version: 66.04
glider: 164
mission: 3
dive: 20
start: 5 24 109 13 23 32
data:
$ID,164
$MISSION,3
$DIVE,20
$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,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$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,-33579.289
$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,22.5
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1471
$C_ROLL_CLIMB,1694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,36
$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
$GPS1,131337,2525.059,12343.313,35,1.6,35,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-70.0
$GPS2,132326,2525.085,12343.401,11,1.7,11,-3.8
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_5
$TGT_LATLONG,2514.000,12340.000
$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,244.3,21306,-15.7,-10.000
$D_GRID,1565
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.94,-194.7,0.0,0.0,0,77,0.00,0.00,-63.42,0.000,2,0.000,0.000,117,1437,2885
$GC,78,-0.94,-194.7,3.3,-8.0,10,110,8.90,1.88,-16.65,0.000,4,0.226,0.062,2436,225,3744
$GC,349,-0.47,-194.7,73.7,-23.8,60,356,0.45,1.90,0.00,0.000,6,0.153,0.035,2583,1482,3746
$GC,676,-0.57,-194.7,111.9,-10.2,121,683,0.00,1.95,0.00,0.000,4,0.000,0.048,2583,225,3747
$GC,762,-0.69,-194.7,120.6,-9.6,137,768,0.15,1.88,0.00,0.000,6,0.047,0.036,2501,1473,3747
$GC,1088,-0.56,-194.7,168.2,-16.0,198,1095,0.20,1.90,0.00,0.000,4,0.126,0.048,2561,228,3747
$GC,1137,-0.63,-194.7,174.2,-11.4,207,1144,0.00,1.85,0.00,0.000,6,0.000,0.037,2562,1465,3747
$GC,1464,-0.77,-194.7,206.1,-8.8,268,1471,0.20,2.10,0.00,0.000,4,0.054,0.041,2470,2877,3748
$GC,1491,-0.69,-194.7,209.3,-12.7,273,1498,0.12,2.08,0.00,0.000,6,0.117,0.035,2515,1482,3748
$GC,1817,-0.69,-194.7,250.9,-12.3,334,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,1481,3748
$GC,2137,-0.69,-194.7,286.2,-10.1,394,2144,0.00,1.92,0.00,0.000,4,0.000,0.048,2516,214,3747
$GC,2244,-0.69,-194.7,298.6,-11.5,414,2251,0.00,1.90,0.00,0.000,6,0.000,0.035,2516,1488,3748
$GC,2561,-0.76,-194.7,331.5,-9.6,446,2565,0.00,2.08,0.00,0.000,4,0.000,0.041,2516,2881,3748
$GC,2614,-0.91,-194.7,335.9,-8.1,451,2618,0.15,2.08,0.00,0.000,6,0.044,0.036,2434,1488,3747
$GC,2934,-0.70,-194.7,377.2,-13.6,482,2936,0.28,0.00,0.00,0.000,6,0.127,0.000,2520,1488,3746
$GC,3246,-0.82,-194.7,403.7,-7.8,512,3249,0.12,1.90,0.00,0.000,4,0.070,0.049,2463,214,3745
$GC,3320,-0.70,-194.7,412.1,-12.1,519,3324,0.15,1.90,0.00,0.000,6,0.123,0.035,2514,1489,3745
$GC,3641,-0.82,-194.7,438.1,-8.0,550,3641,0.00,0.00,0.00,0.000,6,0.000,0.000,2514,1490,3743
$GC,3952,-0.92,-194.7,462.0,-8.0,580,3955,0.20,2.03,0.00,0.000,4,0.058,0.043,2422,2874,3741
$GC,3983,-0.78,-194.7,465.4,-11.7,583,3987,0.20,2.08,0.00,0.000,6,0.124,0.038,2491,1493,3740
$GC,4303,-0.83,-194.7,493.9,-8.5,614,4307,0.00,1.95,0.00,0.000,4,0.000,0.051,2491,217,3739
$GC,4351,-0.83,-194.7,498.2,-9.1,618,4358,0.00,1.88,0.00,0.000,6,0.000,0.037,2491,1471,3739
$GC,4662,-0.89,-194.7,523.7,-8.1,635,4663,0.12,0.00,0.00,0.000,6,0.073,0.000,2436,1471,3736
$GC,4967,-0.77,-194.7,557.2,-11.5,650,4971,0.20,2.15,0.00,0.000,4,0.133,0.046,2495,2881,3734
$GC,4999,-0.91,-194.7,560.0,-8.1,651,5003,0.10,2.12,0.00,0.000,6,0.054,0.041,2438,1474,3733
$GC,5315,-0.80,-194.7,596.6,-11.6,667,5319,0.17,1.92,0.00,0.000,4,0.132,0.054,2489,223,3731
$GC,5346,-0.80,-194.7,599.9,-10.1,668,5354,0.00,1.90,0.00,0.000,6,0.000,0.038,2489,1485,3731
$GC,5664,-0.87,-194.7,629.6,-8.8,684,5664,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1485,3729
$GC,5969,-0.95,-194.7,653.6,-7.0,699,5973,0.15,1.95,0.00,0.000,4,0.068,0.056,2425,210,3726
$GC,6021,-0.77,-194.7,659.1,-11.5,701,6026,0.20,1.92,0.00,0.000,6,0.130,0.039,2490,1489,3726
$GC,6338,-0.86,-194.7,682.2,-7.4,717,6342,0.00,2.10,0.00,0.000,4,0.000,0.048,2490,2871,3724
$GC,6390,-1.01,-194.7,686.2,-7.4,719,6395,0.17,2.08,0.00,0.000,6,0.051,0.043,2405,1503,3723
$GC,6706,-0.83,-194.7,724.3,-12.7,735,6708,0.25,0.00,0.00,0.000,6,0.135,0.000,2481,1503,3721
$GC,7011,-0.89,-194.7,748.9,-8.0,750,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1503,3720
$GC,7317,-0.97,-194.7,773.1,-7.7,765,7321,0.15,2.00,0.00,0.000,4,0.073,0.060,2417,217,3717
$GC,7391,-0.77,-194.7,781.7,-12.3,768,7395,0.22,1.92,0.00,0.000,6,0.132,0.043,2493,1484,3717
$GC,7708,-0.88,-194.7,808.1,-8.7,784,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,1484,3716
$GC,8012,-1.01,-194.7,835.3,-8.9,799,8013,0.22,0.00,0.00,0.000,6,0.064,0.000,2402,1485,3714
$GC,8317,-0.83,-194.7,873.1,-12.4,814,8321,0.25,2.12,0.00,0.000,4,0.140,0.053,2477,2869,3713
$GC,8343,-0.89,-194.7,875.6,-9.0,815,8347,0.00,2.10,0.00,0.000,6,0.000,0.047,2477,1499,3712
$GC,8665,-0.97,-194.7,904.3,-9.4,831,8666,0.12,0.00,0.00,0.000,6,0.077,0.000,2423,1498,3711
$GC,8969,-0.86,-194.7,939.3,-11.6,846,8974,0.15,2.00,0.00,0.000,4,0.144,0.062,2465,217,3709
$GC,9034,-0.86,-194.7,946.1,-10.4,849,9037,0.00,1.95,0.00,0.000,6,0.000,0.044,2465,1491,3709
$GC,9360,-0.86,-194.7,978.4,-10.3,865,9361,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1491,3708
$STATE,9481,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9481,begin apogee
$GC,9484,-0.22,0.0,991.4,10.7,871,9647,0.62,0.00,160.18,1.469,6,0.119,0.000,2673,1700,2947
$STATE,9647,end apogee,CONTROL_FINISHED_OK
$STATE,9647,begin climb
$GC,9649,0.94,194.7,999.9,0.0,879,9827,1.10,2.47,170.55,1.423,4,0.068,0.061,3049,289,2152
$GC,9847,0.32,194.7,982.3,18.1,889,9851,0.68,2.30,0.00,0.000,6,0.179,0.043,2854,1691,2149
$GC,10173,0.59,326.7,963.1,5.4,905,10300,0.22,2.45,116.65,1.399,4,0.067,0.061,2944,288,1613
$GC,10357,0.40,326.7,938.4,17.3,913,10364,0.20,2.25,0.00,0.000,6,0.153,0.043,2882,1680,1607
$GC,10668,0.50,326.7,904.4,10.6,929,10672,0.00,2.28,0.00,0.000,4,0.000,0.062,2882,287,1601
$GC,10715,0.62,326.7,899.5,10.8,931,10720,0.15,2.17,0.00,0.000,6,0.061,0.044,2950,1673,1601
$GC,11037,0.37,326.7,843.6,18.5,947,11039,0.30,0.00,0.00,0.000,6,0.161,0.000,2865,1673,1600
$GC,11342,0.58,339.4,812.4,9.6,962,11357,0.20,2.25,10.07,1.200,4,0.070,0.063,2946,296,1562
$GC,11416,0.43,339.4,801.1,17.4,965,11420,0.20,2.15,0.00,0.000,6,0.152,0.045,2883,1668,1561
$GC,11732,0.56,344.6,767.0,9.8,981,11742,0.12,2.20,5.75,1.011,4,0.081,0.063,2935,290,1541
$GC,11790,0.48,344.6,759.4,13.7,984,11794,0.10,2.12,0.00,0.000,6,0.150,0.047,2904,1648,1541
$GC,12116,0.48,344.6,720.3,11.4,1000,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1648,1539
$GC,12421,0.48,344.6,687.0,11.3,1015,12425,0.00,2.17,0.00,0.000,4,0.000,0.063,2904,289,1538
$GC,12474,0.57,344.6,681.3,10.6,1017,12478,0.00,2.10,0.00,0.000,6,0.000,0.048,2904,1638,1538
$GC,12790,0.74,375.0,652.3,9.0,1033,12833,0.22,2.22,30.40,1.174,4,0.064,0.063,2998,298,1416
$GC,13003,0.49,375.0,618.0,18.1,1043,13007,0.30,2.08,0.00,0.000,6,0.160,0.046,2906,1609,1411
$GC,13329,0.68,405.5,586.7,8.9,1059,13373,0.17,2.22,29.65,1.120,4,0.070,0.061,2984,282,1292
$GC,13425,0.50,405.5,572.3,16.2,1063,13429,0.25,2.10,0.00,0.000,6,0.155,0.046,2909,1595,1290
$GC,13741,0.69,423.9,540.1,9.4,1079,13770,0.17,2.17,19.30,1.021,4,0.068,0.062,2984,290,1217
$GC,13816,0.52,423.9,528.6,16.6,1082,13823,0.20,2.08,0.00,0.000,6,0.155,0.047,2923,1586,1214
$GC,14128,0.61,423.9,493.2,10.7,1101,14132,0.00,2.10,0.00,0.000,4,0.000,0.063,2923,288,1210
$GC,14213,0.79,430.2,484.9,9.8,1109,14225,0.17,2.03,5.90,0.878,6,0.056,0.048,3001,1572,1193
$GC,14534,0.49,430.2,423.8,19.8,1140,14535,0.35,0.00,0.00,0.000,6,0.162,0.000,2902,1572,1190
$GC,14845,0.84,467.1,395.4,8.7,1170,14888,0.32,0.00,36.30,1.003,6,0.051,0.000,3034,1572,1042
$GC,15194,0.50,467.1,311.6,25.3,1204,15196,0.43,0.00,0.00,0.000,6,0.156,0.000,2910,1572,1034
$GC,15513,0.93,513.3,276.0,8.4,1256,15562,0.35,2.12,40.30,0.947,4,0.048,0.059,3057,296,852
$GC,15609,0.65,513.3,255.5,22.7,1273,15615,0.32,2.00,0.00,0.000,6,0.146,0.043,2957,1555,849
$GC,15934,0.83,513.3,214.2,11.2,1334,15941,0.15,2.40,0.00,0.000,4,0.066,0.049,3021,3091,845
$GC,15956,0.83,513.3,210.7,16.3,1338,15963,0.00,2.42,0.00,0.000,6,0.000,0.046,3024,1549,845
$GC,16282,0.76,513.3,148.8,18.8,1399,16290,0.12,2.40,0.00,0.000,4,0.158,0.048,2991,3098,844
$GC,16305,0.76,513.3,145.1,16.5,1403,16313,0.00,2.40,0.00,0.000,6,0.000,0.045,2992,1555,843
$GC,16633,0.88,513.3,100.3,12.0,1464,16639,0.10,1.98,0.00,0.000,4,0.077,0.057,3043,293,844
$GC,16702,0.88,513.3,89.6,16.1,1477,16709,0.00,1.92,0.00,0.000,6,0.000,0.040,3043,1551,844
$GC,17029,0.93,513.3,42.7,14.0,1538,17035,0.00,2.38,0.00,0.000,4,0.000,0.044,3043,3105,844
$GC,17087,1.02,513.3,34.5,13.6,1549,17094,0.00,2.40,0.00,0.000,6,0.000,0.041,3043,1537,844
$STATE,17343,end climb,SURFACE_DEPTH_REACHED
$STATE,17343,begin surface coast
$FINISH,-0.1,1.021986
$STATE,17370,end surface coast,CONTROL_FINISHED_OK
$STATE,17370,begin surface
$SM_CCo,17443,0.00,0.000,0,0,843,516.11
$SM_GC,0.55,7.53,0.00,0.00,0.038,0.000,0.000,113,1452,843,-8.15,-0.54,516.11
$IRIDIUM_FIX,2515.12,12340.74,180898,080840
$TT8_MAMPS,0.050622
$HUMID,1475
$INTERNAL_PRESSURE,8.93835
$TCM_TEMP,26.00
$XPDR_PINGS,13
$24V_AH,23.6,7.635
$10V_AH,10.7,4.170
$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,28.700,130.225,625.050,0.000,0.000,28.951,33.421,394.706,11.250,0.000,0.000,13.171,0.000,12816.229,798.352,3685.756,698.385,0.000,2152.145,0.000,3113.964,0.000,53.983,0.000
$DEVICE_MAMPS,226.265,88.972,1468.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1086.743,1080.813,1808.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91722,1602
$CAP_FILE_SIZE,183653,0
$CFSIZE,260165632,255922176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$CURRENT,0.236, 86.1,1
$GPS,240509,181506,2523.873,12343.120,32,1.4,32,-3.8