version: 66.04
glider: 164
mission: 3
dive: 21
start: 5 24 109 18 22 49
data:
$ID,164
$MISSION,3
$DIVE,21
$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,-33594.633
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,181506,2523.873,12343.120,32,1.4,32,-3.8
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-66.1
$GPS2,182244,2523.900,12343.235,13,1.5,13,-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,245.3,19120,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.94,-194.7,0.0,0.0,0,90,0.00,0.00,-75.82,0.000,2,0.000,0.000,113,1451,2985
$GC,92,-0.94,-194.7,3.3,-8.1,11,119,8.73,2.22,-14.15,0.000,4,0.219,0.053,2428,2886,3745
$GC,358,-0.52,-194.7,71.1,-21.6,60,365,0.43,2.15,0.00,0.000,6,0.127,0.036,2569,1470,3747
$GC,685,-0.59,-194.7,110.7,-11.7,121,691,0.00,2.15,0.00,0.000,4,0.000,0.041,2569,2889,3748
$GC,759,-0.74,-194.7,118.6,-10.2,135,766,0.15,2.12,0.00,0.000,6,0.043,0.036,2485,1473,3749
$GC,1086,-0.56,-194.7,170.6,-17.8,196,1093,0.25,1.90,0.00,0.000,4,0.122,0.046,2563,220,3749
$GC,1311,-0.67,-194.7,196.1,-10.7,238,1319,0.08,1.85,0.00,0.000,6,0.060,0.036,2513,1459,3749
$GC,1638,-0.67,-194.7,236.1,-12.0,299,1644,0.00,1.90,0.00,0.000,4,0.000,0.048,2513,217,3749
$GC,1664,-0.67,-194.7,239.3,-13.0,304,1672,0.00,1.85,0.00,0.000,6,0.000,0.036,2513,1455,3749
$GC,1991,-0.67,-194.7,276.0,-11.3,365,1997,0.00,2.10,0.00,0.000,4,0.000,0.040,2513,2866,3750
$GC,2066,-0.76,-194.7,283.7,-10.2,379,2072,0.00,2.12,0.00,0.000,6,0.000,0.036,2513,1443,3750
$GC,2391,-0.81,-194.7,316.7,-9.6,425,2395,0.00,1.88,0.00,0.000,4,0.000,0.048,2513,210,3749
$GC,2438,-0.81,-194.7,321.5,-10.3,429,2445,0.00,1.88,0.00,0.000,6,0.000,0.035,2513,1459,3749
$GC,2754,-0.86,-194.7,351.6,-9.9,460,2758,0.12,2.10,0.00,0.000,4,0.067,0.041,2448,2872,3749
$GC,2802,-0.76,-194.7,357.3,-12.3,464,2809,0.12,2.12,0.00,0.000,6,0.121,0.036,2492,1450,3749
$GC,3118,-0.76,-194.7,388.1,-9.4,495,3121,0.00,1.88,0.00,0.000,4,0.000,0.048,2492,217,3748
$GC,3192,-0.76,-194.7,395.7,-10.4,502,3196,0.00,1.83,0.00,0.000,6,0.000,0.035,2493,1444,3747
$GC,3513,-0.76,-194.7,427.7,-10.0,533,3517,0.00,2.12,0.00,0.000,4,0.000,0.042,2493,2869,3747
$GC,3539,-0.84,-194.7,430.4,-10.1,535,3545,0.00,2.12,0.00,0.000,6,0.000,0.037,2493,1451,3746
$GC,3855,-0.84,-194.7,463.1,-9.8,566,3859,0.00,1.90,0.00,0.000,4,0.000,0.050,2493,210,3745
$GC,3891,-0.84,-194.7,466.9,-10.6,569,3898,0.00,1.88,0.00,0.000,6,0.000,0.035,2493,1458,3744
$GC,4208,-0.84,-194.7,496.7,-9.4,600,4211,0.00,2.10,0.00,0.000,4,0.000,0.044,2493,2879,3742
$GC,4266,-0.94,-194.7,502.2,-9.4,604,4273,0.12,2.12,0.00,0.000,6,0.051,0.038,2425,1463,3742
$GC,4576,-0.78,-194.7,543.5,-13.7,620,4577,0.22,0.00,0.00,0.000,6,0.130,0.000,2494,1463,3741
$GC,4882,-0.85,-194.7,571.3,-9.0,635,4885,0.00,1.90,0.00,0.000,4,0.000,0.054,2494,210,3739
$GC,4925,-0.85,-194.7,575.4,-9.9,637,4928,0.00,1.85,0.00,0.000,6,0.000,0.038,2494,1467,3738
$GC,5251,-0.93,-194.7,602.1,-7.4,653,5254,0.15,2.10,0.00,0.000,4,0.068,0.046,2429,2884,3735
$GC,5281,-0.83,-194.7,605.0,-10.2,654,5286,0.12,2.15,0.00,0.000,6,0.130,0.041,2471,1464,3735
$GC,5597,-0.83,-194.7,632.4,-8.7,670,5598,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1464,3734
$GC,5903,-0.83,-194.7,659.3,-9.4,685,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1465,3731
$GC,6208,-0.83,-194.7,687.7,-9.7,700,6212,0.00,2.15,0.00,0.000,4,0.000,0.048,2471,2869,3729
$GC,6266,-0.90,-194.7,693.2,-9.0,702,6275,0.00,2.12,0.00,0.000,6,0.000,0.043,2472,1471,3728
$GC,6576,-0.90,-194.7,720.7,-8.8,718,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1472,3727
$GC,6882,-0.90,-194.7,747.2,-8.7,733,6883,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1472,3725
$GC,7187,-0.94,-194.7,772.4,-8.2,748,7188,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1472,3723
$GC,7493,-0.99,-194.7,796.4,-7.7,763,7494,0.15,0.00,0.00,0.000,6,0.070,0.000,2406,1472,3721
$GC,7797,-0.82,-194.7,828.7,-10.4,778,7799,0.25,0.00,0.00,0.000,6,0.138,0.000,2481,1471,3719
$GC,8104,-0.90,-194.7,850.5,-7.1,793,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1472,3718
$GC,8408,-0.98,-194.7,873.0,-7.7,808,8412,0.15,2.15,0.00,0.000,4,0.073,0.052,2417,2872,3716
$GC,8450,-0.90,-194.7,877.1,-10.5,810,8455,0.08,2.12,0.00,0.000,6,0.143,0.047,2444,1480,3716
$GC,8776,-0.90,-194.7,908.2,-9.4,826,8781,0.00,1.98,0.00,0.000,4,0.000,0.062,2444,222,3714
$GC,8862,-0.83,-194.7,916.9,-10.3,830,8866,0.08,1.88,0.00,0.000,6,0.144,0.044,2471,1455,3714
$GC,9189,-0.89,-194.7,941.7,-7.3,846,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1457,3713
$GC,9494,-0.95,-194.7,964.8,-7.4,861,9497,0.00,1.98,0.00,0.000,4,0.000,0.064,2471,210,3711
$GC,9519,-0.95,-194.7,967.0,-9.0,862,9524,0.00,1.90,0.00,0.000,6,0.000,0.044,2471,1461,3711
$STATE,9819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9819,begin apogee
$GC,9823,-0.22,0.0,990.3,8.0,877,9985,0.60,0.00,160.38,1.463,6,0.117,0.000,2672,1694,2947
$STATE,9986,end apogee,CONTROL_FINISHED_OK
$STATE,9986,begin climb
$GC,9987,0.94,194.7,994.8,0.0,885,10166,1.08,2.45,169.45,1.417,4,0.070,0.061,3045,296,2152
$GC,10219,0.33,194.7,964.7,22.4,896,10223,0.68,2.25,0.00,0.000,6,0.179,0.043,2856,1683,2146
$GC,10546,0.49,221.4,933.5,9.1,912,10575,0.15,2.35,23.12,1.330,4,0.074,0.062,2917,295,2043
$GC,10662,0.39,221.4,918.7,14.1,917,10666,0.12,2.17,0.00,0.000,6,0.153,0.043,2868,1670,2039
$GC,10978,0.48,221.4,886.0,10.1,933,10982,0.00,2.22,0.00,0.000,4,0.000,0.062,2868,297,2035
$GC,11057,0.60,221.4,877.8,10.7,936,11064,0.15,2.12,0.00,0.000,6,0.062,0.044,2937,1662,2035
$GC,11367,0.40,221.4,832.2,15.0,952,11372,0.22,2.20,0.00,0.000,4,0.159,0.062,2873,289,2034
$GC,11410,0.47,221.4,827.2,11.1,954,11414,0.00,2.10,0.00,0.000,6,0.000,0.044,2874,1649,2034
$GC,11736,0.59,245.9,796.4,9.2,970,11761,0.17,2.25,21.20,1.303,4,0.069,0.063,2948,294,1943
$GC,11824,0.38,245.9,784.5,14.6,974,11828,0.25,2.12,0.00,0.000,6,0.153,0.045,2871,1643,1940
$GC,12151,0.56,292.9,755.2,8.4,990,12204,0.17,2.22,43.97,1.259,4,0.071,0.062,2946,296,1752
$GC,12247,0.41,292.9,742.7,13.3,994,12254,0.20,2.15,0.00,0.000,6,0.150,0.046,2871,1628,1747
$GC,12557,0.63,331.2,714.6,8.7,1010,12602,0.22,2.28,36.15,1.210,4,0.064,0.062,2961,294,1594
$GC,12671,0.42,331.2,696.5,17.7,1015,12675,0.25,2.12,0.00,0.000,6,0.154,0.046,2873,1617,1590
$GC,12993,0.69,375.0,666.7,8.5,1031,13038,0.22,2.45,39.08,1.241,4,0.064,0.053,2971,3096,1417
$GC,13049,0.49,375.0,658.7,15.1,1033,13056,0.22,2.40,0.00,0.000,6,0.166,0.048,2906,1631,1414
$GC,13360,0.55,375.0,619.9,11.9,1049,13363,0.00,2.17,0.00,0.000,4,0.000,0.063,2906,292,1407
$GC,13423,0.68,375.0,612.7,10.5,1052,13427,0.12,2.10,0.00,0.000,6,0.061,0.048,2965,1621,1406
$GC,13749,0.44,375.0,550.8,20.6,1068,13754,0.28,2.33,0.00,0.000,4,0.160,0.054,2887,3099,1404
$GC,13775,0.44,375.0,546.3,17.0,1069,13780,0.00,2.30,0.00,0.000,6,0.000,0.048,2887,1635,1404
$GC,14098,0.68,379.4,512.4,9.8,1085,14101,0.22,2.10,0.00,0.000,4,0.061,0.062,2984,280,1403
$GC,14198,0.45,379.4,495.0,19.3,1090,14207,0.30,2.08,0.00,0.000,6,0.156,0.047,2891,1607,1402
$GC,14514,0.71,396.2,462.6,9.4,1121,14538,0.22,2.10,16.95,1.066,4,0.063,0.061,2985,289,1333
$GC,14558,0.54,396.2,455.9,18.1,1125,14562,0.20,2.05,0.00,0.000,6,0.158,0.048,2924,1587,1331
$GC,14879,0.59,396.2,413.7,12.8,1156,14883,0.00,2.38,0.00,0.000,4,0.000,0.052,2923,3102,1328
$GC,14911,0.64,396.2,409.6,12.8,1159,14915,0.00,2.35,0.00,0.000,6,0.000,0.048,2923,1600,1327
$GC,15232,0.75,401.1,374.9,9.8,1190,15245,0.17,2.05,5.72,0.803,4,0.068,0.060,2999,288,1310
$GC,15276,0.57,401.1,368.3,16.4,1194,15280,0.22,2.03,0.00,0.000,6,0.152,0.045,2928,1587,1309
$GC,15597,0.69,401.1,334.3,10.8,1225,15598,0.12,0.00,0.00,0.000,6,0.077,0.000,2985,1587,1308
$GC,15911,0.55,401.1,277.6,18.4,1266,15919,0.22,2.33,0.00,0.000,4,0.153,0.049,2920,3100,1308
$GC,15939,0.55,401.1,273.4,14.3,1271,15945,0.00,2.35,0.00,0.000,6,0.000,0.046,2921,1588,1308
$GC,16265,0.88,469.4,245.3,7.6,1332,16334,0.30,2.12,59.45,0.914,4,0.050,0.057,3052,297,1031
$GC,16354,0.59,469.4,227.5,24.8,1347,16360,0.35,2.05,0.00,0.000,6,0.143,0.042,2934,1584,1028
$GC,16680,0.93,501.0,195.5,8.9,1408,16713,0.30,2.08,27.48,0.843,4,0.048,0.055,3065,293,902
$GC,16804,0.71,501.0,170.3,21.3,1430,16811,0.28,2.00,0.00,0.000,6,0.142,0.041,2977,1568,898
$GC,17131,0.87,501.0,128.9,11.8,1491,17138,0.15,2.38,0.00,0.000,4,0.061,0.046,3050,3104,895
$GC,17169,0.76,501.0,122.7,17.8,1498,17176,0.17,2.38,0.00,0.000,6,0.143,0.043,2996,1573,895
$GC,17496,0.94,501.0,81.8,11.8,1559,17503,0.15,2.03,0.00,0.000,4,0.061,0.056,3068,284,895
$GC,17534,0.88,501.0,75.4,18.6,1566,17542,0.12,1.95,0.00,0.000,6,0.140,0.040,3027,1557,895
$GC,17862,1.15,552.2,34.5,8.2,1627,17913,0.25,2.40,42.40,0.713,4,0.048,0.044,3137,3115,693
$GC,17928,0.96,552.2,23.9,18.7,1638,17935,0.22,2.40,0.00,0.000,6,0.144,0.041,3055,1586,692
$STATE,18078,end climb,SURFACE_DEPTH_REACHED
$STATE,18078,begin surface coast
$FINISH,0.6,1.021863
$STATE,18104,end surface coast,CONTROL_FINISHED_OK
$STATE,18104,begin surface
$SM_CCo,18177,0.00,0.000,0,0,687,554.38
$SM_GC,0.44,7.85,0.00,0.00,0.053,0.000,0.000,118,1450,687,-8.14,-0.57,554.38
$IRIDIUM_FIX,2515.12,12346.04,180898,131337
$TT8_MAMPS,0.049088
$HUMID,1441
$INTERNAL_PRESSURE,8.94812
$TCM_TEMP,26.10
$XPDR_PINGS,8
$24V_AH,23.6,7.885
$10V_AH,10.7,4.322
$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,28.175,157.425,645.350,0.000,0.000,31.069,34.609,288.621,10.000,0.000,0.000,14.715,0.000,13325.598,802.593,3885.608,590.706,0.000,2272.147,0.000,3286.282,0.000,54.980,0.000
$DEVICE_MAMPS,218.595,63.661,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1131.437,1120.752,1872.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94649,1671
$CAP_FILE_SIZE,191127,0
$CFSIZE,260165632,255815680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.236, 71.1,1
$GPS,240509,232637,2523.555,12342.713,32,1.0,32,-3.8