version: 66.04
glider: 164
mission: 3
dive: 167
start: 6 12 109 21 40 8
data:
$ID,164
$MISSION,3
$DIVE,167
$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,-36467.879
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,213325,2515.386,12251.638,40,1.1,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.3
$GPS2,214002,2515.642,12251.736,8,1.4,8,-3.7
$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,195.4,41762,-16.4,-12.000
$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,-1.08,-243.4,0.0,0.0,0,70,0.00,0.00,-55.70,0.000,2,0.000,0.000,113,1457,2845
$GC,72,-1.08,-243.4,3.5,-8.8,9,104,8.35,2.00,-20.85,0.000,4,0.200,0.067,2385,211,3943
$GC,237,-0.72,-243.4,51.4,-27.1,39,244,0.38,1.92,0.00,0.000,6,0.122,0.034,2508,1478,3946
$GC,564,-0.68,-243.4,100.1,-13.5,100,570,0.00,2.10,0.00,0.000,4,0.000,0.040,2508,2870,3948
$GC,617,-0.68,-243.4,107.0,-12.5,110,625,0.00,2.08,0.00,0.000,6,0.000,0.032,2508,1495,3949
$GC,945,-0.73,-243.4,144.8,-10.5,171,951,0.00,2.10,0.00,0.000,4,0.000,0.040,2508,2876,3951
$GC,1019,-0.84,-243.4,153.0,-11.9,185,1026,0.08,2.08,0.00,0.000,6,0.054,0.031,2448,1491,3951
$GC,1346,-0.74,-243.4,208.4,-17.8,246,1353,0.20,0.00,0.00,0.000,6,0.125,0.000,2509,1491,3952
$GC,1673,-0.86,-243.4,243.7,-8.8,307,1679,0.12,2.08,0.00,0.000,4,0.067,0.040,2447,2886,3952
$GC,1737,-0.86,-243.4,251.0,-11.1,319,1743,0.00,2.10,0.00,0.000,6,0.000,0.033,2447,1477,3952
$GC,2062,-0.81,-243.4,291.9,-13.5,380,2068,0.12,0.00,0.00,0.000,6,0.133,0.000,2482,1477,3952
$GC,2385,-0.88,-243.4,323.3,-9.7,419,2389,0.00,2.12,0.00,0.000,4,0.000,0.041,2482,2875,3951
$GC,2411,-1.00,-243.4,325.8,-9.5,421,2418,0.12,2.10,0.00,0.000,6,0.046,0.033,2405,1472,3951
$GC,2727,-0.87,-243.4,371.3,-15.0,452,2731,0.20,2.12,0.00,0.000,4,0.129,0.041,2464,2873,3950
$GC,2774,-0.97,-243.4,377.4,-12.0,456,2782,0.00,2.10,0.00,0.000,6,0.000,0.033,2465,1473,3950
$GC,3092,-1.02,-243.4,415.6,-12.5,487,3095,0.15,2.10,0.00,0.000,4,0.061,0.041,2392,2882,3948
$GC,3198,-0.92,-243.4,431.9,-15.8,497,3202,0.20,2.10,0.00,0.000,6,0.127,0.035,2452,1464,3947
$GC,3518,-0.92,-243.4,472.0,-12.8,528,3522,0.00,2.15,0.00,0.000,4,0.000,0.043,2452,2872,3945
$GC,3608,-0.99,-243.4,483.0,-12.0,536,3615,0.00,2.05,0.00,0.000,6,0.000,0.035,2452,1512,3945
$GC,3933,-1.03,-243.4,524.8,-12.9,559,3940,0.12,2.08,0.00,0.000,4,0.067,0.044,2392,2884,3942
$GC,3987,-0.94,-243.4,533.1,-15.5,561,3991,0.12,2.08,0.00,0.000,6,0.123,0.036,2435,1512,3941
$GC,4304,-0.94,-243.4,575.2,-13.8,577,4307,0.00,2.08,0.00,0.000,4,0.000,0.045,2435,2881,3939
$GC,4334,-0.98,-243.4,579.3,-12.7,578,4338,0.00,2.08,0.00,0.000,6,0.000,0.037,2435,1517,3939
$GC,4650,-0.98,-243.4,620.6,-13.0,594,4654,0.00,2.08,0.00,0.000,4,0.000,0.046,2435,2868,3937
$GC,4735,-1.03,-243.4,631.3,-12.5,598,4739,0.00,2.05,0.00,0.000,6,0.000,0.038,2435,1522,3936
$GC,5062,-1.03,-243.4,673.4,-12.7,614,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1522,3934
$GC,5367,-1.03,-243.4,711.9,-12.6,629,5371,0.00,2.08,0.00,0.000,4,0.000,0.048,2435,2866,3931
$GC,5415,-1.08,-243.4,717.7,-11.9,631,5419,0.08,2.03,0.00,0.000,6,0.061,0.039,2389,1540,3931
$GC,5736,-0.98,-243.4,766.5,-15.1,647,5737,0.15,0.00,0.00,0.000,6,0.144,0.000,2429,1541,3929
$GC,6041,-0.98,-243.4,806.2,-12.9,662,6045,0.00,2.08,0.00,0.000,4,0.000,0.060,2430,223,3927
$GC,6072,-0.98,-243.4,810.4,-13.5,663,6077,0.00,1.98,0.00,0.000,6,0.000,0.038,2430,1527,3927
$GC,6389,-0.98,-243.4,845.3,-10.5,679,6392,0.00,2.05,0.00,0.000,4,0.000,0.050,2430,2875,3926
$GC,6420,-1.03,-243.4,848.5,-10.0,680,6424,0.00,2.05,0.00,0.000,6,0.000,0.041,2429,1541,3926
$GC,6735,-1.03,-243.4,879.7,-9.4,696,6739,0.00,2.08,0.00,0.000,4,0.000,0.049,2430,2873,3924
$GC,6767,-1.09,-243.4,882.4,-8.3,697,6771,0.08,2.05,0.00,0.000,6,0.064,0.040,2386,1542,3923
$GC,7083,-1.00,-243.4,918.1,-12.1,713,7085,0.12,0.00,0.00,0.000,6,0.153,0.000,2419,1542,3922
$GC,7388,-1.00,-243.4,948.4,-10.0,728,7392,0.00,2.08,0.00,0.000,4,0.000,0.050,2419,2869,3920
$GC,7431,-1.03,-243.4,952.5,-9.1,730,7434,0.00,2.03,0.00,0.000,6,0.000,0.041,2419,1554,3920
$GC,7757,-1.03,-243.4,987.5,-10.7,746,7761,0.00,2.08,0.00,0.000,4,0.000,0.051,2419,2875,3918
$STATE,7781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7781,begin apogee
$GC,7787,-0.24,0.0,990.3,11.4,747,7996,0.70,0.00,205.88,1.485,6,0.114,0.000,2657,1574,2947
$STATE,7996,end apogee,CONTROL_FINISHED_OK
$STATE,7996,begin climb
$GC,7998,1.08,243.4,1000.4,0.0,757,8221,1.27,0.00,217.75,1.437,6,0.067,0.000,3089,1574,1954
$GC,8512,0.57,243.4,904.7,24.5,782,8514,0.57,0.00,0.00,0.000,6,0.184,0.000,2933,1573,1945
$GC,8817,0.49,246.0,864.5,11.9,797,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,1574,1944
$GC,9122,0.42,254.0,827.9,11.7,812,9137,0.17,2.17,9.00,1.168,4,0.156,0.058,2882,225,1910
$GC,9175,0.66,354.1,823.1,8.7,814,9274,0.17,2.10,90.85,1.354,6,0.051,0.041,2960,1573,1502
$GC,9575,0.51,354.1,761.9,15.4,834,9579,0.20,2.22,0.00,0.000,4,0.154,0.049,2907,2979,1491
$GC,9596,0.44,354.1,758.9,14.5,835,9600,0.00,2.22,0.00,0.000,6,0.000,0.043,2906,1570,1490
$GC,9923,0.59,418.4,725.5,9.9,851,9996,0.00,0.00,61.88,1.230,6,0.000,0.000,2906,1571,1241
$GC,10288,0.75,448.1,686.2,11.0,869,10333,0.22,2.25,28.90,1.170,4,0.061,0.058,2999,217,1118
$GC,10347,0.51,448.1,675.1,21.3,871,10354,0.28,2.17,0.00,0.000,6,0.158,0.042,2917,1577,1116
$GC,10658,0.63,477.9,635.3,11.0,887,10699,0.00,0.00,29.75,1.157,6,0.000,0.000,2917,1577,997
$GC,11002,0.73,477.9,594.3,12.1,904,11007,0.17,2.22,0.00,0.000,4,0.070,0.050,2991,2986,990
$GC,11034,0.63,477.9,588.9,18.5,905,11038,0.12,2.20,0.00,0.000,6,0.162,0.044,2955,1589,990
$GC,11350,0.56,477.9,528.8,18.8,921,11354,0.00,2.20,0.00,0.000,4,0.000,0.058,2955,210,989
$GC,11376,0.51,477.9,523.9,19.6,922,11380,0.12,2.15,0.00,0.000,6,0.140,0.044,2914,1587,989
$GC,11690,0.71,477.9,485.8,12.0,943,11694,0.17,2.17,0.00,0.000,4,0.062,0.056,2998,200,987
$GC,11715,0.71,477.9,481.6,15.8,945,11723,0.08,2.15,0.00,0.000,6,0.161,0.044,2975,1580,987
$GC,12031,0.64,477.9,417.9,19.2,976,12035,0.00,2.20,0.00,0.000,4,0.000,0.048,2975,2990,987
$GC,12095,0.60,477.9,405.7,18.2,982,12100,0.10,2.17,0.00,0.000,6,0.155,0.043,2941,1591,987
$GC,12417,0.75,503.0,362.8,11.2,1013,12451,0.12,2.20,23.90,0.975,4,0.071,0.057,3000,207,894
$GC,12483,0.67,503.0,351.9,19.9,1019,12487,0.15,2.15,0.00,0.000,6,0.153,0.043,2962,1595,893
$GC,12798,0.74,503.0,308.3,12.7,1049,12802,0.00,2.22,0.00,0.000,4,0.000,0.057,2962,209,889
$GC,12840,0.85,503.0,302.4,14.1,1053,12844,0.12,2.15,0.00,0.000,6,0.053,0.044,3029,1582,889
$GC,13166,0.70,503.0,231.1,22.1,1112,13172,0.22,2.17,0.00,0.000,4,0.145,0.046,2965,2989,889
$GC,13225,0.82,503.0,221.3,13.1,1123,13231,0.08,2.17,0.00,0.000,6,0.061,0.041,3024,1585,888
$GC,13551,0.78,503.0,164.1,15.0,1184,13557,0.00,2.17,0.00,0.000,4,0.000,0.045,3024,2986,888
$GC,13567,0.78,503.0,161.3,15.3,1187,13573,0.08,2.17,0.00,0.000,6,0.153,0.042,2999,1581,888
$GC,13893,1.00,503.0,120.9,12.4,1248,13900,0.20,2.15,0.00,0.000,4,0.056,0.054,3095,209,887
$GC,13936,0.90,503.0,113.0,21.0,1256,13942,0.17,2.12,0.00,0.000,6,0.141,0.039,3037,1596,887
$GC,14264,1.09,546.2,67.3,10.6,1317,14309,0.15,2.17,36.70,0.798,4,0.061,0.042,3112,2982,718
$GC,14340,1.09,546.2,55.6,16.7,1330,14347,0.00,2.17,0.00,0.000,6,0.000,0.039,3112,1590,716
$GC,14667,1.09,546.2,7.4,13.8,1391,14673,0.00,2.15,0.00,0.000,4,0.000,0.050,3112,216,714
$STATE,14697,end climb,SURFACE_DEPTH_REACHED
$STATE,14697,begin surface coast
$FINISH,0.2,1.021442
$STATE,14719,end surface coast,CONTROL_FINISHED_OK
$STATE,14719,begin surface
$SM_CCo,14795,0.00,0.000,0,0,713,548.00
$SM_GC,0.73,7.68,0.00,0.00,0.029,0.000,0.000,112,1480,713,-8.14,0.25,548.00
$IRIDIUM_FIX,2505.59,12248.55,060998,161651
$TT8_MAMPS,0.049088
$HUMID,1537
$INTERNAL_PRESSURE,8.93835
$TCM_TEMP,25.70
$XPDR_PINGS,20
$24V_AH,23.0,35.188
$10V_AH,10.7,21.397
$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,23.950,131.075,704.600,0.000,0.000,30.395,38.724,215.935,13.000,0.000,0.000,10.608,0.000,10561.879,834.871,3241.736,520.658,0.000,2067.342,0.000,2737.996,0.000,53.975,0.000
$DEVICE_MAMPS,200.187,67.496,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,950.789,969.904,1623.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,79074,1401
$CAP_FILE_SIZE,156946,0
$CFSIZE,260165632,245579776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.361, 24.5,1
$GPS,130609,014737,2515.631,12252.147,35,1.0,35,-3.7