version: 66.04
glider: 164
mission: 3
dive: 121
start: 6 6 109 6 29 30
data:
$ID,164
$MISSION,3
$DIVE,121
$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,200
$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,-35504.754
$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,28
$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
$GPS1,062225,2458.994,12236.013,38,1.0,38,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.0
$GPS2,062925,2459.027,12236.053,8,1.0,13,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,307.9,51533,-15.7,-10.000
$D_GRID,1404
$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,13,-0.99,-194.7,0.0,0.0,0,97,0.00,0.00,-82.20,0.000,2,0.000,0.000,110,1484,2775
$GC,99,-0.99,-194.7,3.2,-8.0,13,131,8.57,2.17,-19.77,0.000,4,0.209,0.051,2416,2887,3743
$GC,274,-0.56,-194.7,49.5,-26.0,45,281,0.43,2.15,0.00,0.000,6,0.133,0.032,2554,1460,3745
$GC,601,-0.50,-194.7,102.8,-14.6,106,608,0.00,2.15,0.00,0.000,4,0.000,0.039,2554,2879,3746
$GC,671,-0.56,-194.7,112.8,-13.5,119,678,0.00,2.08,0.00,0.000,6,0.000,0.031,2555,1494,3746
$GC,998,-0.61,-194.7,147.4,-7.5,180,1004,0.00,1.95,0.00,0.000,4,0.000,0.044,2554,210,3748
$GC,1115,-0.70,-194.7,158.4,-9.7,202,1123,0.08,1.90,0.00,0.000,6,0.054,0.033,2500,1481,3748
$GC,1443,-0.65,-194.7,201.3,-13.2,263,1449,0.12,1.92,0.00,0.000,4,0.131,0.044,2536,213,3749
$GC,1496,-0.70,-194.7,207.5,-11.1,273,1502,0.00,1.88,0.00,0.000,6,0.000,0.032,2536,1471,3749
$GC,1822,-0.80,-194.7,238.1,-9.0,334,1829,0.15,2.10,0.00,0.000,4,0.059,0.038,2461,2870,3749
$GC,1871,-0.76,-194.7,243.8,-11.6,343,1877,0.10,2.08,0.00,0.000,6,0.120,0.031,2496,1468,3749
$GC,2197,-0.76,-194.7,277.3,-12.1,404,2204,0.00,1.90,0.00,0.000,4,0.000,0.044,2497,217,3749
$GC,2261,-0.76,-194.7,284.6,-11.4,416,2268,0.00,1.85,0.00,0.000,6,0.000,0.032,2497,1461,3749
$GC,2588,-0.76,-194.7,315.9,-8.0,461,2591,0.00,2.10,0.00,0.000,4,0.000,0.040,2496,2890,3747
$GC,2640,-0.82,-194.7,319.6,-7.0,466,2644,0.00,2.12,0.00,0.000,6,0.000,0.033,2497,1460,3747
$GC,2961,-0.82,-194.7,346.0,-8.6,497,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1460,3745
$GC,3273,-0.85,-194.7,370.7,-7.5,527,3276,0.00,1.90,0.00,0.000,4,0.000,0.048,2497,217,3744
$GC,3447,-0.85,-194.7,387.3,-9.5,543,3454,0.00,1.85,0.00,0.000,6,0.000,0.033,2496,1457,3743
$GC,3763,-0.90,-194.7,414.6,-8.5,574,3767,0.12,2.12,0.00,0.000,4,0.067,0.041,2435,2872,3740
$GC,3827,-0.83,-194.7,421.8,-11.7,580,3831,0.10,2.10,0.00,0.000,6,0.127,0.035,2471,1467,3739
$GC,4148,-0.83,-194.7,454.6,-10.2,611,4152,0.00,2.12,0.00,0.000,4,0.000,0.043,2470,2867,3737
$GC,4190,-0.83,-194.7,459.0,-10.2,615,4194,0.00,2.10,0.00,0.000,6,0.000,0.036,2470,1467,3736
$GC,4511,-0.83,-194.7,493.0,-9.8,646,4515,0.00,1.92,0.00,0.000,4,0.000,0.049,2470,214,3734
$GC,4628,-0.83,-194.7,505.1,-10.4,655,4632,0.00,1.88,0.00,0.000,6,0.000,0.035,2471,1465,3733
$GC,4945,-0.83,-194.7,533.9,-8.8,671,4948,0.00,1.92,0.00,0.000,4,0.000,0.052,2470,207,3731
$GC,4981,-0.83,-194.7,537.5,-9.8,672,4988,0.00,1.88,0.00,0.000,6,0.000,0.035,2471,1464,3730
$GC,5291,-0.83,-194.7,564.2,-8.5,688,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1464,3728
$GC,5597,-0.83,-194.7,589.5,-8.2,703,5600,0.00,1.95,0.00,0.000,4,0.000,0.051,2470,210,3725
$GC,5682,-0.83,-194.7,597.5,-10.2,707,5686,0.00,1.88,0.00,0.000,6,0.000,0.035,2471,1459,3725
$GC,6009,-0.83,-194.7,630.1,-12.3,723,6012,0.00,1.95,0.00,0.000,4,0.000,0.052,2471,210,3723
$GC,6039,-0.89,-194.7,633.9,-11.8,724,6044,0.00,1.88,0.00,0.000,6,0.000,0.036,2470,1454,3722
$GC,6356,-0.92,-194.7,665.8,-9.8,740,6359,0.00,2.15,0.00,0.000,4,0.000,0.047,2470,2870,3720
$GC,6435,-1.00,-194.7,672.6,-8.0,743,6442,0.12,2.12,0.00,0.000,6,0.051,0.039,2404,1472,3719
$GC,6747,-0.85,-194.7,712.6,-13.1,759,6750,0.22,2.12,0.00,0.000,4,0.137,0.047,2470,2872,3717
$GC,6783,-0.93,-194.7,716.5,-9.4,761,6787,0.00,2.10,0.00,0.000,6,0.000,0.040,2471,1470,3717
$GC,7110,-0.97,-194.7,744.7,-8.5,777,7111,0.12,0.00,0.00,0.000,6,0.073,0.000,2415,1470,3715
$GC,7414,-0.86,-194.7,777.0,-10.1,792,7415,0.17,0.00,0.00,0.000,6,0.140,0.000,2465,1470,3713
$GC,7720,-0.86,-194.7,797.9,-6.5,807,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1470,3712
$GC,8025,-0.86,-194.7,817.8,-6.5,822,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1470,3710
$GC,8330,-0.86,-194.7,839.7,-7.6,837,8334,0.00,2.17,0.00,0.000,4,0.000,0.050,2465,2872,3709
$GC,8377,-0.92,-194.7,843.3,-8.5,839,8382,0.00,2.12,0.00,0.000,6,0.000,0.041,2465,1479,3708
$GC,8700,-0.96,-194.7,870.9,-9.5,855,8700,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1479,3708
$GC,9004,-1.00,-194.7,899.2,-8.2,870,9005,0.12,0.00,0.00,0.000,6,0.075,0.000,2411,1479,3706
$GC,9310,-0.89,-194.7,933.1,-11.3,885,9311,0.15,0.00,0.00,0.000,6,0.146,0.000,2453,1479,3705
$GC,9614,-0.89,-194.7,960.8,-8.8,900,9618,0.00,1.98,0.00,0.000,4,0.000,0.058,2453,226,3704
$GC,9721,-0.89,-194.7,971.2,-10.1,905,9725,0.00,1.90,0.00,0.000,6,0.000,0.041,2453,1470,3703
$STATE,9943,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9944,begin apogee
$GC,9947,-0.24,0.0,991.0,8.6,916,10110,0.65,0.00,160.05,1.485,6,0.114,0.000,2668,1584,2946
$STATE,10110,end apogee,CONTROL_FINISHED_OK
$STATE,10110,begin climb
$GC,10112,0.99,194.7,995.5,0.0,924,10292,1.12,2.38,172.52,1.438,4,0.070,0.056,3057,223,2151
$GC,10387,0.51,194.7,957.1,22.1,937,10391,0.50,2.20,0.00,0.000,6,0.176,0.039,2917,1580,2146
$GC,10709,0.41,194.7,921.0,11.4,953,10712,0.15,2.17,0.00,0.000,4,0.160,0.057,2875,216,2142
$GC,10772,0.49,228.2,915.0,8.8,956,10806,0.00,2.12,28.77,1.356,6,0.000,0.040,2876,1577,2015
$GC,11119,0.57,248.4,883.3,9.3,973,11143,0.15,2.25,18.42,1.311,4,0.071,0.058,2937,221,1933
$GC,11181,0.44,248.4,874.8,15.0,976,11185,0.15,2.12,0.00,0.000,6,0.147,0.041,2891,1562,1931
$GC,11507,0.44,248.4,837.6,11.1,992,11511,0.00,2.15,0.00,0.000,4,0.000,0.057,2891,224,1928
$GC,11555,0.44,248.4,832.1,11.2,994,11559,0.00,2.08,0.00,0.000,6,0.000,0.041,2891,1557,1928
$GC,11876,0.44,248.4,795.4,11.9,1010,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1557,1926
$GC,12182,0.44,248.4,760.5,11.4,1025,12185,0.00,2.15,0.00,0.000,4,0.000,0.058,2891,212,1925
$GC,12239,0.44,248.4,754.1,11.5,1027,12246,0.00,2.05,0.00,0.000,6,0.000,0.042,2891,1534,1925
$GC,12551,0.46,261.3,722.8,9.6,1043,12566,0.00,2.10,11.62,1.205,4,0.000,0.058,2891,213,1880
$GC,12592,0.50,262.6,718.8,10.0,1044,12596,0.00,2.08,0.00,0.000,6,0.000,0.043,2892,1541,1879
$GC,12913,0.60,310.4,690.6,8.4,1060,12969,0.15,2.20,46.47,1.243,4,0.071,0.059,2956,212,1680
$GC,12991,0.45,310.4,680.6,14.3,1063,12997,0.20,2.15,0.00,0.000,6,0.146,0.042,2895,1548,1676
$GC,13301,0.50,318.4,648.6,9.7,1079,13309,0.00,0.00,6.78,1.013,6,0.000,0.000,2895,1548,1649
$GC,13606,0.56,318.4,616.9,11.0,1094,13610,0.00,2.25,0.00,0.000,4,0.000,0.049,2895,2983,1646
$GC,13628,0.61,318.4,614.6,11.3,1095,13632,0.15,2.25,0.00,0.000,6,0.067,0.044,2960,1522,1646
$GC,13954,0.43,318.4,558.0,18.3,1111,13958,0.28,2.05,0.00,0.000,4,0.153,0.058,2881,208,1644
$GC,14093,0.57,318.4,541.7,10.5,1117,14097,0.10,2.03,0.00,0.000,6,0.059,0.044,2935,1512,1644
$GC,14408,0.50,318.4,497.2,13.6,1134,14412,0.12,2.05,0.00,0.000,4,0.151,0.058,2903,221,1643
$GC,14488,0.60,318.4,488.6,10.6,1141,14494,0.00,2.00,0.00,0.000,6,0.000,0.044,2903,1508,1643
$GC,14804,0.65,318.4,457.9,11.0,1172,14808,0.15,2.03,0.00,0.000,4,0.069,0.058,2972,210,1643
$GC,14830,0.56,318.4,454.3,14.1,1174,14838,0.12,2.00,0.00,0.000,6,0.155,0.044,2932,1502,1642
$GC,15145,0.56,318.4,415.5,11.9,1205,15149,0.00,2.30,0.00,0.000,4,0.000,0.048,2932,2989,1642
$GC,15220,0.56,318.4,406.2,11.8,1212,15224,0.00,2.28,0.00,0.000,6,0.000,0.044,2932,1517,1642
$GC,15542,0.56,318.4,365.5,12.7,1243,15545,0.00,2.03,0.00,0.000,4,0.000,0.058,2932,213,1642
$GC,15647,0.56,318.4,351.9,13.1,1253,15652,0.00,1.98,0.00,0.000,6,0.000,0.043,2932,1497,1641
$GC,15969,0.64,347.7,318.6,9.0,1284,16002,0.00,2.08,25.73,1.004,4,0.000,0.058,2932,221,1528
$GC,16028,0.69,347.7,312.4,10.1,1289,16034,0.00,2.00,0.00,0.000,6,0.000,0.043,2932,1494,1525
$GC,16350,0.72,347.7,277.3,10.5,1339,16356,0.12,0.00,0.00,0.000,6,0.071,0.000,2995,1494,1522
$GC,16675,0.63,347.7,228.7,13.1,1400,16682,0.17,2.30,0.00,0.000,4,0.150,0.045,2948,2991,1521
$GC,16702,0.63,347.7,225.6,11.4,1405,16708,0.00,2.28,0.00,0.000,6,0.000,0.041,2948,1521,1521
$GC,17028,0.71,353.4,191.1,9.8,1466,17037,0.00,2.08,5.18,0.670,4,0.000,0.054,2948,218,1505
$GC,17127,0.80,353.4,180.9,11.9,1484,17133,0.12,1.95,0.00,0.000,6,0.053,0.039,3016,1491,1505
$GC,17453,0.69,353.4,130.4,15.3,1545,17460,0.17,2.00,0.00,0.000,4,0.140,0.051,2969,213,1505
$GC,17604,0.88,368.9,116.9,9.5,1573,17624,0.12,1.90,14.85,0.789,6,0.048,0.038,3042,1464,1442
$GC,17945,0.91,389.8,77.7,9.3,1636,17970,0.00,2.00,19.02,0.762,4,0.000,0.051,3043,192,1355
$GC,18012,0.91,389.8,69.7,13.0,1648,18018,0.00,1.98,0.00,0.000,6,0.000,0.037,3043,1474,1353
$GC,18338,1.07,467.3,38.0,7.3,1709,18409,0.12,2.35,64.75,0.744,4,0.064,0.039,3110,2995,1040
$GC,18468,0.97,467.3,20.1,15.2,1731,18474,0.20,2.33,0.00,0.000,6,0.150,0.037,3057,1489,1037
$STATE,18622,end climb,SURFACE_DEPTH_REACHED
$STATE,18622,begin surface coast
$FINISH,-0.2,1.022129
$STATE,18653,end surface coast,CONTROL_FINISHED_OK
$STATE,18653,begin surface
$SM_CCo,18726,0.00,0.000,0,0,1031,469.99
$SM_GC,0.75,7.55,0.00,0.00,0.028,0.000,0.000,113,1488,1031,-8.14,0.48,469.99
$IRIDIUM_FIX,2446.56,12234.83,310898,010145
$TT8_MAMPS,0.049855
$HUMID,1482
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,26.50
$XPDR_PINGS,18
$24V_AH,23.1,25.372
$10V_AH,10.7,15.637
$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,23.200,153.275,574.175,0.000,0.000,24.513,32.091,249.514,12.500,0.000,0.000,15.202,0.000,13691.909,735.018,4112.482,571.797,0.000,2263.904,0.000,3494.848,0.000,53.949,0.000
$DEVICE_MAMPS,209.391,65.962,1484.912,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1199.619,1201.218,2010.174,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100884,1766
$CAP_FILE_SIZE,191791,0
$CFSIZE,260165632,249065472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.196, 39.1,1
$GPS,060609,114236,2502.384,12235.023,36,1.1,41,-3.6