version: 66.04
glider: 164
mission: 3
dive: 157
start: 6 10 109 22 7 13
data:
$ID,164
$MISSION,3
$DIVE,157
$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,-36315.789
$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,49
$R_STBD_OVSHOOT,41
$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
$GPS1,220055,2515.897,12240.506,37,1.3,37,-3.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.68
$_SM_ANGLEo,-69.2
$GPS2,220708,2515.948,12240.580,14,1.1,14,-3.6
$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,152.6,54723,-16.4,-12.000
$D_GRID,1053
$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,-243.4,0.0,0.0,0,98,0.00,0.00,-84.38,0.000,2,0.000,0.000,110,1445,2809
$GC,100,-1.08,-243.4,3.2,-8.1,13,138,8.45,2.22,-21.73,0.000,4,0.207,0.054,2389,2875,3943
$GC,169,-0.68,-243.4,25.2,-31.7,25,176,0.40,2.15,0.00,0.000,6,0.129,0.035,2519,1477,3945
$GC,495,-0.68,-243.4,73.8,-13.1,86,502,0.00,1.98,0.00,0.000,4,0.000,0.048,2519,210,3948
$GC,549,-0.68,-243.4,81.1,-13.6,96,555,0.00,1.90,0.00,0.000,6,0.000,0.035,2519,1461,3948
$GC,875,-0.74,-243.4,120.1,-12.0,157,882,0.00,2.15,0.00,0.000,4,0.000,0.041,2519,2881,3950
$GC,1047,-0.88,-243.4,139.9,-12.5,189,1053,0.12,2.10,0.00,0.000,6,0.048,0.034,2446,1486,3950
$GC,1374,-0.79,-243.4,193.9,-15.8,250,1380,0.15,2.10,0.00,0.000,4,0.130,0.041,2487,2872,3950
$GC,1423,-0.86,-243.4,200.3,-12.0,259,1429,0.00,2.05,0.00,0.000,6,0.000,0.035,2488,1489,3950
$GC,1749,-0.90,-243.4,235.6,-9.4,320,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1488,3950
$GC,2075,-0.95,-243.4,263.7,-8.1,381,2081,0.15,2.08,0.00,0.000,4,0.064,0.041,2416,2877,3950
$GC,2101,-0.88,-243.4,266.5,-11.3,386,2108,0.12,2.08,0.00,0.000,6,0.123,0.035,2459,1497,3950
$GC,2426,-0.88,-243.4,304.3,-12.3,444,2430,0.00,2.10,0.00,0.000,4,0.000,0.042,2459,2875,3949
$GC,2570,-0.88,-243.4,322.4,-13.1,457,2577,0.00,2.05,0.00,0.000,6,0.000,0.035,2459,1516,3949
$GC,2886,-0.88,-243.4,365.2,-13.5,488,2890,0.00,2.08,0.00,0.000,4,0.000,0.042,2459,2876,3948
$GC,2939,-0.94,-243.4,372.0,-12.1,493,2943,0.00,2.05,0.00,0.000,6,0.000,0.035,2459,1519,3948
$GC,3260,-0.94,-243.4,411.7,-10.9,524,3264,0.00,2.05,0.00,0.000,4,0.000,0.042,2459,2867,3946
$GC,3314,-1.02,-243.4,417.0,-9.2,529,3317,0.10,2.03,0.00,0.000,6,0.054,0.036,2398,1527,3946
$GC,3634,-0.89,-243.4,460.7,-13.4,560,3638,0.20,2.03,0.00,0.000,4,0.133,0.050,2458,212,3944
$GC,3768,-0.89,-243.4,474.5,-9.0,572,3774,0.00,1.98,0.00,0.000,6,0.000,0.035,2458,1529,3943
$GC,4093,-0.92,-243.4,509.0,-11.1,600,4096,0.00,2.03,0.00,0.000,4,0.000,0.044,2458,2885,3941
$GC,4188,-0.99,-243.4,517.8,-9.1,604,4192,0.00,2.05,0.00,0.000,6,0.000,0.037,2458,1529,3940
$GC,4504,-1.04,-243.4,546.6,-9.1,620,4508,0.15,2.05,0.00,0.000,4,0.065,0.045,2390,2872,3939
$GC,4594,-0.94,-243.4,557.4,-13.0,624,4599,0.12,2.00,0.00,0.000,6,0.130,0.037,2434,1549,3938
$GC,4915,-0.94,-243.4,591.7,-10.4,640,4919,0.00,2.08,0.00,0.000,4,0.000,0.052,2434,212,3937
$GC,4946,-0.94,-243.4,595.2,-11.4,641,4951,0.00,2.00,0.00,0.000,6,0.000,0.036,2434,1538,3936
$GC,5263,-0.94,-243.4,622.3,-7.7,657,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1538,3934
$GC,5567,-0.94,-243.4,646.6,-8.8,672,5571,0.00,2.08,0.00,0.000,4,0.000,0.054,2434,216,3932
$GC,5632,-0.91,-243.4,653.0,-10.3,675,5635,0.00,1.98,0.00,0.000,6,0.000,0.039,2434,1538,3932
$GC,5958,-0.91,-243.4,684.4,-9.2,691,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1538,3930
$GC,6263,-0.91,-243.4,716.3,-11.4,706,6267,0.00,2.05,0.00,0.000,4,0.000,0.048,2434,2872,3928
$GC,6316,-0.91,-243.4,720.7,-10.5,708,6320,0.00,2.05,0.00,0.000,6,0.000,0.041,2434,1538,3928
$GC,6632,-0.91,-243.4,758.0,-11.9,724,6636,0.00,2.08,0.00,0.000,4,0.000,0.048,2434,2875,3926
$GC,6657,-0.91,-243.4,761.2,-12.9,725,6662,0.00,2.05,0.00,0.000,6,0.000,0.041,2434,1538,3925
$GC,6980,-0.91,-243.4,802.9,-13.5,741,6983,0.00,2.05,0.00,0.000,4,0.000,0.051,2434,2872,3924
$GC,7016,-0.98,-243.4,807.8,-11.9,742,7023,0.00,2.05,0.00,0.000,6,0.000,0.043,2434,1540,3924
$GC,7326,-0.98,-243.4,838.7,-10.7,758,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1540,3923
$GC,7633,-0.98,-243.4,883.5,-17.5,773,7633,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1540,3921
$GC,7937,-0.98,-243.4,933.7,-13.9,788,7941,0.00,2.08,0.00,0.000,4,0.000,0.051,2434,2865,3920
$GC,7963,-1.04,-243.4,936.8,-12.5,789,7967,0.00,2.05,0.00,0.000,6,0.000,0.044,2434,1542,3920
$GC,8285,-1.04,-243.4,968.5,-9.2,805,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,1543,3919
$STATE,8506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8506,begin apogee
$GC,8510,-0.24,0.0,990.1,10.0,816,8718,0.70,0.00,205.52,1.487,6,0.111,0.000,2665,1542,2947
$STATE,8719,end apogee,CONTROL_FINISHED_OK
$STATE,8719,begin climb
$GC,8720,1.08,243.4,999.1,0.0,826,8948,1.25,2.35,217.38,1.440,4,0.069,0.058,3090,224,1952
$GC,8989,0.61,243.4,957.8,24.5,838,8997,0.52,2.25,0.00,0.000,6,0.181,0.039,2949,1581,1949
$GC,9300,0.50,243.4,906.0,15.3,854,9304,0.15,2.22,0.00,0.000,4,0.166,0.049,2907,2984,1943
$GC,9368,0.57,270.7,898.7,11.1,857,9398,0.00,2.22,24.05,1.335,6,0.000,0.048,2907,1595,1842
$GC,9709,0.57,270.7,863.5,12.3,874,9710,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1595,1836
$GC,10015,0.57,270.7,833.4,12.3,889,10019,0.00,2.22,0.00,0.000,4,0.000,0.059,2908,210,1834
$GC,10057,0.65,270.7,827.8,12.5,891,10061,0.10,2.12,0.00,0.000,6,0.062,0.041,2960,1582,1834
$GC,10384,0.53,270.7,780.5,14.7,907,10388,0.17,2.20,0.00,0.000,4,0.160,0.058,2912,206,1834
$GC,10420,0.62,292.5,775.9,11.3,908,10447,0.00,2.10,19.52,1.304,6,0.000,0.043,2912,1557,1753
$GC,10752,0.64,310.5,735.4,11.4,925,10781,0.12,2.30,18.58,1.142,4,0.076,0.049,2965,2988,1680
$GC,10797,0.53,310.5,729.1,14.2,927,10802,0.17,2.28,0.00,0.000,6,0.156,0.043,2916,1560,1679
$GC,11119,0.53,310.5,691.6,12.4,943,11123,0.00,2.25,0.00,0.000,4,0.000,0.050,2916,2983,1674
$GC,11182,0.53,310.5,683.3,12.5,946,11187,0.00,2.20,0.00,0.000,6,0.000,0.045,2916,1582,1674
$GC,11509,0.57,310.5,640.1,14.0,962,11513,0.00,2.20,0.00,0.000,4,0.000,0.061,2916,210,1673
$GC,11589,0.64,310.5,628.8,13.8,965,11595,0.00,2.12,0.00,0.000,6,0.000,0.044,2916,1572,1672
$GC,11899,0.68,310.5,586.4,13.3,981,11903,0.15,2.17,0.00,0.000,4,0.073,0.061,2984,213,1672
$GC,11936,0.55,310.5,580.4,17.7,982,11944,0.17,2.10,0.00,0.000,6,0.156,0.045,2929,1562,1671
$GC,12246,0.55,310.5,536.4,12.9,998,12250,0.00,2.22,0.00,0.000,4,0.000,0.050,2930,2988,1671
$GC,12321,0.62,332.2,527.2,11.3,1001,12355,0.00,2.20,21.45,1.072,6,0.000,0.044,2929,1572,1591
$GC,12660,0.64,351.1,488.1,11.4,1023,12691,0.00,2.28,19.40,1.021,4,0.000,0.051,2930,2984,1514
$GC,12717,0.72,372.2,481.6,11.3,1028,12748,0.12,2.22,22.73,1.031,6,0.061,0.044,2992,1585,1429
$GC,13054,0.57,372.2,424.3,15.9,1061,13058,0.22,2.20,0.00,0.000,4,0.162,0.058,2931,200,1420
$GC,13118,0.73,426.6,416.8,10.2,1067,13178,0.10,2.15,50.67,1.066,6,0.066,0.044,2984,1566,1207
$GC,13488,0.60,426.6,354.9,17.9,1102,13492,0.17,2.25,0.00,0.000,4,0.156,0.050,2939,2991,1196
$GC,13535,0.66,426.6,348.0,12.6,1106,13544,0.00,2.25,0.00,0.000,6,0.000,0.044,2938,1565,1196
$GC,13853,0.86,480.0,314.0,10.2,1137,13903,0.22,0.00,46.00,1.019,6,0.057,0.000,3038,1565,989
$GC,14221,0.62,480.0,226.9,23.5,1199,14228,0.32,2.22,0.00,0.000,4,0.151,0.048,2945,2992,980
$GC,14248,0.55,480.0,221.8,18.4,1204,14254,0.00,2.22,0.00,0.000,6,0.000,0.044,2945,1582,980
$GC,14574,0.76,484.0,182.3,11.9,1265,14581,0.12,2.17,0.00,0.000,4,0.073,0.058,3004,210,978
$GC,14607,0.76,484.0,177.6,14.2,1271,14613,0.00,2.15,0.00,0.000,6,0.000,0.042,3004,1593,977
$GC,14933,0.76,484.0,121.6,13.5,1332,14939,0.00,2.20,0.00,0.000,4,0.000,0.056,3004,207,977
$GC,14976,0.81,496.3,116.2,11.6,1340,14996,0.00,2.10,13.40,0.806,6,0.000,0.041,3005,1566,922
$GC,15317,1.02,600.5,84.0,8.6,1403,15411,0.17,2.33,88.80,0.822,4,0.057,0.044,3094,2989,497
$GC,15495,1.02,600.5,56.1,13.5,1434,15503,0.00,2.25,0.00,0.000,6,0.000,0.039,3095,1567,491
$STATE,15805,end climb,SURFACE_DEPTH_REACHED
$STATE,15805,begin surface coast
$FINISH,-0.2,1.022005
$STATE,15821,end surface coast,CONTROL_FINISHED_OK
$STATE,15821,begin surface
$SM_CCo,15895,0.00,0.000,0,0,487,603.44
$SM_GC,0.50,7.78,0.00,0.00,0.037,0.000,0.000,113,1445,487,-8.14,-0.74,603.44
$IRIDIUM_FIX,2507.97,12241.25,040998,181841
$TT8_MAMPS,0.049855
$HUMID,1588
$INTERNAL_PRESSURE,8.88952
$TCM_TEMP,24.90
$XPDR_PINGS,21
$24V_AH,23.0,32.669
$10V_AH,10.6,19.970
$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,22.750,140.750,747.500,0.000,0.000,30.786,38.302,201.050,13.250,0.000,0.000,16.032,0.000,11328.451,872.563,3534.154,508.126,0.000,2244.148,0.000,2999.382,0.000,53.933,0.000
$DEVICE_MAMPS,207.090,67.496,1487.213,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1014.739,1030.068,1726.913,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85175,1495
$CAP_FILE_SIZE,164911,0
$CFSIZE,260165632,246497280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.226,  6.7,1
$GPS,110609,023306,2515.442,12242.226,39,1.1,39,-3.6