version: 66.04
glider: 164
mission: 3
dive: 123
start: 6 6 109 16 40 41
data:
$ID,164
$MISSION,3
$DIVE,123
$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,-35548.074
$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,34
$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
$GPS1,163336,2504.681,12232.468,35,1.1,35,-3.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.0
$GPS2,164036,2504.809,12232.473,9,1.7,26,-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,340.0,39428,-15.7,-10.000
$D_GRID,1128
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.99,-194.7,0.0,0.0,0,97,0.00,0.00,-81.80,0.000,2,0.000,0.000,113,1487,2709
$GC,99,-0.99,-194.7,3.0,-8.3,13,138,8.55,2.00,-21.45,0.000,4,0.211,0.059,2421,210,3744
$GC,377,-0.58,-194.7,78.7,-25.2,64,384,0.40,1.90,0.00,0.000,6,0.134,0.031,2547,1478,3746
$GC,703,-0.58,-194.7,123.5,-12.6,125,710,0.00,1.95,0.00,0.000,4,0.000,0.044,2547,211,3748
$GC,917,-0.58,-194.7,150.3,-9.4,165,924,0.00,1.90,0.00,0.000,6,0.000,0.032,2547,1481,3749
$GC,1244,-0.65,-194.7,174.5,-10.3,226,1251,0.00,1.95,0.00,0.000,4,0.000,0.044,2547,206,3750
$GC,1304,-0.72,-194.7,181.4,-11.5,237,1310,0.08,1.88,0.00,0.000,6,0.057,0.033,2496,1462,3750
$GC,1630,-0.66,-194.7,221.3,-10.9,298,1638,0.12,2.10,0.00,0.000,4,0.135,0.038,2532,2873,3750
$GC,1723,-0.80,-194.7,228.9,-7.2,315,1729,0.12,2.08,0.00,0.000,6,0.067,0.032,2468,1452,3750
$GC,2048,-0.70,-194.7,272.7,-12.9,376,2054,0.17,0.00,0.00,0.000,6,0.127,0.000,2522,1452,3750
$GC,2375,-0.79,-194.7,300.2,-7.3,437,2376,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,1452,3750
$GC,2686,-0.88,-194.7,322.7,-7.5,467,2689,0.17,2.12,0.00,0.000,4,0.058,0.038,2435,2883,3749
$GC,2712,-0.82,-194.7,325.4,-10.6,469,2716,0.15,2.10,0.00,0.000,6,0.133,0.034,2478,1453,3749
$GC,3027,-0.82,-194.7,361.4,-11.6,499,3031,0.00,1.88,0.00,0.000,4,0.000,0.045,2478,222,3747
$GC,3080,-0.78,-194.7,367.5,-11.4,504,3084,0.00,1.85,0.00,0.000,6,0.000,0.033,2478,1462,3747
$GC,3402,-0.78,-194.7,397.5,-9.0,535,3405,0.00,1.90,0.00,0.000,4,0.000,0.045,2478,223,3745
$GC,3448,-0.78,-194.7,402.5,-10.9,539,3455,0.00,1.85,0.00,0.000,6,0.000,0.032,2478,1462,3745
$GC,3765,-0.78,-194.7,436.3,-10.9,570,3768,0.00,2.10,0.00,0.000,4,0.000,0.042,2478,2875,3744
$GC,3865,-0.85,-194.7,445.9,-8.9,579,3872,0.00,2.10,0.00,0.000,6,0.000,0.035,2478,1471,3743
$GC,4180,-0.85,-194.7,477.1,-10.7,610,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1471,3741
$GC,4491,-0.85,-194.7,504.2,-9.1,638,4494,0.00,1.92,0.00,0.000,4,0.000,0.049,2478,216,3738
$GC,4533,-0.85,-194.7,508.8,-11.6,640,4537,0.00,1.88,0.00,0.000,6,0.000,0.034,2478,1467,3738
$GC,4859,-0.85,-194.7,538.1,-9.3,656,4860,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1469,3735
$GC,5165,-0.85,-194.7,563.8,-7.6,671,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1469,3733
$GC,5470,-0.89,-194.7,589.0,-8.4,686,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1469,3731
$GC,5775,-0.93,-194.7,614.6,-8.2,701,5779,0.00,1.95,0.00,0.000,4,0.000,0.051,2478,218,3729
$GC,5849,-0.93,-194.7,621.3,-8.8,704,5854,0.08,1.90,0.00,0.000,6,0.064,0.036,2433,1484,3728
$GC,6167,-0.86,-194.7,651.1,-9.2,720,6168,0.12,0.00,0.00,0.000,6,0.144,0.000,2466,1484,3726
$GC,6471,-0.86,-194.7,677.0,-9.1,735,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1485,3725
$GC,6775,-0.86,-194.7,707.6,-10.3,750,6779,0.00,2.10,0.00,0.000,4,0.000,0.047,2467,2860,3722
$GC,6812,-0.94,-194.7,711.2,-10.0,751,6819,0.00,2.10,0.00,0.000,6,0.000,0.039,2467,1480,3722
$GC,7123,-0.94,-194.7,744.5,-10.9,767,7127,0.00,1.98,0.00,0.000,4,0.000,0.054,2466,211,3720
$GC,7181,-0.94,-194.7,751.0,-11.0,769,7188,0.00,1.90,0.00,0.000,6,0.000,0.038,2466,1471,3720
$GC,7492,-0.98,-194.7,782.5,-9.8,785,7496,0.12,1.92,0.00,0.000,4,0.077,0.054,2414,219,3718
$GC,7544,-0.82,-194.7,789.3,-14.1,787,7549,0.17,1.90,0.00,0.000,6,0.136,0.038,2471,1468,3718
$GC,7862,-0.86,-194.7,819.3,-9.5,803,7865,0.00,2.12,0.00,0.000,4,0.000,0.049,2471,2874,3716
$GC,7925,-0.94,-194.7,824.6,-7.7,806,7929,0.00,2.12,0.00,0.000,6,0.000,0.041,2471,1483,3716
$GC,8252,-1.00,-194.7,853.9,-9.2,822,8253,0.15,0.00,0.00,0.000,6,0.070,0.000,2405,1482,3714
$GC,8557,-0.87,-194.7,893.2,-13.0,837,8560,0.20,1.95,0.00,0.000,4,0.141,0.057,2463,216,3713
$GC,8599,-0.87,-194.7,898.1,-11.4,839,8603,0.00,1.92,0.00,0.000,6,0.000,0.040,2463,1479,3713
$GC,8925,-0.87,-194.7,930.4,-9.5,855,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1480,3712
$GC,9230,-0.87,-194.7,957.5,-8.8,870,9231,0.00,0.00,0.00,0.000,6,0.000,0.000,2463,1480,3710
$GC,9536,-0.91,-194.7,984.1,-8.7,885,9539,0.00,1.98,0.00,0.000,4,0.000,0.058,2463,212,3709
$GC,9594,-0.91,-194.7,989.6,-9.3,887,9600,0.00,1.92,0.00,0.000,6,0.000,0.041,2463,1472,3709
$STATE,9618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9618,begin apogee
$GC,9622,-0.24,0.0,992.0,9.3,889,9785,0.62,0.00,161.15,1.484,6,0.114,0.000,2669,1585,2947
$STATE,9786,end apogee,CONTROL_FINISHED_OK
$STATE,9786,begin climb
$GC,9787,0.99,194.7,996.8,0.0,897,9968,1.15,2.38,172.73,1.439,4,0.066,0.055,3063,221,2151
$GC,10021,0.49,194.7,964.2,22.5,908,10026,0.55,2.22,0.00,0.000,6,0.173,0.038,2901,1580,2147
$GC,10337,0.44,194.7,926.2,11.3,924,10341,0.00,2.22,0.00,0.000,4,0.000,0.057,2902,215,2142
$GC,10390,0.40,194.7,919.9,11.9,926,10394,0.00,2.12,0.00,0.000,6,0.000,0.040,2902,1575,2142
$GC,10705,0.36,194.7,884.4,10.8,942,10710,0.15,2.17,0.00,0.000,4,0.154,0.057,2863,219,2141
$GC,10727,0.39,222.5,882.5,9.0,943,10756,0.00,2.10,23.25,1.341,6,0.000,0.041,2863,1574,2039
$GC,11073,0.52,246.9,851.6,9.2,960,11115,0.15,2.22,26.15,1.152,4,0.071,0.057,2923,209,1939
$GC,11157,0.44,246.9,841.2,12.6,964,11162,0.10,2.12,0.00,0.000,6,0.147,0.040,2893,1557,1936
$GC,11483,0.44,246.9,805.0,10.9,980,11487,0.00,2.22,0.00,0.000,4,0.000,0.048,2893,2982,1933
$GC,11509,0.44,246.9,801.9,11.2,981,11514,0.00,2.20,0.00,0.000,6,0.000,0.044,2893,1578,1933
$GC,11831,0.44,246.9,766.8,10.9,997,11835,0.00,2.17,0.00,0.000,4,0.000,0.058,2893,213,1931
$GC,11889,0.48,246.9,760.3,10.8,999,11895,0.00,2.08,0.00,0.000,6,0.000,0.042,2893,1553,1932
$GC,12200,0.48,246.9,725.9,10.9,1015,12204,0.00,2.15,0.00,0.000,4,0.000,0.058,2893,207,1931
$GC,12252,0.52,246.9,720.2,10.2,1017,12256,0.00,2.08,0.00,0.000,6,0.000,0.042,2893,1553,1931
$GC,12569,0.52,246.9,686.9,10.8,1033,12572,0.00,2.12,0.00,0.000,4,0.000,0.058,2893,219,1930
$GC,12621,0.57,246.9,681.4,11.1,1035,12626,0.08,2.05,0.00,0.000,6,0.072,0.043,2935,1543,1931
$GC,12938,0.47,246.9,642.8,11.9,1051,12941,0.15,2.22,0.00,0.000,4,0.155,0.050,2895,3007,1930
$GC,12968,0.47,246.9,639.4,10.6,1052,12973,0.00,2.28,0.00,0.000,6,0.000,0.044,2894,1540,1929
$GC,13284,0.47,246.9,607.2,10.5,1068,13285,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1541,1929
$GC,13590,0.52,263.6,577.3,9.4,1083,13615,0.00,2.10,16.23,1.040,4,0.000,0.058,2895,203,1871
$GC,13658,0.59,263.6,570.3,10.6,1086,13663,0.08,2.08,0.00,0.000,6,0.069,0.043,2942,1534,1870
$GC,13974,0.48,263.6,526.7,14.3,1102,13978,0.15,2.25,0.00,0.000,4,0.153,0.049,2901,2982,1869
$GC,14038,0.48,263.6,519.1,11.0,1105,14042,0.00,2.22,0.00,0.000,6,0.000,0.044,2902,1549,1868
$GC,14357,0.58,307.6,489.3,8.5,1126,14401,0.00,2.17,39.17,1.156,4,0.000,0.058,2902,209,1691
$GC,14437,0.65,307.6,481.9,10.0,1133,14444,0.12,2.10,0.00,0.000,6,0.058,0.043,2962,1530,1687
$GC,14753,0.50,307.6,433.8,16.0,1164,14757,0.20,2.25,0.00,0.000,4,0.153,0.049,2907,2990,1682
$GC,14789,0.50,307.6,428.5,13.2,1167,14796,0.00,2.28,0.00,0.000,6,0.000,0.043,2907,1540,1681
$GC,15106,0.57,307.6,389.7,12.5,1198,15109,0.00,2.10,0.00,0.000,4,0.000,0.058,2907,204,1680
$GC,15185,0.67,307.6,379.7,12.1,1205,15192,0.12,2.05,0.00,0.000,6,0.056,0.044,2970,1522,1680
$GC,15501,0.50,307.6,333.8,16.3,1236,15502,0.22,0.00,0.00,0.000,6,0.151,0.000,2906,1522,1679
$GC,15813,0.60,307.6,297.7,10.8,1267,15818,0.00,2.08,0.00,0.000,4,0.000,0.058,2906,203,1678
$GC,15844,0.72,307.6,294.1,10.5,1273,15850,0.15,2.03,0.00,0.000,6,0.053,0.043,2982,1512,1678
$GC,16170,0.56,307.6,246.7,14.6,1334,16177,0.20,2.05,0.00,0.000,4,0.153,0.055,2929,213,1678
$GC,16230,0.62,320.6,240.0,9.5,1345,16244,0.00,1.95,10.32,0.884,6,0.000,0.043,2929,1497,1639
$GC,16566,0.71,331.3,204.1,9.6,1407,16583,0.12,2.28,10.70,0.856,4,0.077,0.046,2990,2982,1595
$GC,16608,0.60,331.3,198.2,13.5,1415,16615,0.15,2.30,0.00,0.000,6,0.151,0.043,2946,1509,1594
$GC,16935,0.72,358.3,166.8,9.1,1476,16966,0.00,2.10,24.05,0.885,4,0.000,0.055,2946,209,1484
$GC,17014,0.83,368.9,158.5,9.6,1490,17028,0.15,2.03,10.38,0.796,6,0.050,0.041,3020,1503,1442
$GC,17349,0.86,389.5,107.0,9.3,1552,17369,0.00,0.00,18.35,0.815,6,0.000,0.000,3020,1503,1358
$GC,17690,1.04,472.9,70.7,7.1,1615,17766,0.15,2.17,70.10,0.801,4,0.057,0.052,3095,202,1018
$GC,17830,0.96,472.9,51.3,13.1,1639,17836,0.17,2.03,0.00,0.000,6,0.143,0.036,3047,1511,1013
$GC,18156,1.06,472.9,17.9,10.3,1700,18162,0.12,2.05,0.00,0.000,4,0.067,0.050,3111,215,1008
$GC,18183,1.03,472.9,14.5,14.7,1705,18189,0.10,1.95,0.00,0.000,6,0.144,0.037,3079,1485,1008
$STATE,18272,end climb,SURFACE_DEPTH_REACHED
$STATE,18272,begin surface coast
$FINISH,-0.0,1.021810
$STATE,18295,end surface coast,CONTROL_FINISHED_OK
$STATE,18295,begin surface
$SM_CCo,18368,0.00,0.000,0,0,1006,476.13
$SM_GC,0.63,7.68,0.00,0.00,0.036,0.000,0.000,108,1485,1006,-8.16,0.40,476.13
$IRIDIUM_FIX,2451.31,12236.11,310898,111118
$TT8_MAMPS,0.050622
$HUMID,1517
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,26.00
$XPDR_PINGS,20
$24V_AH,23.1,25.871
$10V_AH,10.7,15.935
$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,23.475,149.125,582.575,0.000,0.000,30.349,32.534,236.717,13.000,0.000,0.000,28.153,0.000,13466.439,751.773,3977.317,562.539,0.000,2229.139,0.000,3360.590,0.000,53.936,0.000
$DEVICE_MAMPS,210.925,65.962,1484.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1172.399,1180.142,1974.245,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97823,1726
$CAP_FILE_SIZE,187231,0
$CFSIZE,260165632,248881152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.070, 31.4,1
$GPS,060609,214737,2507.924,12231.694,29,1.1,29,-3.6