version: 66.04
glider: 164
mission: 3
dive: 27
start: 5 26 109 0 44 19
data:
$ID,164
$MISSION,3
$DIVE,27
$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,-33704.91
$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,39
$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
$GPS1,003801,2516.991,12340.729,39,1.3,39,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-65.7
$GPS2,004414,2516.946,12340.708,12,1.0,12,-3.7
$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,224.3,5583,-15.7,-10.000
$D_GRID,1972
$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,-194.7,0.0,0.0,0,89,0.00,0.00,-74.70,0.000,2,0.000,0.000,114,1461,3041
$GC,90,-0.97,-194.7,4.0,-10.1,11,117,8.55,1.92,-12.75,0.000,4,0.214,0.064,2425,210,3743
$GC,356,-0.46,-194.7,80.7,-28.4,60,363,0.50,1.90,0.00,0.000,6,0.143,0.035,2586,1469,3745
$GC,683,-0.60,-194.7,120.5,-8.6,121,691,0.12,1.95,0.00,0.000,4,0.066,0.048,2524,223,3747
$GC,851,-0.48,-194.7,142.4,-13.7,152,857,0.17,1.88,0.00,0.000,6,0.116,0.035,2584,1469,3747
$GC,1177,-0.68,-194.7,171.8,-9.3,213,1184,0.17,0.00,0.00,0.000,6,0.055,0.000,2500,1469,3748
$GC,1503,-0.60,-194.7,214.7,-12.2,274,1509,0.17,0.00,0.00,0.000,6,0.125,0.000,2553,1469,3748
$GC,1829,-0.75,-194.7,239.7,-6.5,335,1834,0.15,0.00,0.00,0.000,6,0.061,0.000,2480,1470,3748
$GC,2154,-0.65,-194.7,280.0,-13.1,396,2159,0.17,0.00,0.00,0.000,6,0.127,0.000,2533,1470,3748
$GC,2475,-0.76,-194.7,312.4,-9.7,445,2479,0.00,1.92,0.00,0.000,4,0.000,0.048,2534,213,3748
$GC,2581,-0.84,-194.7,323.3,-10.2,455,2586,0.15,1.88,0.00,0.000,6,0.048,0.035,2456,1469,3748
$GC,2902,-0.70,-194.7,366.0,-13.0,486,2907,0.20,1.92,0.00,0.000,4,0.130,0.048,2517,207,3748
$GC,2939,-0.70,-194.7,370.0,-10.3,489,2947,0.00,1.90,0.00,0.000,6,0.000,0.035,2517,1468,3748
$GC,3255,-0.80,-194.7,395.9,-7.7,520,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2517,1467,3747
$GC,3566,-0.90,-194.7,421.9,-8.5,550,3569,0.17,2.08,0.00,0.000,4,0.059,0.042,2436,2876,3745
$GC,3629,-0.79,-194.7,429.2,-11.8,556,3633,0.15,2.10,0.00,0.000,6,0.124,0.037,2487,1472,3744
$GC,3950,-0.79,-194.7,459.9,-9.3,587,3954,0.00,2.10,0.00,0.000,4,0.000,0.042,2487,2867,3743
$GC,3997,-0.88,-194.7,464.0,-8.6,591,4004,0.00,2.08,0.00,0.000,6,0.000,0.038,2487,1486,3743
$GC,4314,-0.88,-194.7,491.0,-9.1,622,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1486,3741
$GC,4620,-0.92,-194.7,518.4,-8.9,642,4621,0.12,0.00,0.00,0.000,6,0.072,0.000,2432,1486,3740
$GC,4926,-0.78,-194.7,553.6,-11.8,657,4929,0.20,2.08,0.00,0.000,4,0.133,0.045,2492,2875,3737
$GC,4957,-0.88,-194.7,556.6,-9.0,658,4961,0.00,2.10,0.00,0.000,6,0.000,0.040,2492,1484,3737
$GC,5273,-0.97,-194.7,583.6,-9.0,674,5274,0.17,0.00,0.00,0.000,6,0.062,0.000,2415,1483,3735
$GC,5578,-0.78,-194.7,623.0,-12.8,689,5580,0.25,0.00,0.00,0.000,6,0.131,0.000,2492,1483,3733
$GC,5883,-0.87,-194.7,649.4,-8.8,704,5887,0.00,1.98,0.00,0.000,4,0.000,0.056,2492,210,3731
$GC,5968,-0.94,-194.7,657.7,-9.9,708,5972,0.10,1.90,0.00,0.000,6,0.058,0.038,2436,1467,3731
$GC,6294,-0.84,-194.7,693.9,-10.2,724,6299,0.12,1.95,0.00,0.000,4,0.148,0.056,2470,214,3728
$GC,6342,-0.84,-194.7,698.4,-8.7,726,6347,0.00,1.88,0.00,0.000,6,0.000,0.039,2470,1464,3728
$GC,6663,-0.84,-194.7,723.2,-7.3,742,6667,0.00,2.12,0.00,0.000,4,0.000,0.048,2470,2867,3726
$GC,6754,-0.93,-194.7,729.3,-6.9,746,6758,0.00,2.10,0.00,0.000,6,0.000,0.043,2470,1485,3725
$GC,7075,-0.93,-194.7,753.7,-8.1,762,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1485,3723
$GC,7380,-0.97,-194.7,781.2,-9.5,777,7382,0.12,0.00,0.00,0.000,6,0.074,0.000,2416,1485,3721
$GC,7685,-0.84,-194.7,817.7,-11.7,792,7689,0.20,2.00,0.00,0.000,4,0.137,0.061,2475,207,3719
$GC,7738,-0.84,-194.7,823.2,-9.4,794,7742,0.00,1.92,0.00,0.000,6,0.000,0.041,2476,1477,3719
$GC,8054,-0.91,-194.7,847.8,-7.5,810,8055,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1479,3717
$GC,8359,-0.98,-194.7,870.3,-7.5,825,8361,0.15,0.00,0.00,0.000,6,0.071,0.000,2412,1479,3715
$GC,8664,-0.85,-194.7,902.8,-10.9,840,8666,0.20,0.00,0.00,0.000,6,0.138,0.000,2471,1479,3713
$GC,8970,-0.90,-194.7,928.8,-8.4,855,8971,0.00,0.00,0.00,0.000,6,0.000,0.000,2470,1479,3712
$GC,9275,-0.97,-194.7,954.3,-8.4,870,9276,0.12,0.00,0.00,0.000,6,0.080,0.000,2417,1479,3711
$GC,9580,-0.85,-194.7,986.9,-10.7,885,9582,0.17,0.00,0.00,0.000,6,0.141,0.000,2467,1479,3710
$STATE,9619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9620,begin apogee
$GC,9623,-0.23,0.0,990.5,9.7,887,9786,0.60,0.00,160.57,1.464,6,0.117,0.000,2667,1606,2947
$STATE,9787,end apogee,CONTROL_FINISHED_OK
$STATE,9787,begin climb
$GC,9788,0.97,194.7,995.7,0.0,895,9964,1.12,2.40,169.75,1.418,4,0.068,0.061,3054,213,2152
$GC,10018,0.35,194.7,966.0,21.3,906,10022,0.68,2.25,0.00,0.000,6,0.176,0.043,2856,1596,2147
$GC,10339,0.52,241.5,937.9,8.4,922,10385,0.17,2.35,40.60,1.368,4,0.071,0.063,2928,219,1962
$GC,10428,0.38,241.5,926.2,14.0,926,10433,0.17,2.20,0.00,0.000,6,0.151,0.043,2874,1587,1957
$GC,10749,0.46,241.5,892.8,10.1,942,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1588,1952
$GC,11055,0.56,256.1,862.9,9.5,957,11079,0.15,2.28,14.43,1.104,4,0.076,0.063,2936,212,1902
$GC,11120,0.40,256.1,854.3,14.2,960,11125,0.17,2.15,0.00,0.000,6,0.150,0.045,2880,1578,1901
$GC,11447,0.47,256.1,821.3,10.2,976,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1578,1899
$GC,11752,0.55,256.1,789.8,10.6,991,11757,0.12,2.17,0.00,0.000,4,0.082,0.063,2935,218,1898
$GC,11805,0.41,256.1,782.6,15.3,993,11810,0.17,2.12,0.00,0.000,6,0.148,0.047,2879,1579,1898
$GC,12121,0.50,256.1,748.3,10.4,1009,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1579,1896
$GC,12426,0.61,276.3,718.9,9.3,1024,12449,0.17,2.28,18.45,1.256,4,0.070,0.064,2955,206,1820
$GC,12496,0.43,276.3,709.2,13.8,1027,12501,0.22,2.15,0.00,0.000,6,0.151,0.047,2884,1566,1817
$GC,12818,0.55,290.6,677.6,9.5,1043,12843,0.12,2.30,15.40,1.063,4,0.082,0.054,2939,3006,1761
$GC,12935,0.39,290.6,661.1,15.4,1048,12939,0.20,2.25,0.00,0.000,6,0.155,0.049,2867,1588,1759
$GC,13250,0.65,341.2,634.0,8.3,1064,13302,0.25,2.35,45.78,1.239,4,0.061,0.064,2971,208,1554
$GC,13378,0.44,341.2,613.4,19.2,1070,13382,0.30,2.17,0.00,0.000,6,0.156,0.047,2888,1579,1548
$GC,13704,0.63,350.7,578.8,9.7,1086,13717,0.17,2.30,7.80,1.012,4,0.068,0.053,2961,3007,1516
$GC,13744,0.48,350.7,572.9,16.2,1088,13749,0.17,2.28,0.00,0.000,6,0.154,0.049,2907,1582,1516
$GC,14071,0.54,350.7,533.3,12.8,1104,14075,0.00,2.20,0.00,0.000,4,0.000,0.064,2907,214,1513
$GC,14097,0.64,350.7,530.3,11.4,1105,14102,0.10,2.15,0.00,0.000,6,0.064,0.049,2958,1577,1512
$GC,14411,0.49,350.7,482.2,15.1,1126,14414,0.20,2.20,0.00,0.000,4,0.153,0.052,2902,3012,1511
$GC,14447,0.54,350.7,477.6,11.9,1129,14455,0.00,2.22,0.00,0.000,6,0.000,0.048,2903,1592,1511
$GC,14763,0.70,363.9,449.7,9.5,1160,14788,0.20,2.25,14.35,0.901,4,0.066,0.062,2993,211,1462
$GC,14819,0.49,363.9,441.2,19.0,1165,14823,0.28,2.17,0.00,0.000,6,0.153,0.046,2908,1595,1460
$GC,15139,0.66,363.9,405.7,10.3,1196,15144,0.15,2.20,0.00,0.000,4,0.067,0.061,2975,215,1458
$GC,15176,0.59,363.9,400.7,14.2,1199,15183,0.12,2.12,0.00,0.000,6,0.150,0.046,2934,1574,1457
$GC,15492,0.59,363.9,362.3,11.9,1230,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1574,1457
$GC,15803,0.68,363.9,325.9,10.8,1260,15804,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,1574,1457
$GC,16115,0.76,363.9,291.6,10.7,1297,16123,0.15,2.15,0.00,0.000,4,0.067,0.060,3002,211,1457
$GC,16159,0.60,363.9,285.3,15.6,1305,16167,0.17,2.10,0.00,0.000,6,0.149,0.043,2945,1579,1457
$GC,16486,0.69,363.9,248.0,13.6,1366,16493,0.00,2.20,0.00,0.000,4,0.000,0.048,2945,3016,1457
$GC,16508,0.77,363.9,245.5,13.5,1370,16515,0.10,2.22,0.00,0.000,6,0.059,0.045,3001,1571,1457
$GC,16835,0.65,363.9,194.0,13.6,1431,16842,0.17,2.10,0.00,0.000,4,0.153,0.056,2955,216,1457
$GC,16878,0.75,363.9,189.3,10.0,1439,16884,0.00,2.08,0.00,0.000,6,0.000,0.042,2954,1577,1457
$GC,17204,0.93,382.1,160.1,9.4,1500,17225,0.25,0.00,16.67,0.800,6,0.051,0.000,3068,1577,1388
$GC,17544,0.78,382.1,97.2,14.5,1563,17551,0.25,2.12,0.00,0.000,4,0.137,0.054,2998,217,1384
$GC,17561,0.78,382.1,95.4,11.7,1566,17567,0.00,2.08,0.00,0.000,6,0.000,0.041,2998,1568,1384
$GC,17887,1.11,493.7,68.9,6.2,1627,17983,0.28,0.00,91.90,0.749,6,0.047,0.000,3121,1569,933
$STATE,18242,end climb,SURFACE_DEPTH_REACHED
$STATE,18243,begin surface coast
$FINISH,0.3,1.021948
$STATE,18260,end surface coast,CONTROL_FINISHED_OK
$STATE,18260,begin surface
$SM_CCo,18334,0.00,0.000,0,0,923,496.49
$SM_GC,0.77,7.85,0.00,0.00,0.039,0.000,0.000,117,1458,923,-8.15,-0.40,496.49
$IRIDIUM_FIX,2510.35,12341.40,190898,191905
$TT8_MAMPS,0.049855
$HUMID,1451
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,26.20
$XPDR_PINGS,9
$24V_AH,23.6,9.388
$10V_AH,10.7,5.205
$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,27.925,114.550,595.700,0.000,0.000,30.461,33.072,205.283,10.250,0.000,0.000,14.496,0.000,13589.943,720.002,3870.892,495.029,0.000,2147.862,0.000,3277.248,0.000,53.955,0.000
$DEVICE_MAMPS,213.993,70.564,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1148.964,1134.371,1899.430,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,97986,1694
$CAP_FILE_SIZE,181890,0
$CFSIZE,260165632,255258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.134, 89.2,1
$GPS,260509,055054,2514.757,12340.144,25,1.4,42,-3.7