version: 66.04
glider: 164
mission: 3
dive: 168
start: 6 13 109 1 53 37
data:
$ID,164
$MISSION,3
$DIVE,168
$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,-36482.246
$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,31
$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
$GPS1,014737,2515.631,12252.147,35,1.0,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-70.7
$GPS2,015332,2515.787,12252.264,12,1.0,12,-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,196.6,41510,-16.4,-12.000
$D_GRID,1416
$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,-243.4,0.0,0.0,0,85,0.00,0.00,-71.25,0.000,2,0.000,0.000,112,1482,2676
$GC,87,-1.08,-243.4,3.2,-8.9,11,125,8.32,2.03,-25.05,0.000,4,0.200,0.064,2382,208,3943
$GC,365,-0.69,-243.4,84.5,-27.8,62,372,0.43,1.90,0.00,0.000,6,0.131,0.033,2516,1467,3946
$GC,691,-0.69,-243.4,135.2,-14.4,123,698,0.00,2.12,0.00,0.000,4,0.000,0.039,2516,2877,3948
$GC,767,-0.80,-243.4,144.1,-11.0,137,774,0.00,2.08,0.00,0.000,6,0.000,0.031,2516,1496,3948
$GC,1094,-0.89,-243.4,179.1,-10.7,198,1100,0.17,2.05,0.00,0.000,4,0.056,0.040,2431,2876,3950
$GC,1142,-0.80,-243.4,186.1,-15.7,207,1149,0.15,2.05,0.00,0.000,6,0.116,0.031,2483,1503,3950
$GC,1469,-0.80,-243.4,230.6,-11.2,268,1475,0.00,2.08,0.00,0.000,4,0.000,0.040,2483,2874,3950
$GC,1554,-0.88,-243.4,239.3,-10.4,284,1560,0.00,2.03,0.00,0.000,6,0.000,0.031,2483,1513,3950
$GC,1880,-0.93,-243.4,273.4,-10.0,345,1887,0.12,0.00,0.00,0.000,6,0.064,0.000,2420,1513,3951
$GC,2207,-0.81,-243.4,321.2,-15.2,394,2212,0.20,2.05,0.00,0.000,4,0.127,0.040,2480,2874,3950
$GC,2244,-0.91,-243.4,325.8,-11.0,397,2252,0.00,2.00,0.00,0.000,6,0.000,0.032,2480,1530,3950
$GC,2561,-0.98,-243.4,360.3,-10.8,428,2562,0.15,0.00,0.00,0.000,6,0.061,0.000,2405,1531,3949
$GC,2870,-0.85,-243.4,407.4,-14.7,458,2871,0.22,0.00,0.00,0.000,6,0.126,0.000,2474,1531,3947
$GC,3182,-0.92,-243.4,443.3,-11.9,488,3185,0.00,2.03,0.00,0.000,4,0.000,0.043,2473,2879,3945
$GC,3271,-1.05,-243.4,453.6,-11.2,496,3278,0.15,2.00,0.00,0.000,6,0.048,0.034,2391,1546,3944
$GC,3596,-0.91,-243.4,507.7,-17.0,526,3598,0.20,0.00,0.00,0.000,6,0.131,0.000,2451,1545,3942
$GC,3903,-0.91,-243.4,544.1,-11.3,541,3906,0.00,2.00,0.00,0.000,4,0.000,0.044,2449,2875,3940
$GC,3928,-0.95,-243.4,547.3,-12.0,542,3932,0.00,2.03,0.00,0.000,6,0.000,0.035,2449,1539,3940
$GC,4249,-0.95,-243.4,582.5,-10.7,558,4253,0.00,2.05,0.00,0.000,4,0.000,0.044,2449,2874,3938
$GC,4271,-1.00,-243.4,584.6,-10.3,559,4274,0.00,2.03,0.00,0.000,6,0.000,0.037,2449,1518,3937
$GC,4597,-1.00,-243.4,618.7,-10.3,575,4597,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,1518,3935
$GC,4902,-1.04,-243.4,649.4,-9.8,590,4906,0.12,2.05,0.00,0.000,4,0.076,0.046,2391,2874,3932
$GC,4944,-0.98,-243.4,654.2,-11.6,592,4948,0.10,2.03,0.00,0.000,6,0.130,0.037,2425,1543,3931
$GC,5271,-0.98,-243.4,689.0,-10.6,608,5274,0.00,2.08,0.00,0.000,4,0.000,0.051,2426,209,3929
$GC,5339,-0.98,-243.4,697.1,-11.4,611,5344,0.00,2.00,0.00,0.000,6,0.000,0.036,2423,1532,3929
$GC,5661,-0.98,-243.4,731.7,-10.7,627,5664,0.00,2.05,0.00,0.000,4,0.000,0.048,2422,2870,3926
$GC,5724,-0.98,-243.4,738.2,-10.0,630,5728,0.00,2.03,0.00,0.000,6,0.000,0.038,2423,1542,3926
$GC,6051,-0.98,-243.4,773.4,-11.5,646,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1542,3925
$GC,6356,-0.98,-243.4,810.6,-12.3,661,6357,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,1542,3923
$GC,6661,-0.98,-243.4,846.7,-11.9,676,6662,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1542,3920
$GC,6966,-0.98,-243.4,882.9,-12.1,691,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1542,3919
$GC,7272,-0.98,-243.4,920.0,-11.8,706,7275,0.00,2.08,0.00,0.000,4,0.000,0.050,2423,2870,3917
$GC,7303,-1.02,-243.4,923.7,-12.0,707,7307,0.00,2.03,0.00,0.000,6,0.000,0.041,2422,1550,3917
$GC,7619,-1.02,-243.4,960.7,-11.7,723,7620,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,1550,3915
$STATE,7903,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7903,begin apogee
$GC,7907,-0.24,0.0,990.9,10.4,737,8114,0.75,0.00,205.07,1.486,6,0.115,0.000,2667,1550,2947
$STATE,8115,end apogee,CONTROL_FINISHED_OK
$STATE,8115,begin climb
$GC,8116,1.08,243.4,998.8,0.0,747,8342,1.23,2.33,217.18,1.435,4,0.064,0.056,3087,220,1953
$GC,8383,0.57,243.4,956.6,26.7,759,8390,0.57,2.22,0.00,0.000,6,0.180,0.039,2932,1569,1949
$GC,8694,0.47,243.4,908.4,14.2,775,8698,0.12,2.22,0.00,0.000,4,0.162,0.048,2899,2980,1944
$GC,8725,0.47,243.4,904.1,13.6,776,8730,0.00,2.20,0.00,0.000,6,0.000,0.043,2899,1589,1944
$GC,9041,0.50,268.6,867.0,11.2,792,9067,0.00,2.22,22.00,1.325,4,0.000,0.058,2899,209,1851
$GC,9121,0.61,297.1,857.9,11.1,795,9151,0.10,2.15,26.77,1.325,6,0.060,0.041,2949,1578,1735
$GC,9475,0.49,297.1,803.5,15.9,813,9478,0.17,2.20,0.00,0.000,4,0.156,0.048,2902,2996,1726
$GC,9500,0.49,297.1,799.6,13.8,814,9504,0.00,2.22,0.00,0.000,6,0.000,0.043,2902,1578,1726
$GC,9816,0.59,349.4,766.3,10.3,830,9882,0.00,2.28,50.50,1.242,4,0.000,0.058,2902,219,1521
$GC,9899,0.73,396.2,757.7,10.5,834,9949,0.17,2.20,44.03,1.297,6,0.058,0.043,2981,1582,1330
$GC,10266,0.54,396.2,689.4,18.9,852,10270,0.22,2.20,0.00,0.000,4,0.157,0.049,2920,2979,1318
$GC,10313,0.54,396.2,682.2,13.8,854,10318,0.00,2.17,0.00,0.000,6,0.000,0.042,2920,1596,1318
$GC,10635,0.60,403.5,643.8,11.8,870,10644,0.00,2.22,5.20,0.912,4,0.000,0.058,2920,210,1301
$GC,10730,0.70,409.9,632.1,11.8,874,10743,0.10,2.12,7.70,1.048,6,0.065,0.042,2972,1577,1276
$GC,11047,0.57,409.9,573.5,18.9,890,11050,0.17,2.17,0.00,0.000,4,0.153,0.048,2919,2984,1272
$GC,11093,0.64,409.9,566.1,13.5,892,11098,0.00,2.20,0.00,0.000,6,0.000,0.043,2919,1576,1271
$GC,11409,0.72,409.9,524.7,13.6,908,11413,0.17,2.15,0.00,0.000,4,0.067,0.058,2998,215,1270
$GC,11441,0.62,409.9,519.3,18.2,909,11445,0.17,2.10,0.00,0.000,6,0.157,0.044,2945,1567,1270
$GC,11761,0.62,409.9,471.9,12.6,934,11764,0.00,2.17,0.00,0.000,4,0.000,0.050,2945,2985,1270
$GC,11802,0.62,409.9,466.6,13.3,938,11806,0.00,2.20,0.00,0.000,6,0.000,0.044,2945,1573,1269
$GC,12123,0.62,409.9,428.8,12.4,969,12127,0.00,2.15,0.00,0.000,4,0.000,0.057,2945,213,1269
$GC,12160,0.69,409.9,424.2,12.4,972,12167,0.00,2.12,0.00,0.000,6,0.000,0.044,2945,1577,1268
$GC,12477,0.76,409.9,383.9,13.0,1003,12478,0.12,0.00,0.00,0.000,6,0.074,0.000,3000,1578,1268
$GC,12787,0.64,409.9,322.9,19.7,1033,12791,0.17,2.15,0.00,0.000,4,0.153,0.046,2953,2989,1268
$GC,12813,0.64,409.9,318.3,16.3,1035,12816,0.00,2.20,0.00,0.000,6,0.000,0.043,2955,1567,1268
$GC,13135,0.71,409.9,272.3,13.9,1083,13140,0.00,2.10,0.00,0.000,4,0.000,0.055,2955,210,1268
$GC,13166,0.79,409.9,267.9,13.2,1089,13173,0.10,2.08,0.00,0.000,6,0.061,0.043,3012,1557,1267
$GC,13494,0.70,409.9,212.4,15.2,1150,13500,0.15,2.10,0.00,0.000,4,0.147,0.054,2973,203,1267
$GC,13564,0.81,438.5,204.1,11.1,1163,13593,0.00,2.05,25.17,0.920,6,0.000,0.041,2972,1558,1159
$GC,13914,0.99,475.7,169.1,10.8,1228,13955,0.22,2.25,33.22,0.885,4,0.054,0.044,3077,2996,1005
$GC,13991,0.83,475.7,154.6,20.9,1241,13999,0.20,2.28,0.00,0.000,6,0.149,0.041,3019,1557,1003
$GC,14319,1.06,559.5,109.5,9.2,1302,14395,0.20,2.33,70.70,0.831,4,0.054,0.041,3109,2986,665
$GC,14427,0.98,559.5,89.9,19.8,1320,14433,0.17,2.20,0.00,0.000,6,0.146,0.040,3062,1589,662
$GC,14753,1.13,575.6,50.6,11.5,1381,14773,0.12,2.17,13.82,0.716,4,0.064,0.050,3125,200,599
$GC,14842,1.13,575.6,36.3,16.8,1397,14849,0.00,2.15,0.00,0.000,6,0.000,0.035,3125,1598,597
$STATE,15050,end climb,SURFACE_DEPTH_REACHED
$STATE,15050,begin surface coast
$FINISH,0.0,1.021358
$STATE,15071,end surface coast,CONTROL_FINISHED_OK
$STATE,15071,begin surface
$SM_CCo,15145,0.00,0.000,0,0,595,577.19
$SM_GC,0.60,7.78,0.00,0.00,0.033,0.000,0.000,116,1460,595,-8.13,-0.34,577.19
$IRIDIUM_FIX,2510.35,12244.54,060998,212117
$TT8_MAMPS,0.049088
$HUMID,1533
$INTERNAL_PRESSURE,8.93835
$TCM_TEMP,25.80
$XPDR_PINGS,58
$24V_AH,23.0,35.466
$10V_AH,10.7,21.530
$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,23.575,123.325,721.375,0.000,0.000,31.504,37.585,181.925,22.500,0.000,0.000,13.741,0.000,10870.381,794.259,3327.905,480.785,0.000,2071.749,0.000,2814.098,0.000,53.946,0.000
$DEVICE_MAMPS,200.187,63.661,1485.679,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,975.959,988.903,1658.478,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82138,1440
$CAP_FILE_SIZE,156923,0
$CFSIZE,260165632,245493760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.373, 21.6,1
$GPS,130609,060701,2516.077,12252.509,40,1.0,40,-3.7