version: 66.04
glider: 164
mission: 3
dive: 24
start: 5 25 109 9 17 55
data:
$ID,164
$MISSION,3
$DIVE,24
$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,-33641.594
$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,36
$R_STBD_OVSHOOT,31
$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
$GPS1,091136,2521.043,12342.758,33,0.9,33,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-65.5
$GPS2,091749,2521.018,12342.800,7,1.5,12,-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,248.6,13817,-15.7,-10.000
$D_GRID,1881
$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,-0.97,-194.7,0.0,0.0,0,101,0.00,0.00,-87.68,0.000,2,0.000,0.000,112,1455,2921
$GC,103,-0.97,-194.7,3.6,-10.1,13,135,8.62,2.22,-15.45,0.000,4,0.216,0.055,2428,2889,3745
$GC,374,-0.56,-194.7,72.0,-21.9,63,382,0.38,2.15,0.00,0.000,6,0.123,0.037,2554,1476,3747
$GC,701,-0.56,-194.7,117.7,-12.8,124,708,0.00,2.15,0.00,0.000,4,0.000,0.041,2554,2890,3748
$GC,863,-0.66,-194.7,133.1,-9.5,154,868,0.00,2.10,0.00,0.000,6,0.000,0.036,2554,1472,3749
$GC,1188,-0.72,-194.7,167.8,-10.6,215,1195,0.12,0.00,0.00,0.000,6,0.066,0.000,2487,1471,3749
$GC,1514,-0.58,-194.7,215.8,-14.5,276,1521,0.22,1.92,0.00,0.000,4,0.123,0.047,2557,204,3750
$GC,1563,-0.71,-194.7,221.6,-10.9,285,1569,0.10,1.95,0.00,0.000,6,0.054,0.036,2492,1512,3750
$GC,1889,-0.63,-194.7,261.0,-11.3,346,1896,0.15,1.98,0.00,0.000,4,0.130,0.047,2537,215,3750
$GC,1991,-0.70,-194.7,270.7,-9.5,365,1997,0.00,1.88,0.00,0.000,6,0.000,0.035,2537,1472,3750
$GC,2321,-0.81,-194.7,301.3,-9.2,426,2326,0.15,2.08,0.00,0.000,4,0.064,0.040,2461,2871,3750
$GC,2347,-0.75,-194.7,304.3,-12.2,428,2355,0.10,2.08,0.00,0.000,6,0.122,0.036,2497,1478,3750
$GC,2663,-0.75,-194.7,338.3,-9.8,459,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2497,1478,3750
$GC,2975,-0.75,-194.7,368.4,-9.9,489,2978,0.00,1.90,0.00,0.000,4,0.000,0.048,2497,210,3749
$GC,3005,-0.75,-194.7,371.9,-11.5,492,3009,0.00,1.90,0.00,0.000,6,0.000,0.035,2498,1486,3749
$GC,3327,-0.75,-194.7,402.0,-9.2,523,3330,0.00,2.08,0.00,0.000,4,0.000,0.041,2497,2876,3748
$GC,3348,-0.80,-194.7,403.9,-9.5,525,3352,0.00,2.05,0.00,0.000,6,0.000,0.036,2497,1503,3748
$GC,3669,-0.85,-194.7,433.1,-8.9,556,3672,0.00,1.95,0.00,0.000,4,0.000,0.049,2498,218,3746
$GC,3737,-0.85,-194.7,439.9,-9.3,562,3744,0.00,1.90,0.00,0.000,6,0.000,0.035,2498,1491,3746
$GC,4054,-0.91,-194.7,467.9,-8.7,593,4057,0.15,1.95,0.00,0.000,4,0.064,0.049,2428,204,3744
$GC,4160,-0.67,-194.7,482.2,-14.3,603,4164,0.28,1.90,0.00,0.000,6,0.119,0.035,2524,1480,3743
$GC,4490,-0.83,-194.7,508.5,-7.7,630,4493,0.15,2.05,0.00,0.000,4,0.067,0.044,2457,2874,3741
$GC,4568,-0.83,-194.7,516.1,-10.1,633,4575,0.00,2.10,0.00,0.000,6,0.000,0.038,2457,1477,3741
$GC,4880,-0.77,-194.7,548.1,-10.6,649,4884,0.12,2.10,0.00,0.000,4,0.140,0.045,2492,2870,3739
$GC,4916,-0.90,-194.7,551.6,-8.8,650,4923,0.08,2.08,0.00,0.000,6,0.059,0.039,2444,1497,3739
$GC,5226,-0.79,-194.7,587.4,-11.8,666,5228,0.15,0.00,0.00,0.000,6,0.137,0.000,2487,1497,3736
$GC,5532,-0.85,-194.7,615.2,-9.1,681,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1497,3735
$GC,5837,-0.92,-194.7,640.1,-7.8,696,5841,0.12,2.10,0.00,0.000,4,0.074,0.047,2429,2876,3732
$GC,5885,-0.84,-194.7,644.6,-9.7,698,5889,0.10,2.08,0.00,0.000,6,0.135,0.041,2464,1507,3731
$GC,6206,-0.84,-194.7,672.6,-8.9,714,6210,0.00,2.00,0.00,0.000,4,0.000,0.056,2464,215,3729
$GC,6296,-0.79,-194.7,681.5,-10.0,718,6301,0.00,1.92,0.00,0.000,6,0.000,0.039,2464,1489,3729
$GC,6617,-0.79,-194.7,710.8,-9.3,734,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1489,3727
$GC,6923,-0.79,-194.7,739.6,-9.4,749,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1489,3726
$GC,7228,-0.79,-194.7,766.5,-8.5,764,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1489,3723
$GC,7533,-0.79,-194.7,792.1,-8.2,779,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1489,3721
$GC,7838,-0.79,-194.7,816.6,-8.1,794,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1489,3720
$GC,8144,-0.79,-194.7,840.8,-8.0,809,8144,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1489,3718
$GC,8448,-0.79,-194.7,863.5,-7.2,824,8452,0.00,2.00,0.00,0.000,4,0.000,0.066,2464,223,3717
$GC,8491,-0.79,-194.7,867.0,-8.1,826,8495,0.00,1.95,0.00,0.000,6,0.000,0.043,2464,1504,3716
$GC,8817,-0.79,-194.7,890.9,-7.3,842,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1506,3715
$GC,9123,-0.79,-194.7,914.0,-7.6,857,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1506,3714
$GC,9428,-0.79,-194.7,938.9,-8.5,872,9428,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1506,3712
$GC,9733,-0.79,-194.7,964.1,-8.3,887,9737,0.00,2.10,0.00,0.000,4,0.000,0.054,2464,2872,3710
$GC,9764,-0.88,-194.7,966.6,-8.2,888,9769,0.00,2.10,0.00,0.000,6,0.000,0.048,2465,1507,3710
$STATE,10058,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10058,begin apogee
$GC,10062,-0.23,0.0,990.2,7.9,903,10226,0.60,0.00,160.75,1.462,6,0.118,0.000,2664,1607,2947
$STATE,10226,end apogee,CONTROL_FINISHED_OK
$STATE,10226,begin climb
$GC,10227,0.97,194.7,994.8,0.0,911,10405,1.17,2.45,171.57,1.413,4,0.077,0.061,3059,214,2152
$GC,10425,0.32,194.7,970.8,22.6,921,10430,0.73,2.30,0.00,0.000,6,0.183,0.043,2850,1603,2148
$GC,10753,0.48,223.8,939.4,9.0,937,10782,0.15,2.30,25.25,1.335,4,0.077,0.062,2909,215,2033
$GC,10819,0.41,223.8,931.3,12.8,940,10824,0.10,2.22,0.00,0.000,6,0.157,0.044,2880,1599,2029
$GC,11134,0.41,223.8,897.2,10.5,956,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1599,2024
$GC,11440,0.45,223.8,864.2,10.8,971,11444,0.00,2.25,0.00,0.000,4,0.000,0.063,2879,210,2023
$GC,11488,0.52,223.8,858.9,11.5,973,11492,0.00,2.15,0.00,0.000,6,0.000,0.045,2879,1585,2023
$GC,11809,0.57,223.8,824.9,10.4,989,11813,0.15,2.20,0.00,0.000,4,0.075,0.064,2943,214,2022
$GC,11867,0.37,223.8,816.8,14.6,991,11876,0.22,2.12,0.00,0.000,6,0.156,0.047,2871,1578,2022
$GC,12178,0.50,251.0,787.0,9.1,1007,12203,0.00,0.00,23.45,1.306,6,0.000,0.000,2871,1578,1923
$GC,12503,0.63,262.6,755.6,9.6,1023,12526,0.22,2.22,11.05,1.181,4,0.065,0.063,2961,204,1875
$GC,12568,0.39,262.6,746.0,16.1,1026,12572,0.28,2.17,0.00,0.000,6,0.156,0.047,2876,1574,1874
$GC,12895,0.54,291.1,713.9,9.0,1042,12926,0.12,2.30,26.35,1.262,4,0.084,0.054,2931,3009,1759
$GC,12942,0.44,291.1,708.2,12.9,1044,12946,0.12,2.30,0.00,0.000,6,0.157,0.048,2893,1585,1756
$GC,13263,0.51,291.1,674.8,10.4,1060,13267,0.00,2.22,0.00,0.000,4,0.000,0.064,2893,212,1751
$GC,13316,0.63,291.1,669.3,10.1,1062,13321,0.12,2.15,0.00,0.000,6,0.059,0.048,2955,1575,1750
$GC,13632,0.43,291.1,620.0,15.6,1078,13636,0.25,2.22,0.00,0.000,4,0.160,0.053,2884,3001,1749
$GC,13685,0.54,291.1,613.5,11.8,1080,13689,0.00,2.25,0.00,0.000,6,0.000,0.049,2884,1569,1748
$GC,14001,0.71,299.8,583.0,9.7,1096,14012,0.25,2.17,7.20,1.004,4,0.063,0.063,2987,198,1725
$GC,14048,0.45,299.8,575.6,18.3,1098,14052,0.30,2.15,0.00,0.000,6,0.156,0.048,2893,1568,1724
$GC,14364,0.58,306.8,542.4,9.8,1114,14377,0.12,2.30,7.60,0.992,4,0.079,0.053,2949,3011,1695
$GC,14399,0.47,306.8,537.8,14.2,1115,14407,0.15,2.28,0.00,0.000,6,0.150,0.049,2902,1572,1694
$GC,14710,0.59,320.1,506.3,9.5,1131,14733,0.00,0.00,15.23,0.951,6,0.000,0.000,2902,1572,1641
$GC,15040,0.70,320.1,472.8,10.8,1159,15044,0.20,2.15,0.00,0.000,4,0.064,0.061,2992,210,1637
$GC,15071,0.52,320.1,468.2,16.0,1161,15077,0.25,2.12,0.00,0.000,6,0.153,0.046,2914,1566,1636
$GC,15387,0.59,320.1,432.8,10.5,1192,15390,0.00,2.17,0.00,0.000,4,0.000,0.062,2916,212,1635
$GC,15440,0.70,320.1,427.1,11.7,1197,15444,0.10,2.10,0.00,0.000,6,0.066,0.048,2972,1555,1635
$GC,15760,0.55,320.1,382.6,13.6,1228,15765,0.17,2.25,0.00,0.000,4,0.158,0.050,2924,3012,1635
$GC,15829,0.55,320.1,374.8,10.4,1234,15836,0.00,2.28,0.00,0.000,6,0.000,0.048,2924,1550,1634
$GC,16147,0.62,320.1,343.0,10.8,1265,16150,0.00,2.10,0.00,0.000,4,0.000,0.061,2924,204,1634
$GC,16188,0.74,320.1,338.2,10.8,1269,16192,0.12,2.10,0.00,0.000,6,0.057,0.047,2987,1558,1634
$GC,16505,0.59,320.1,292.7,12.9,1304,16506,0.20,0.00,0.00,0.000,6,0.156,0.000,2931,1558,1634
$GC,16826,0.69,320.1,259.7,10.9,1364,16833,0.10,2.20,0.00,0.000,4,0.084,0.048,2979,3001,1634
$GC,16847,0.69,320.1,257.0,11.9,1368,16854,0.00,2.20,0.00,0.000,6,0.000,0.046,2985,1572,1634
$GC,17174,0.57,320.1,212.2,14.7,1429,17180,0.20,2.12,0.00,0.000,4,0.156,0.058,2930,208,1634
$GC,17195,0.57,320.1,209.5,12.3,1433,17201,0.00,2.10,0.00,0.000,6,0.000,0.044,2930,1576,1634
$GC,17521,0.87,384.6,180.3,7.8,1494,17580,0.25,2.25,54.08,0.855,4,0.051,0.056,3042,214,1378
$GC,17606,0.65,384.6,167.5,17.8,1508,17612,0.28,2.15,0.00,0.000,6,0.136,0.041,2956,1577,1373
$GC,17932,0.86,384.6,135.6,10.3,1569,17938,0.17,0.00,0.00,0.000,6,0.059,0.000,3036,1577,1368
$GC,18258,0.86,384.6,89.2,13.0,1630,18264,0.00,2.20,0.00,0.000,4,0.000,0.044,3035,3010,1367
$GC,18295,0.86,384.6,84.7,13.6,1637,18302,0.00,2.20,0.00,0.000,6,0.000,0.042,3038,1585,1367
$GC,18622,0.97,432.0,49.8,8.4,1698,18666,0.00,0.00,38.38,0.726,6,0.000,0.000,3038,1585,1185
$GC,18986,1.04,432.0,10.6,12.7,1765,18992,0.12,2.20,0.00,0.000,4,0.070,0.043,3100,3018,1179
$GC,19007,1.04,432.0,7.7,14.0,1769,19014,0.00,2.22,0.00,0.000,6,0.000,0.040,3106,1570,1179
$STATE,19043,end climb,SURFACE_DEPTH_REACHED
$STATE,19043,begin surface coast
$FINISH,-0.0,1.021929
$STATE,19065,end surface coast,CONTROL_FINISHED_OK
$STATE,19065,begin surface
$SM_CCo,19138,0.00,0.000,0,0,1174,434.67
$SM_GC,0.75,7.75,0.00,0.00,0.039,0.000,0.000,120,1453,1174,-8.14,-0.51,434.67
$IRIDIUM_FIX,2515.12,12340.74,190898,040425
$TT8_MAMPS,0.049088
$HUMID,1435
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,26.60
$XPDR_PINGS,35
$24V_AH,23.6,8.669
$10V_AH,10.7,4.760
$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,26.000,144.875,540.900,0.000,0.000,29.145,54.044,186.985,16.750,0.000,0.000,14.612,0.000,14206.047,766.035,3995.176,516.176,0.000,2211.659,0.000,3381.404,0.000,55.003,0.000
$DEVICE_MAMPS,216.294,71.331,1461.902,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1207.135,1211.030,2022.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101047,1780
$CAP_FILE_SIZE,189987,0
$CFSIZE,260165632,255533056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.183, 69.4,1
$GPS,250509,143737,2520.505,12341.852,25,1.7,25,-3.8