version: 66.04
glider: 164
mission: 3
dive: 23
start: 5 25 109 4 38 46
data:
$ID,164
$MISSION,3
$DIVE,23
$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,-33626.348
$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,21.5
$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,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,38
$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
$GPS1,042654,2522.605,12342.701,37,1.2,37,-3.8
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-63.5
$GPS2,043826,2522.467,12342.903,14,1.2,14,-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,246.0,16418,-15.7,-10.000
$D_GRID,1867
$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,-0.97,-194.7,0.0,0.0,0,103,0.00,0.00,-89.47,0.000,2,0.000,0.000,116,1485,3008
$GC,105,-0.97,-194.7,3.7,-9.2,14,132,8.60,2.05,-13.52,0.000,4,0.213,0.068,2425,204,3745
$GC,371,-0.51,-194.7,78.9,-26.7,63,378,0.45,1.92,0.00,0.000,6,0.126,0.035,2570,1475,3747
$GC,698,-0.57,-194.7,121.8,-11.1,124,704,0.00,1.98,0.00,0.000,4,0.000,0.051,2570,209,3748
$GC,944,-0.68,-194.7,146.4,-8.8,170,952,0.10,1.90,0.00,0.000,6,0.054,0.036,2509,1466,3749
$GC,1271,-0.62,-194.7,186.1,-13.2,231,1277,0.12,0.00,0.00,0.000,6,0.133,0.000,2544,1466,3749
$GC,1596,-0.72,-194.7,215.7,-7.4,292,1603,0.00,1.92,0.00,0.000,4,0.000,0.048,2544,211,3749
$GC,1634,-0.81,-194.7,218.8,-8.3,299,1640,0.15,1.90,0.00,0.000,6,0.046,0.037,2462,1482,3749
$GC,1960,-0.63,-194.7,261.1,-12.9,360,1967,0.25,1.95,0.00,0.000,4,0.124,0.048,2541,207,3749
$GC,2014,-0.74,-194.7,266.4,-9.4,370,2022,0.08,1.88,0.00,0.000,6,0.058,0.036,2489,1464,3749
$GC,2341,-0.74,-194.7,304.3,-11.7,428,2341,0.00,0.00,0.00,0.000,6,0.000,0.000,2489,1464,3749
$GC,2651,-0.74,-194.7,340.8,-10.7,458,2655,0.00,2.10,0.00,0.000,4,0.000,0.041,2488,2869,3748
$GC,2698,-0.74,-194.7,345.5,-9.8,462,2707,0.00,2.10,0.00,0.000,6,0.000,0.036,2488,1467,3748
$GC,3015,-0.74,-194.7,375.2,-8.9,493,3019,0.00,1.92,0.00,0.000,4,0.000,0.050,2488,210,3747
$GC,3078,-0.68,-194.7,381.6,-10.7,499,3083,0.10,1.88,0.00,0.000,6,0.120,0.035,2524,1466,3747
$GC,3399,-0.81,-194.7,406.0,-7.8,530,3400,0.12,0.00,0.00,0.000,6,0.070,0.000,2464,1467,3745
$GC,3710,-0.74,-194.7,440.9,-11.7,560,3711,0.15,0.00,0.00,0.000,6,0.130,0.000,2508,1467,3743
$GC,4020,-0.82,-194.7,467.4,-7.5,590,4024,0.00,2.10,0.00,0.000,4,0.000,0.043,2508,2884,3741
$GC,4057,-0.98,-194.7,470.2,-7.2,593,4063,0.17,2.10,0.00,0.000,6,0.043,0.038,2415,1487,3741
$GC,4382,-0.77,-194.7,512.0,-13.7,621,4386,0.25,1.95,0.00,0.000,4,0.130,0.053,2492,214,3739
$GC,4503,-0.77,-194.7,525.0,-10.6,626,4513,0.00,1.88,0.00,0.000,6,0.000,0.036,2493,1465,3739
$GC,4814,-0.82,-194.7,552.1,-8.2,642,4818,0.00,2.12,0.00,0.000,4,0.000,0.044,2492,2874,3736
$GC,4883,-0.94,-194.7,557.5,-7.5,645,4888,0.10,2.12,0.00,0.000,6,0.054,0.039,2434,1466,3735
$GC,5205,-0.82,-194.7,593.5,-11.1,661,5206,0.15,0.00,0.00,0.000,6,0.139,0.000,2477,1466,3734
$GC,5510,-0.82,-194.7,619.7,-8.2,676,5514,0.00,1.95,0.00,0.000,4,0.000,0.055,2477,210,3731
$GC,5546,-0.82,-194.7,622.9,-9.2,677,5553,0.00,1.90,0.00,0.000,6,0.000,0.038,2478,1471,3731
$GC,5857,-0.87,-194.7,649.7,-9.0,693,5861,0.00,2.12,0.00,0.000,4,0.000,0.048,2478,2871,3729
$GC,5883,-0.96,-194.7,651.9,-9.1,694,5888,0.10,2.12,0.00,0.000,6,0.056,0.042,2422,1474,3728
$GC,6204,-0.82,-194.7,687.9,-11.1,710,6209,0.20,1.95,0.00,0.000,4,0.136,0.056,2482,214,3727
$GC,6273,-0.82,-194.7,694.4,-9.5,713,6278,0.00,1.90,0.00,0.000,6,0.000,0.040,2481,1467,3726
$GC,6595,-0.88,-194.7,720.0,-8.0,729,6599,0.00,2.12,0.00,0.000,4,0.000,0.049,2482,2879,3724
$GC,6621,-0.98,-194.7,722.1,-8.7,730,6625,0.12,2.12,0.00,0.000,6,0.054,0.043,2416,1487,3724
$GC,6943,-0.83,-194.7,758.3,-11.3,746,6944,0.20,0.00,0.00,0.000,6,0.137,0.000,2475,1487,3721
$GC,7248,-0.89,-194.7,784.0,-8.6,761,7248,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1487,3720
$GC,7552,-0.95,-194.7,810.3,-8.8,776,7556,0.12,2.12,0.00,0.000,4,0.076,0.051,2421,2870,3717
$GC,7579,-0.90,-194.7,813.2,-11.1,777,7583,0.08,2.15,0.00,0.000,6,0.144,0.046,2447,1469,3717
$GC,7900,-0.90,-194.7,845.1,-10.1,793,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1470,3716
$GC,8205,-0.90,-194.7,875.6,-10.3,808,8206,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1469,3715
$GC,8511,-0.90,-194.7,907.6,-10.5,823,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1469,3713
$GC,8815,-0.90,-194.7,939.7,-10.4,838,8816,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1469,3712
$GC,9121,-0.90,-194.7,968.6,-9.6,853,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1469,3710
$STATE,9363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9363,begin apogee
$GC,9367,-0.23,0.0,991.9,9.5,865,9530,0.65,0.00,160.15,1.460,6,0.120,0.000,2664,1607,2947
$STATE,9530,end apogee,CONTROL_FINISHED_OK
$STATE,9530,begin climb
$GC,9532,0.97,194.7,997.6,0.0,873,9710,1.10,2.42,170.10,1.411,4,0.077,0.061,3041,221,2152
$GC,9742,0.39,194.7,975.3,19.0,883,9746,0.57,2.25,0.00,0.000,6,0.177,0.044,2872,1593,2148
$GC,10068,0.52,266.4,948.7,7.5,899,10136,0.12,2.35,63.05,1.376,4,0.084,0.062,2921,210,1859
$GC,10162,0.42,266.4,938.7,12.1,903,10168,0.15,2.25,0.00,0.000,6,0.156,0.042,2884,1616,1855
$GC,10472,0.45,293.0,909.8,9.1,919,10506,0.00,2.35,25.15,1.231,4,0.000,0.064,2884,221,1751
$GC,10561,0.57,302.6,901.6,9.7,923,10578,0.10,2.17,9.55,1.174,6,0.065,0.044,2933,1586,1713
$GC,10882,0.40,302.6,856.0,14.5,939,10883,0.20,0.00,0.00,0.000,6,0.158,0.000,2879,1586,1707
$GC,11186,0.56,329.6,826.1,9.1,954,11224,0.15,2.30,26.58,1.226,4,0.077,0.064,2942,211,1602
$GC,11266,0.42,329.6,814.9,16.0,957,11273,0.17,2.17,0.00,0.000,6,0.149,0.046,2886,1574,1599
$GC,11577,0.54,338.2,783.1,9.7,973,11591,0.00,2.25,8.10,1.119,4,0.000,0.063,2886,215,1567
$GC,11613,0.67,338.2,779.6,10.2,974,11622,0.17,2.15,0.00,0.000,6,0.058,0.048,2964,1570,1566
$GC,11923,0.36,338.2,724.2,18.7,990,11925,0.35,0.00,0.00,0.000,6,0.162,0.000,2865,1570,1564
$GC,12229,0.69,401.4,697.9,7.8,1005,12299,0.28,2.28,60.28,1.234,4,0.060,0.064,2974,216,1308
$GC,12336,0.40,401.4,678.6,22.3,1010,12340,0.30,2.17,0.00,0.000,6,0.153,0.048,2874,1551,1303
$GC,12656,0.73,441.8,647.7,8.6,1026,12704,0.30,2.28,37.85,1.161,4,0.056,0.063,2998,213,1144
$GC,12731,0.38,441.8,632.9,25.8,1029,12735,0.43,2.17,0.00,0.000,6,0.159,0.047,2872,1549,1140
$GC,13047,0.83,502.7,602.9,7.9,1045,13115,0.38,2.40,57.22,1.154,4,0.051,0.054,3020,3010,896
$GC,13152,0.34,502.7,576.7,30.5,1050,13157,0.55,2.38,0.00,0.000,6,0.175,0.048,2858,1556,892
$GC,13479,1.20,502.7,539.3,12.9,1066,13483,0.77,2.15,0.00,0.000,4,0.080,0.064,3132,208,886
$GC,13521,0.88,502.7,532.2,20.2,1068,13526,0.35,2.10,0.00,0.000,6,0.183,0.046,3030,1537,885
$GC,13842,0.41,502.7,435.2,31.6,1093,13846,0.47,2.28,0.00,0.000,4,0.166,0.051,2883,3008,884
$GC,13904,0.71,502.7,424.3,10.4,1098,13913,0.20,2.33,0.00,0.000,6,0.046,0.048,2980,1527,884
$GC,14220,0.54,502.7,362.3,20.0,1129,14224,0.22,2.10,0.00,0.000,4,0.152,0.062,2916,208,883
$GC,14252,0.62,502.7,357.3,14.0,1132,14256,0.00,2.10,0.00,0.000,6,0.000,0.048,2916,1550,882
$GC,14574,1.05,566.5,328.6,7.8,1163,14635,0.45,0.00,54.53,0.985,6,0.047,0.000,3103,1549,636
$GC,14953,0.58,566.5,200.7,33.0,1225,14959,0.57,2.25,0.00,0.000,4,0.161,0.048,2934,3009,629
$GC,15022,0.87,566.5,188.1,11.9,1238,15030,0.20,2.30,0.00,0.000,6,0.044,0.045,3031,1541,629
$GC,15350,0.81,566.5,124.9,17.7,1299,15357,0.00,2.12,0.00,0.000,4,0.000,0.058,3031,207,627
$GC,15366,0.75,566.5,122.2,17.0,1302,15374,0.12,2.08,0.00,0.000,6,0.127,0.043,2989,1548,628
$GC,15694,1.20,635.7,92.3,7.6,1363,15732,0.38,2.17,30.05,0.769,4,0.042,0.056,3152,209,489
$GC,15763,0.94,635.7,78.0,26.3,1375,15770,0.32,2.08,0.00,0.000,6,0.142,0.040,3050,1539,487
$GC,16090,1.10,635.7,29.3,12.5,1436,16096,0.15,2.25,0.00,0.000,4,0.062,0.044,3119,3007,485
$GC,16111,1.10,635.7,25.8,15.4,1440,16117,0.00,2.30,0.00,0.000,6,0.000,0.042,3121,1522,485
$STATE,16227,end climb,SURFACE_DEPTH_REACHED
$STATE,16227,begin surface coast
$FINISH,0.0,1.021866
$STATE,16244,end surface coast,CONTROL_FINISHED_OK
$STATE,16244,begin surface
$SM_CCo,16318,0.00,0.000,0,0,484,604.17
$SM_GC,0.50,7.78,0.00,0.00,0.038,0.000,0.000,112,1457,484,-8.16,-0.40,604.17
$IRIDIUM_FIX,2515.12,12342.73,180898,232314
$TT8_MAMPS,0.049088
$HUMID,1491
$INTERNAL_PRESSURE,8.91882
$TCM_TEMP,26.00
$XPDR_PINGS,13
$24V_AH,23.6,8.458
$10V_AH,10.7,4.601
$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,29.600,123.475,702.600,0.000,0.000,28.820,32.795,527.435,11.250,0.000,0.000,15.841,0.000,11932.430,833.544,3427.896,802.205,0.000,2141.207,0.000,2882.950,0.000,55.673,0.000
$DEVICE_MAMPS,213.226,98.943,1460.368,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,992.389,1003.320,1678.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82103,1465
$CAP_FILE_SIZE,173983,0
$CFSIZE,260165632,255660032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$CURRENT,0.240, 91.8,1
$GPS,250509,091136,2521.043,12342.758,33,0.9,33,-3.8