version: 66.04
glider: 164
mission: 3
dive: 25
start: 5 25 109 14 44 21
data:
$ID,164
$MISSION,3
$DIVE,25
$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,-33674.656
$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,44
$R_STBD_OVSHOOT,29
$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
$GPS1,143737,2520.505,12341.852,25,1.7,25,-3.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.1
$GPS2,144416,2520.416,12341.958,10,2.1,29,-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,229.3,12327,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.97,-194.7,0.0,0.0,0,77,0.00,0.00,-61.80,0.000,2,0.000,0.000,120,1450,2946
$GC,78,-0.97,-194.7,3.6,-10.4,10,110,8.52,1.95,-15.10,0.000,4,0.213,0.066,2423,222,3746
$GC,349,-0.52,-194.7,81.8,-25.9,60,357,0.45,1.90,0.00,0.000,6,0.122,0.035,2572,1480,3748
$GC,677,-0.61,-194.7,121.1,-11.2,121,684,0.00,1.95,0.00,0.000,4,0.000,0.048,2572,220,3749
$GC,907,-0.69,-194.7,146.2,-10.8,164,915,0.12,1.88,0.00,0.000,6,0.051,0.035,2501,1473,3750
$GC,1235,-0.59,-194.7,192.7,-13.8,225,1240,0.17,0.00,0.00,0.000,6,0.126,0.000,2553,1473,3750
$GC,1560,-0.73,-194.7,219.5,-8.2,286,1567,0.15,2.10,0.00,0.000,4,0.060,0.039,2474,2885,3750
$GC,1592,-0.66,-194.7,223.2,-12.2,292,1601,0.15,2.12,0.00,0.000,6,0.114,0.035,2528,1459,3751
$GC,1922,-0.73,-194.7,259.9,-9.9,353,1927,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,1460,3751
$GC,2246,-0.82,-194.7,287.2,-7.5,414,2252,0.15,0.00,0.00,0.000,6,0.064,0.000,2458,1460,3751
$GC,2564,-0.67,-194.7,327.2,-12.7,455,2568,0.22,1.88,0.00,0.000,4,0.128,0.048,2528,226,3751
$GC,2650,-0.76,-194.7,335.4,-8.8,463,2654,0.00,1.80,0.00,0.000,6,0.000,0.035,2528,1462,3750
$GC,2970,-0.89,-194.7,361.3,-8.1,494,2972,0.20,0.00,0.00,0.000,6,0.056,0.000,2439,1463,3750
$GC,3282,-0.72,-194.7,401.1,-13.3,524,3284,0.25,0.00,0.00,0.000,6,0.129,0.000,2517,1464,3748
$GC,3592,-0.82,-194.7,426.7,-8.3,554,3593,0.12,0.00,0.00,0.000,6,0.072,0.000,2457,1464,3747
$GC,3902,-0.75,-194.7,458.9,-10.4,584,3906,0.15,1.88,0.00,0.000,4,0.134,0.050,2501,216,3746
$GC,3949,-0.79,-194.7,463.5,-9.3,588,3957,0.00,1.85,0.00,0.000,6,0.000,0.035,2501,1455,3746
$GC,4266,-0.89,-194.7,489.9,-8.4,619,4267,0.12,0.00,0.00,0.000,6,0.071,0.000,2444,1456,3744
$GC,4572,-0.80,-194.7,523.6,-10.9,639,4573,0.15,0.00,0.00,0.000,6,0.135,0.000,2487,1456,3742
$GC,4878,-0.84,-194.7,551.2,-8.9,654,4878,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1457,3740
$GC,5183,-0.91,-194.7,579.4,-9.3,669,5184,0.12,0.00,0.00,0.000,6,0.074,0.000,2430,1456,3738
$GC,5487,-0.78,-194.7,615.3,-11.3,684,5492,0.20,1.92,0.00,0.000,4,0.134,0.054,2490,214,3735
$GC,5599,-0.78,-194.7,626.8,-10.3,689,5603,0.00,1.88,0.00,0.000,6,0.000,0.038,2490,1461,3735
$GC,5921,-0.85,-194.7,654.3,-8.1,705,5924,0.00,2.15,0.00,0.000,4,0.000,0.048,2490,2878,3732
$GC,6011,-0.98,-194.7,661.4,-7.9,709,6015,0.15,2.12,0.00,0.000,6,0.052,0.042,2412,1476,3731
$GC,6332,-0.83,-194.7,699.7,-12.6,725,6333,0.22,0.00,0.00,0.000,6,0.134,0.000,2480,1476,3729
$GC,6637,-0.90,-194.7,728.0,-9.3,740,6638,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1476,3728
$GC,6943,-0.98,-194.7,756.2,-9.1,755,6944,0.15,0.00,0.00,0.000,6,0.072,0.000,2417,1475,3725
$GC,7247,-0.85,-194.7,792.5,-11.7,770,7252,0.17,1.95,0.00,0.000,4,0.139,0.059,2468,219,3723
$GC,7338,-0.85,-194.7,801.6,-9.7,774,7342,0.00,1.88,0.00,0.000,6,0.000,0.042,2468,1451,3723
$GC,7659,-0.90,-194.7,829.0,-8.4,790,7663,0.00,2.17,0.00,0.000,4,0.000,0.051,2468,2874,3721
$GC,7718,-0.99,-194.7,833.6,-7.9,792,7726,0.10,2.15,0.00,0.000,6,0.062,0.045,2415,1470,3720
$GC,8028,-0.86,-194.7,868.6,-11.6,808,8032,0.17,1.95,0.00,0.000,4,0.142,0.066,2465,220,3718
$GC,8092,-0.86,-194.7,875.4,-10.1,811,8096,0.00,1.90,0.00,0.000,6,0.000,0.044,2465,1486,3718
$GC,8419,-0.90,-194.7,905.4,-9.0,827,8422,0.00,2.10,0.00,0.000,4,0.000,0.052,2465,2878,3716
$GC,8455,-1.00,-194.7,908.8,-8.8,828,8464,0.10,2.17,0.00,0.000,6,0.061,0.046,2413,1459,3716
$GC,8765,-0.87,-194.7,944.0,-11.4,844,8769,0.17,1.95,0.00,0.000,4,0.143,0.063,2464,217,3714
$GC,8807,-0.87,-194.7,948.5,-10.6,846,8812,0.00,1.90,0.00,0.000,6,0.000,0.044,2464,1464,3714
$GC,9134,-0.92,-194.7,977.5,-8.8,862,9135,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1464,3713
$STATE,9295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9295,begin apogee
$GC,9299,-0.23,0.0,991.8,8.7,870,9462,0.60,0.00,161.32,1.465,6,0.117,0.000,2664,1609,2947
$STATE,9463,end apogee,CONTROL_FINISHED_OK
$STATE,9463,begin climb
$GC,9464,0.97,194.7,997.5,0.0,878,9643,1.12,2.42,169.62,1.416,4,0.074,0.061,3055,222,2152
$GC,9679,0.33,194.7,972.1,20.8,888,9684,0.73,2.25,0.00,0.000,6,0.181,0.041,2854,1599,2148
$GC,10001,0.50,246.4,944.1,8.2,904,10053,0.15,2.40,45.17,1.372,4,0.079,0.063,2914,208,1940
$GC,10108,0.42,246.4,931.5,13.3,909,10111,0.12,2.20,0.00,0.000,6,0.161,0.043,2884,1600,1935
$GC,10428,0.43,250.6,898.6,9.9,925,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1600,1932
$GC,10733,0.46,280.2,870.2,9.0,940,10777,0.00,2.33,31.55,1.275,4,0.000,0.063,2884,212,1803
$GC,10834,0.59,306.7,861.0,9.1,944,10877,0.10,2.17,28.62,1.158,6,0.065,0.044,2934,1579,1696
$GC,11189,0.41,306.7,811.5,14.3,962,11193,0.20,2.22,0.00,0.000,4,0.157,0.052,2880,3011,1688
$GC,11247,0.48,306.7,804.4,10.4,964,11255,0.00,2.22,0.00,0.000,6,0.000,0.048,2879,1605,1686
$GC,11557,0.60,307.4,774.4,10.0,980,11561,0.17,2.22,0.00,0.000,4,0.072,0.064,2950,215,1685
$GC,11637,0.44,307.4,762.6,16.5,983,11643,0.17,2.12,0.00,0.000,6,0.148,0.046,2893,1575,1685
$GC,11948,0.49,307.4,726.6,11.4,999,11948,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1574,1684
$GC,12252,0.60,330.0,696.0,9.2,1014,12288,0.12,2.20,22.02,1.155,4,0.081,0.064,2949,211,1600
$GC,12353,0.46,330.0,682.1,14.9,1018,12360,0.15,2.15,0.00,0.000,6,0.146,0.047,2899,1571,1598
$GC,12663,0.54,330.0,648.7,10.4,1034,12667,0.00,2.25,0.00,0.000,4,0.000,0.053,2900,3007,1595
$GC,12727,0.60,330.0,641.6,10.6,1037,12731,0.08,2.25,0.00,0.000,6,0.076,0.049,2949,1578,1595
$GC,13054,0.45,330.0,591.8,14.9,1053,13058,0.20,2.17,0.00,0.000,4,0.158,0.064,2893,201,1593
$GC,13106,0.60,336.5,585.8,9.8,1055,13116,0.10,2.15,6.28,0.967,6,0.062,0.048,2947,1577,1575
$GC,13439,0.48,336.5,539.0,14.1,1072,13442,0.17,2.20,0.00,0.000,4,0.153,0.053,2898,3013,1572
$GC,13459,0.48,336.5,536.3,13.1,1073,13463,0.00,2.25,0.00,0.000,6,0.000,0.050,2898,1583,1572
$GC,13786,0.69,379.9,507.4,8.5,1089,13837,0.20,2.25,42.00,1.100,4,0.065,0.062,2985,208,1396
$GC,13880,0.47,379.9,492.9,18.1,1095,13886,0.30,2.20,0.00,0.000,6,0.154,0.046,2901,1580,1392
$GC,14195,0.63,379.9,459.8,11.0,1126,14199,0.15,2.22,0.00,0.000,4,0.069,0.061,2968,204,1387
$GC,14242,0.54,379.9,452.3,18.3,1130,14250,0.15,2.12,0.00,0.000,6,0.149,0.046,2921,1556,1386
$GC,14558,0.64,379.9,412.4,10.8,1161,14562,0.00,2.28,0.00,0.000,4,0.000,0.052,2921,3009,1385
$GC,14595,0.77,379.9,408.5,10.0,1164,14604,0.17,2.28,0.00,0.000,6,0.051,0.048,3001,1553,1385
$GC,14911,0.52,379.9,350.1,19.9,1195,14915,0.30,2.12,0.00,0.000,4,0.158,0.061,2916,212,1384
$GC,14958,0.69,399.4,343.4,9.3,1199,14979,0.10,2.10,16.33,0.967,6,0.062,0.046,2972,1564,1318
$GC,15285,0.63,399.4,293.8,14.9,1234,15292,0.00,2.25,0.00,0.000,4,0.000,0.048,2972,3013,1312
$GC,15312,0.56,399.4,289.5,16.4,1239,15319,0.15,2.25,0.00,0.000,6,0.147,0.048,2924,1572,1312
$GC,15638,0.91,475.5,254.9,7.4,1300,15712,0.30,2.25,65.90,0.923,4,0.049,0.058,3056,219,1006
$GC,15765,0.64,475.5,227.2,23.9,1322,15772,0.35,2.12,0.00,0.000,6,0.146,0.042,2954,1577,1001
$GC,16093,0.86,487.7,187.5,9.6,1383,16106,0.17,0.00,10.18,0.765,6,0.058,0.000,3040,1578,957
$GC,16426,0.72,487.7,125.9,19.8,1445,16432,0.22,0.00,0.00,0.000,6,0.140,0.000,2975,1577,954
$GC,16752,1.27,608.7,97.3,5.8,1506,16854,0.47,0.00,95.70,0.767,6,0.040,0.000,3177,1577,492
$STATE,17097,end climb,SURFACE_DEPTH_REACHED
$STATE,17097,begin surface coast
$FINISH,-0.2,1.021926
$STATE,17109,end surface coast,CONTROL_FINISHED_OK
$STATE,17109,begin surface
$SM_CCo,17183,0.00,0.000,0,0,484,604.17
$SM_GC,0.49,8.05,0.00,0.00,0.039,0.000,0.000,115,1458,484,-8.15,-0.37,604.17
$IRIDIUM_FIX,2512.73,12344.71,190898,090929
$TT8_MAMPS,0.049855
$HUMID,1480
$INTERNAL_PRESSURE,8.91882
$TCM_TEMP,25.60
$XPDR_PINGS,13
$24V_AH,23.6,8.924
$10V_AH,10.7,4.902
$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,27.825,114.525,694.700,0.000,0.000,22.539,33.508,216.159,11.250,0.000,0.000,32.429,0.000,12587.777,790.533,3676.355,493.340,0.000,2185.547,0.000,3098.913,0.000,53.965,0.000
$DEVICE_MAMPS,213.226,65.962,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.605,1032.862,1728.173,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88462,1570
$CAP_FILE_SIZE,174464,0
$CFSIZE,260165632,255463424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$CURRENT,0.181, 91.9,1
$GPS,250509,193137,2518.459,12341.658,34,1.6,34,-3.8