version: 66.04
glider: 164
mission: 3
dive: 26
start: 5 25 109 19 41 14
data:
$ID,164
$MISSION,3
$DIVE,26
$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,-33689.785
$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,37
$R_STBD_OVSHOOT,35
$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
$GPS1,193137,2518.459,12341.658,34,1.6,34,-3.8
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-66.3
$GPS2,194108,2518.435,12341.725,12,1.6,12,-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,239.0,8707,-15.7,-10.000
$D_GRID,1908
$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,-88.65,0.000,2,0.000,0.000,116,1454,2961
$GC,105,-0.97,-194.7,3.6,-9.0,14,131,8.57,1.98,-14.75,0.000,4,0.215,0.069,2424,214,3745
$GC,371,-0.43,-194.7,78.5,-24.9,63,379,0.55,1.92,0.00,0.000,6,0.131,0.035,2601,1481,3747
$GC,699,-0.58,-194.7,115.7,-9.2,124,705,0.15,1.95,0.00,0.000,4,0.062,0.048,2532,216,3748
$GC,929,-0.50,-194.7,145.7,-13.6,167,937,0.12,1.88,0.00,0.000,6,0.117,0.035,2575,1465,3749
$GC,1256,-0.67,-194.7,180.3,-10.2,228,1262,0.15,0.00,0.00,0.000,6,0.062,0.000,2502,1465,3749
$GC,1582,-0.59,-194.7,222.9,-12.0,289,1587,0.17,0.00,0.00,0.000,6,0.125,0.000,2554,1465,3749
$GC,1907,-0.74,-194.7,249.4,-7.7,350,1914,0.15,2.10,0.00,0.000,4,0.060,0.040,2481,2882,3749
$GC,1966,-0.74,-194.7,255.4,-10.9,361,1972,0.00,2.12,0.00,0.000,6,0.000,0.035,2481,1459,3749
$GC,2292,-0.65,-194.7,296.6,-12.9,422,2298,0.17,1.88,0.00,0.000,4,0.126,0.048,2535,221,3749
$GC,2335,-0.75,-194.7,301.6,-11.2,429,2339,0.00,1.88,0.00,0.000,6,0.000,0.036,2535,1473,3749
$GC,2656,-0.87,-194.7,329.0,-7.3,460,2658,0.20,0.00,0.00,0.000,6,0.055,0.000,2445,1475,3749
$GC,2966,-0.70,-194.7,370.1,-14.3,490,2970,0.22,1.92,0.00,0.000,4,0.127,0.048,2515,217,3748
$GC,3019,-0.70,-194.7,376.4,-11.2,495,3023,0.00,1.88,0.00,0.000,6,0.000,0.035,2515,1475,3749
$GC,3340,-0.78,-194.7,410.1,-10.4,526,3344,0.00,2.08,0.00,0.000,4,0.000,0.042,2515,2868,3747
$GC,3377,-0.94,-194.7,413.6,-9.7,529,3383,0.17,2.08,0.00,0.000,6,0.044,0.037,2422,1477,3746
$GC,3692,-0.74,-194.7,459.6,-14.6,560,3696,0.28,1.92,0.00,0.000,4,0.130,0.049,2508,213,3746
$GC,3740,-0.80,-194.7,465.1,-10.5,564,3747,0.00,1.90,0.00,0.000,6,0.000,0.035,2508,1487,3745
$GC,4056,-0.89,-194.7,491.4,-7.9,595,4060,0.15,2.08,0.00,0.000,4,0.064,0.042,2441,2877,3743
$GC,4092,-0.82,-194.7,495.2,-11.0,598,4100,0.10,2.10,0.00,0.000,6,0.127,0.038,2476,1476,3742
$GC,4416,-0.82,-194.7,525.7,-9.6,617,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1476,3741
$GC,4719,-0.82,-194.7,556.3,-10.3,632,4723,0.00,1.92,0.00,0.000,4,0.000,0.052,2476,224,3739
$GC,4777,-0.82,-194.7,562.7,-11.4,634,4785,0.00,1.92,0.00,0.000,6,0.000,0.036,2475,1508,3739
$GC,5088,-0.82,-194.7,591.9,-8.7,650,5092,0.00,2.05,0.00,0.000,4,0.000,0.044,2476,2866,3736
$GC,5141,-0.89,-194.7,596.2,-8.3,652,5145,0.00,2.08,0.00,0.000,6,0.000,0.040,2476,1494,3735
$GC,5457,-0.89,-194.7,622.8,-8.6,668,5461,0.00,1.98,0.00,0.000,4,0.000,0.054,2476,211,3734
$GC,5552,-0.89,-194.7,632.1,-10.0,672,5557,0.00,1.90,0.00,0.000,6,0.000,0.037,2475,1475,3734
$GC,5868,-0.89,-194.7,661.4,-9.5,688,5869,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1476,3731
$GC,6174,-0.94,-194.7,688.9,-9.2,703,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1476,3729
$GC,6479,-0.99,-194.7,716.3,-9.2,718,6483,0.15,2.12,0.00,0.000,4,0.067,0.048,2409,2876,3727
$GC,6537,-0.86,-194.7,723.2,-12.9,720,6545,0.15,2.12,0.00,0.000,6,0.130,0.042,2459,1477,3726
$GC,6847,-0.86,-194.7,753.6,-10.0,736,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1477,3725
$GC,7153,-0.86,-194.7,786.7,-11.1,751,7157,0.00,1.98,0.00,0.000,4,0.000,0.058,2459,210,3722
$GC,7227,-0.81,-194.7,795.3,-11.6,754,7231,0.00,1.92,0.00,0.000,6,0.000,0.041,2459,1476,3722
$GC,7542,-0.81,-194.7,828.6,-10.3,770,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1478,3720
$GC,7849,-0.81,-194.7,858.9,-9.6,785,7852,0.00,2.00,0.00,0.000,4,0.000,0.061,2459,211,3718
$GC,7891,-0.81,-194.7,863.3,-10.6,787,7894,0.00,1.90,0.00,0.000,6,0.000,0.042,2459,1462,3717
$GC,8217,-0.81,-194.7,894.1,-9.2,803,8221,0.00,2.15,0.00,0.000,4,0.000,0.051,2459,2869,3717
$GC,8275,-0.89,-194.7,899.1,-7.9,805,8282,0.00,2.12,0.00,0.000,6,0.000,0.045,2459,1478,3716
$GC,8587,-0.89,-194.7,926.2,-8.9,821,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1479,3714
$GC,8891,-0.89,-194.7,952.2,-8.3,836,8891,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1479,3713
$GC,9196,-0.89,-194.7,977.5,-8.2,851,9197,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,1479,3711
$STATE,9358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9358,begin apogee
$GC,9362,-0.23,0.0,990.9,8.2,859,9524,0.62,0.00,160.50,1.458,6,0.114,0.000,2669,1600,2947
$STATE,9525,end apogee,CONTROL_FINISHED_OK
$STATE,9525,begin climb
$GC,9526,0.97,194.7,994.8,0.0,867,9707,1.12,2.40,170.32,1.409,4,0.071,0.061,3055,222,2151
$GC,9732,0.33,194.7,968.5,22.7,877,9737,0.70,2.25,0.00,0.000,6,0.179,0.042,2859,1597,2147
$GC,10054,0.45,217.9,936.5,9.2,893,10078,0.00,2.33,20.10,1.312,4,0.000,0.063,2859,214,2056
$GC,10122,0.59,217.9,930.2,10.5,896,10127,0.17,2.20,0.00,0.000,6,0.058,0.043,2936,1595,2054
$GC,10443,0.39,217.9,885.3,14.3,912,10444,0.22,0.00,0.00,0.000,6,0.156,0.000,2874,1595,2051
$GC,10748,0.46,217.9,853.7,10.4,927,10749,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1595,2050
$GC,11053,0.54,218.5,822.9,10.0,942,11058,0.15,2.20,0.00,0.000,4,0.076,0.064,2935,225,2048
$GC,11144,0.38,218.5,810.8,13.9,946,11148,0.17,2.10,0.00,0.000,6,0.152,0.044,2879,1581,2047
$GC,11465,0.47,229.2,778.9,9.6,962,11479,0.00,2.20,9.18,1.170,4,0.000,0.062,2879,225,2012
$GC,11533,0.56,229.2,772.1,10.0,965,11538,0.10,2.12,0.00,0.000,6,0.067,0.045,2930,1581,2010
$GC,11855,0.43,229.2,730.6,12.8,981,11859,0.17,2.17,0.00,0.000,4,0.160,0.062,2886,219,2008
$GC,11897,0.51,229.2,725.9,10.0,983,11901,0.00,2.12,0.00,0.000,6,0.000,0.047,2886,1586,2008
$GC,12224,0.60,240.0,694.3,9.6,999,12236,0.15,0.00,10.57,1.157,6,0.071,0.000,2950,1586,1968
$GC,12528,0.39,240.0,652.9,13.8,1014,12533,0.28,2.17,0.00,0.000,4,0.156,0.062,2873,222,1965
$GC,12550,0.33,240.0,650.5,11.4,1015,12553,0.00,2.12,0.00,0.000,6,0.000,0.048,2873,1582,1965
$GC,12876,0.58,315.5,625.7,7.4,1031,12949,0.17,2.33,66.32,1.226,4,0.066,0.062,2949,221,1659
$GC,13029,0.46,315.5,605.4,14.7,1038,13034,0.17,2.15,0.00,0.000,6,0.143,0.046,2895,1556,1651
$GC,13350,0.63,336.6,573.4,9.3,1054,13381,0.15,2.33,20.02,1.035,4,0.068,0.052,2960,3000,1573
$GC,13392,0.50,336.6,568.1,14.5,1056,13396,0.17,2.30,0.00,0.000,6,0.156,0.048,2907,1570,1572
$GC,13719,0.60,344.2,534.2,9.7,1072,13732,0.00,2.22,7.18,0.950,4,0.000,0.062,2907,210,1542
$GC,13797,0.75,348.2,526.4,9.9,1075,13806,0.20,2.12,5.15,0.828,6,0.054,0.047,2998,1554,1527
$GC,14111,0.40,348.2,464.7,20.1,1099,14115,0.40,2.25,0.00,0.000,4,0.159,0.050,2878,3011,1524
$GC,14190,0.71,399.5,455.5,8.2,1106,14240,0.22,2.28,46.12,1.088,6,0.048,0.048,2983,1562,1318
$GC,14549,0.50,399.5,393.4,17.0,1140,14554,0.28,2.28,0.00,0.000,4,0.156,0.050,2905,3001,1307
$GC,14586,0.59,399.5,388.2,12.7,1143,14594,0.00,2.25,0.00,0.000,6,0.000,0.047,2905,1576,1307
$GC,14903,0.88,432.1,361.3,8.9,1174,14938,0.32,2.25,27.85,0.995,4,0.051,0.061,3042,208,1183
$GC,14990,0.54,432.1,343.2,24.2,1182,14994,0.38,2.15,0.00,0.000,6,0.152,0.043,2926,1565,1179
$GC,15311,0.70,432.1,305.8,10.1,1213,15312,0.12,0.00,0.00,0.000,6,0.072,0.000,2984,1565,1176
$GC,15631,0.61,432.1,253.5,15.7,1269,15637,0.17,2.20,0.00,0.000,4,0.150,0.048,2936,3010,1175
$GC,15657,0.61,432.1,249.4,14.9,1274,15664,0.00,2.25,0.00,0.000,6,0.000,0.045,2937,1565,1175
$GC,15984,0.84,454.3,216.6,9.2,1335,16009,0.22,2.15,19.20,0.858,4,0.054,0.058,3038,205,1092
$GC,16050,0.65,454.3,205.6,19.6,1347,16058,0.25,2.10,0.00,0.000,6,0.139,0.041,2958,1555,1090
$GC,16378,0.79,454.3,164.2,12.7,1408,16384,0.12,0.00,0.00,0.000,6,0.070,0.000,3018,1554,1087
$GC,16703,0.79,454.3,113.0,15.1,1469,16709,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1555,1087
$GC,17028,0.92,454.3,73.1,10.2,1530,17034,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,1554,1087
$GC,17353,1.14,498.1,42.5,8.5,1591,17399,0.25,2.15,36.95,0.723,4,0.048,0.053,3134,218,914
$GC,17457,0.89,498.1,23.4,22.6,1609,17464,0.30,2.05,0.00,0.000,6,0.138,0.037,3037,1550,911
$STATE,17648,end climb,SURFACE_DEPTH_REACHED
$STATE,17648,begin surface coast
$FINISH,0.4,1.021887
$STATE,17675,end surface coast,CONTROL_FINISHED_OK
$STATE,17675,begin surface
$SM_CCo,17749,0.00,0.000,0,0,908,500.17
$SM_GC,0.67,7.55,0.00,0.00,0.037,0.000,0.000,114,1463,908,-8.16,-0.23,500.17
$IRIDIUM_FIX,2510.35,12342.73,190898,191904
$TT8_MAMPS,0.049855
$HUMID,1433
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,26.40
$XPDR_PINGS,56
$24V_AH,23.6,9.162
$10V_AH,10.7,5.054
$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,26.825,126.325,599.475,0.000,0.000,48.517,72.349,282.222,22.000,0.000,0.000,14.500,0.000,13093.479,757.560,3801.834,638.675,0.000,2164.859,0.000,3222.742,0.000,54.882,0.000
$DEVICE_MAMPS,214.760,73.632,1458.067,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1117.664,1125.860,1884.112,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94776,1650
$CAP_FILE_SIZE,181117,0
$CFSIZE,260165632,255352832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.149, 82.3,1
$GPS,260509,003801,2516.991,12340.729,39,1.3,39,-3.7