00,0.000,4,0.000,0.061,2927,213,2243
$GC,10455,0.40,170.3,913.1,12.0,955,10459,0.15,2.12,0.00,0.000,6,0.147,0.040,2880,1573,2243
$GC,10777,0.53,217.8,885.1,8.1,971,10822,0.12,2.28,40.80,1.388,4,0.081,0.059,2932,220,2056
$GC,10849,0.47,217.8,876.9,13.1,974,10854,0.10,2.15,0.00,0.000,6,0.145,0.041,2902,1564,2053
$GC,11165,0.50,240.9,846.4,9.1,990,11190,0.00,2.28,20.40,1.325,4,0.000,0.058,2902,202,1964
$GC,11210,0.56,256.1,842.2,9.4,992,11232,0.00,2.17,15.10,1.272,6,0.000,0.041,2902,1571,1902
$GC,11535,0.56,256.1,808.7,10.5,1008,11539,0.00,2.20,0.00,0.000,4,0.000,0.058,2902,212,1895
$GC,11567,0.61,256.1,805.5,10.3,1009,11571,0.08,2.10,0.00,0.000,6,0.075,0.041,2945,1559,1895
$GC,11883,0.50,256.1,762.8,13.9,1025,11887,0.15,2.22,0.00,0.000,4,0.159,0.049,2904,2986,1893
$GC,11925,0.50,256.1,757.4,11.9,1027,11929,0.00,2.22,0.00,0.000,6,0.000,0.044,2905,1540,1892
$GC,12252,0.56,256.1,724.0,10.1,1043,12255,0.00,2.25,0.00,0.000,4,0.000,0.048,2905,2992,1892
$GC,12304,0.61,256.1,718.0,11.2,1045,12309,0.08,2.20,0.00,0.000,6,0.070,0.043,2949,1582,1892
$GC,12621,0.52,256.1,673.0,14.4,1061,12624,0.15,2.17,0.00,0.000,4,0.160,0.059,2908,213,1891
$GC,12657,0.57,256.1,668.3,10.9,1062,12666,0.00,2.12,0.00,0.000,6,0.000,0.044,2908,1579,1891
$GC,12967,0.63,256.1,634.3,11.2,1078,12968,0.12,0.00,0.00,0.000,6,0.072,0.000,2962,1579,1891
$GC,13273,0.52,256.1,585.3,15.7,1093,13277,0.17,2.15,0.00,0.000,4,0.156,0.049,2914,2987,1890
$GC,13298,0.52,256.1,581.5,14.6,1094,13303,0.00,2.20,0.00,0.000,6,0.000,0.044,2916,1572,1889
$GC,13620,0.56,256.1,543.8,11.3,1110,13624,0.00,2.15,0.00,0.000,4,0.000,0.058,2915,218,1889
$GC,13689,0.62,256.1,535.8,10.9,1113,13693,0.00,2.10,0.00,0.000,6,0.000,0.044,2916,1570,1889
$GC,14000,0.68,256.1,498.7,11.7,1129,14002,0.12,0.00,0.00,0.000,6,0.079,0.000,2974,1570,1890
$GC,14312,0.56,256.1,457.1,12.6,1159,14313,0.17,0.00,0.00,0.000,6,0.157,0.000,2926,1569,1889
$GC,14623,0.59,284.3,430.6,8.9,1189,14659,0.00,2.25,25.40,1.038,4,0.000,0.049,2926,2985,1787
$GC,14692,0.70,332.7,424.5,8.1,1195,14743,0.08,2.22,43.50,1.104,6,0.068,0.043,2974,1574,1588
$GC,15052,0.61,332.7,381.5,13.4,1230,15056,0.12,2.20,0.00,0.000,4,0.170,0.057,2945,209,1579
$GC,15137,0.65,332.7,370.7,12.5,1238,15141,0.00,2.15,0.00,0.000,6,0.000,0.043,2945,1575,1577
$GC,15458,0.73,332.7,324.1,14.6,1269,15459,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,1575,1576
$GC,15772,0.81,332.7,283.9,10.3,1312,15779,0.17,2.17,0.00,0.000,4,0.062,0.056,3024,212,1575
$GC,15805,0.68,332.7,279.3,15.7,1318,15813,0.17,2.12,0.00,0.000,6,0.150,0.043,2970,1583,1575
$GC,16133,0.68,332.7,242.1,11.1,1379,16138,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1583,1574
$GC,16458,0.68,332.7,200.5,12.6,1440,16464,0.00,2.17,0.00,0.000,4,0.000,0.054,2970,213,1574
$GC,16538,0.77,352.8,192.6,9.2,1455,16558,0.00,2.12,15.90,0.887,6,0.000,0.041,2970,1590,1507
$GC,16879,0.93,404.6,162.4,8.0,1518,16929,0.17,2.17,44.95,0.890,4,0.058,0.044,3056,2988,1295
$GC,16978,0.79,404.6,145.5,17.4,1535,16984,0.20,2.15,0.00,0.000,6,0.158,0.040,3002,1609,1292
$GC,17304,0.91,404.6,99.1,11.0,1596,17310,0.10,2.20,0.00,0.000,4,0.074,0.052,3052,216,1287
$GC,17357,0.87,404.6,92.6,12.3,1606,17365,0.00,2.15,0.00,0.000,6,0.000,0.038,3052,1607,1286
$GC,17685,0.96,404.6,51.0,10.6,1667,17691,0.00,2.12,0.00,0.000,4,0.000,0.043,3052,2986,1286
$GC,17776,1.08,404.6,41.4,10.3,1684,17782,0.08,2.10,0.00,0.000,6,0.061,0.037,3107,1614,1286
$STATE,18063,end climb,SURFACE_DEPTH_REACHED
$STATE,18063,begin surface coast
$FINISH,0.0,1.021632
$STATE,18090,end surface coast,CONTROL_FINISHED_OK
$STATE,18091,begin surface
$SM_CCo,18105,7.65,0.627,0,0,1254,415.05
$SM_GC,2.21,0.00,0.00,7.65,0.000,0.000,0.627,112,1460,1254,-8.22,-0.31,415.05
$IRIDIUM_FIX,2505.59,12251.84,060998,111145
$TT8_MAMPS,0.049855
$HUMID,1575
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,25.60
$XPDR_PINGS,22
$24V_AH,23.0,34.904
$10V_AH,10.6,21.266
$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,23.750,152.250,498.400,7.650,0.000,30.805,32.340,199.893,13.500,0.000,0.000,17.595,0.000,13237.241,677.892,4008.605,537.597,0.000,2154.512,0.000,3395.411,0.000,53.942,0.000
$DEVICE_MAMPS,205.556,60.593,1501.019,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1184.967,1196.229,2000.291,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101061,1743
$CAP_FILE_SIZE,189044,0
$CFSIZE,260165632,245620736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.296, 24.9,1
$GPS,120609,213325,2515.386,12251.638,40,1.1,40,-3.7