version: 66.04
glider: 164
mission: 3
dive: 28
start: 5 26 109 5 57 7
data:
$ID,164
$MISSION,3
$DIVE,28
$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,-33717.383
$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,42
$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
$GPS1,055054,2514.757,12340.144,25,1.4,42,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-64.7
$GPS2,055702,2514.772,12340.160,10,1.4,10,-3.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_1
$TGT_LATLONG,2448.000,12324.000
$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,235.6,56538,-15.7,-10.000
$D_GRID,1989
$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,-194.7,0.0,0.0,0,84,0.00,0.00,-69.75,0.000,2,0.000,0.000,116,1454,2873
$GC,86,-0.97,-194.7,3.3,-8.5,11,117,8.52,1.92,-16.92,0.000,4,0.210,0.069,2429,213,3744
$GC,325,-0.44,-194.7,68.1,-27.5,55,331,0.50,1.92,0.00,0.000,6,0.141,0.036,2593,1476,3747
$GC,651,-0.54,-194.7,111.1,-10.9,116,657,0.00,2.10,0.00,0.000,4,0.000,0.040,2593,2873,3747
$GC,742,-0.79,-194.7,119.9,-9.6,133,750,0.25,2.10,0.00,0.000,6,0.035,0.035,2468,1476,3748
$GC,1070,-0.54,-194.7,180.4,-18.1,194,1076,0.32,1.92,0.00,0.000,4,0.124,0.047,2570,211,3748
$GC,1209,-0.65,-194.7,194.6,-9.2,220,1215,0.08,1.90,0.00,0.000,6,0.061,0.036,2516,1481,3749
$GC,1535,-0.65,-194.7,232.1,-11.5,281,1542,0.00,2.08,0.00,0.000,4,0.000,0.039,2515,2873,3750
$GC,1589,-0.72,-194.7,238.0,-10.3,291,1595,0.00,2.08,0.00,0.000,6,0.000,0.035,2514,1483,3749
$GC,1915,-0.72,-194.7,273.0,-10.5,352,1922,0.00,1.92,0.00,0.000,4,0.000,0.048,2514,215,3750
$GC,2006,-0.72,-194.7,282.9,-11.0,369,2013,0.00,1.88,0.00,0.000,6,0.000,0.035,2514,1471,3750
$GC,2333,-0.72,-194.7,316.7,-10.4,416,2337,0.00,1.92,0.00,0.000,4,0.000,0.048,2514,211,3750
$GC,2380,-0.72,-194.7,322.0,-10.7,420,2388,0.00,1.90,0.00,0.000,6,0.000,0.034,2514,1483,3750
$GC,2697,-0.77,-194.7,352.3,-9.0,451,2700,0.00,2.05,0.00,0.000,4,0.000,0.041,2514,2876,3750
$GC,2739,-0.89,-194.7,356.1,-9.1,455,2743,0.12,2.12,0.00,0.000,6,0.051,0.036,2442,1453,3750
$GC,3060,-0.72,-194.7,401.2,-13.9,486,3064,0.22,1.88,0.00,0.000,4,0.128,0.049,2511,196,3749
$GC,3128,-0.72,-194.7,409.3,-11.2,492,3136,0.00,1.88,0.00,0.000,6,0.000,0.035,2512,1459,3748
$GC,3444,-0.80,-194.7,438.7,-9.2,523,3448,0.00,1.90,0.00,0.000,4,0.000,0.050,2511,223,3747
$GC,3513,-0.85,-194.7,445.7,-9.8,529,3521,0.10,1.83,0.00,0.000,6,0.055,0.035,2454,1449,3747
$GC,3828,-0.76,-194.7,483.2,-11.1,560,3830,0.15,0.00,0.00,0.000,6,0.136,0.000,2497,1449,3746
$GC,4149,-0.83,-194.7,510.1,-7.9,585,4152,0.00,2.10,0.00,0.000,4,0.000,0.044,2497,2871,3743
$GC,4191,-0.95,-194.7,513.3,-7.7,587,4195,0.15,2.15,0.00,0.000,6,0.047,0.039,2417,1443,3743
$GC,4518,-0.75,-194.7,554.2,-12.9,603,4522,0.25,2.15,0.00,0.000,4,0.130,0.044,2500,2879,3741
$GC,4559,-0.91,-194.7,558.4,-8.6,605,4563,0.10,2.15,0.00,0.000,6,0.058,0.040,2441,1451,3741
$GC,4880,-0.80,-194.7,596.1,-12.1,621,4885,0.15,1.90,0.00,0.000,4,0.134,0.053,2485,213,3739
$GC,4959,-0.80,-194.7,605.0,-10.7,624,4967,0.00,1.85,0.00,0.000,6,0.000,0.037,2485,1445,3738
$GC,5270,-0.84,-194.7,635.8,-9.5,640,5274,0.00,2.15,0.00,0.000,4,0.000,0.046,2485,2868,3736
$GC,5323,-0.95,-194.7,640.3,-8.3,642,5328,0.10,2.15,0.00,0.000,6,0.057,0.041,2427,1449,3736
$GC,5641,-0.82,-194.7,676.0,-11.0,658,5644,0.17,1.90,0.00,0.000,4,0.137,0.054,2484,205,3733
$GC,5863,-0.87,-194.7,697.0,-9.4,668,5867,0.00,1.88,0.00,0.000,6,0.000,0.038,2484,1449,3731
$GC,6179,-0.94,-194.7,724.0,-8.3,684,6183,0.12,2.15,0.00,0.000,4,0.075,0.048,2428,2871,3729
$GC,6313,-0.89,-194.7,737.7,-10.6,690,6317,0.00,2.17,0.00,0.000,6,0.000,0.044,2429,1448,3728
$GC,6634,-0.80,-194.7,771.0,-9.9,706,6635,0.20,0.00,0.00,0.000,6,0.135,0.000,2488,1447,3726
$GC,6939,-0.90,-194.7,791.9,-6.9,721,6943,0.12,1.90,0.00,0.000,4,0.075,0.059,2434,207,3724
$GC,6981,-0.77,-194.7,796.0,-10.6,723,6985,0.17,1.90,0.00,0.000,6,0.129,0.041,2494,1459,3724
$GC,7309,-0.89,-194.7,820.5,-7.8,739,7312,0.12,1.95,0.00,0.000,4,0.077,0.060,2441,204,3721
$GC,7344,-0.78,-194.7,824.4,-11.6,740,7352,0.12,1.90,0.00,0.000,6,0.130,0.041,2485,1459,3721
$GC,7657,-0.88,-194.7,851.6,-8.6,756,7657,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,1459,3720
$GC,7961,-0.97,-194.7,877.4,-8.5,771,7962,0.17,0.00,0.00,0.000,6,0.067,0.000,2410,1459,3717
$GC,8265,-0.83,-194.7,914.1,-12.3,786,8267,0.22,0.00,0.00,0.000,6,0.137,0.000,2478,1459,3716
$GC,8571,-0.92,-194.7,940.6,-8.3,801,8572,0.00,0.00,0.00,0.000,6,0.000,0.000,2478,1459,3714
$GC,8876,-1.00,-194.7,964.5,-7.6,816,8880,0.17,2.15,0.00,0.000,4,0.069,0.052,2403,2862,3713
$GC,8923,-0.89,-194.7,969.2,-10.6,818,8928,0.15,2.15,0.00,0.000,6,0.134,0.048,2454,1467,3713
$STATE,9161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9161,begin apogee
$GC,9165,-0.23,0.0,990.6,8.8,830,9328,0.65,0.00,160.95,1.463,6,0.119,0.000,2670,1606,2947
$STATE,9329,end apogee,CONTROL_FINISHED_OK
$STATE,9329,begin climb
$GC,9331,0.97,194.7,995.7,0.0,838,9512,1.12,2.42,169.70,1.414,4,0.067,0.061,3058,215,2150
$GC,9548,0.33,194.7,968.9,22.0,848,9555,0.73,2.25,0.00,0.000,6,0.178,0.042,2854,1593,2147
$GC,9859,0.49,234.6,940.5,8.6,864,9899,0.15,0.00,34.92,1.355,6,0.075,0.000,2916,1593,1989
$GC,10203,0.38,234.6,896.0,13.2,881,10207,0.17,2.25,0.00,0.000,4,0.154,0.062,2869,211,1981
$GC,10256,0.49,234.6,890.4,10.0,883,10261,0.00,2.17,0.00,0.000,6,0.000,0.044,2869,1600,1981
$GC,10572,0.61,253.7,861.1,9.3,899,10593,0.20,0.00,17.05,1.294,6,0.064,0.000,2950,1600,1911
$GC,10897,0.38,253.7,812.7,15.0,915,10901,0.28,2.22,0.00,0.000,4,0.153,0.062,2873,210,1905
$GC,10966,0.56,306.9,805.8,8.2,918,11019,0.10,2.17,47.67,1.327,6,0.068,0.045,2929,1599,1695
$GC,11330,0.45,306.9,759.6,12.5,936,11331,0.15,0.00,0.00,0.000,6,0.160,0.000,2890,1599,1683
$GC,11636,0.53,306.9,729.2,10.0,951,11639,0.00,2.20,0.00,0.000,4,0.000,0.053,2889,3000,1682
$GC,11667,0.62,306.9,725.9,10.9,952,11671,0.12,2.20,0.00,0.000,6,0.062,0.048,2954,1599,1682
$GC,11983,0.43,306.9,676.0,16.0,968,11987,0.25,2.22,0.00,0.000,4,0.160,0.064,2886,208,1681
$GC,12084,0.57,306.9,664.7,10.3,972,12091,0.08,2.12,0.00,0.000,6,0.071,0.047,2933,1576,1680
$GC,12394,0.48,306.9,622.2,14.1,988,12399,0.12,2.20,0.00,0.000,4,0.159,0.052,2901,2995,1680
$GC,12469,0.55,306.9,613.5,11.4,991,12473,0.00,2.20,0.00,0.000,6,0.000,0.048,2902,1586,1679
$GC,12785,0.65,318.4,582.5,9.6,1007,12799,0.15,2.22,8.65,1.042,4,0.077,0.063,2968,205,1648
$GC,12848,0.49,318.4,574.2,14.3,1010,12852,0.20,2.15,0.00,0.000,6,0.152,0.047,2905,1580,1647
$GC,13175,0.60,326.5,541.3,9.7,1026,13185,0.00,0.00,8.80,1.016,6,0.000,0.000,2905,1580,1615
$GC,13480,0.71,326.5,509.8,10.9,1041,13481,0.20,0.00,0.00,0.000,6,0.063,0.000,2991,1580,1612
$GC,13789,0.42,326.5,449.9,20.1,1068,13791,0.38,0.00,0.00,0.000,6,0.156,0.000,2881,1580,1611
$GC,14100,0.85,436.0,425.0,6.2,1098,14212,0.38,2.33,97.82,1.042,4,0.048,0.059,3038,214,1166
$GC,14296,0.51,436.0,382.0,24.2,1116,14300,0.40,2.17,0.00,0.000,6,0.151,0.043,2916,1579,1159
$GC,14617,0.72,436.0,346.7,10.4,1147,14619,0.17,0.00,0.00,0.000,6,0.064,0.000,2992,1578,1155
$GC,14930,0.54,436.0,287.6,19.1,1183,14935,0.25,0.00,0.00,0.000,6,0.148,0.000,2919,1579,1154
$GC,15255,0.89,477.9,256.8,8.6,1244,15299,0.30,2.25,34.72,0.905,4,0.048,0.058,3051,209,996
$GC,15330,0.60,477.9,241.2,26.3,1257,15336,0.35,2.15,0.00,0.000,6,0.144,0.041,2932,1577,993
$GC,15656,0.98,522.3,202.7,8.5,1318,15701,0.35,2.22,38.42,0.855,4,0.044,0.056,3082,205,817
$GC,15748,0.66,522.3,182.1,24.3,1334,15756,0.40,2.10,0.00,0.000,6,0.148,0.040,2958,1541,812
$GC,16076,1.02,605.2,144.5,7.1,1395,16152,0.30,0.00,67.78,0.807,6,0.046,0.000,3088,1541,489
$GC,16471,0.94,605.2,58.7,19.5,1467,16477,0.15,0.00,0.00,0.000,6,0.147,0.000,3048,1541,482
$GC,16797,1.11,605.2,14.1,10.8,1528,16804,0.15,2.10,0.00,0.000,4,0.060,0.054,3122,209,481
$GC,16835,1.03,605.2,7.5,17.9,1535,16842,0.12,2.05,0.00,0.000,6,0.133,0.038,3079,1552,481
$STATE,16860,end climb,SURFACE_DEPTH_REACHED
$STATE,16860,begin surface coast
$FINISH,0.1,1.021936
$STATE,16877,end surface coast,CONTROL_FINISHED_OK
$STATE,16877,begin surface
$SM_CCo,16950,0.00,0.000,0,0,481,604.91
$SM_GC,0.53,7.65,0.00,0.00,0.038,0.000,0.000,111,1445,481,-8.14,-0.76,604.91
$IRIDIUM_FIX,2505.59,12317.61,200898,000037
$TT8_MAMPS,0.049855
$HUMID,1462
$INTERNAL_PRESSURE,8.91882
$TCM_TEMP,25.90
$XPDR_PINGS,30
$24V_AH,23.6,9.643
$10V_AH,10.7,5.346
$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,28.825,120.700,686.500,0.000,0.000,30.816,33.803,202.037,15.500,0.000,0.000,11.843,0.000,12379.996,816.030,3596.675,493.915,0.000,2172.490,0.000,3045.759,0.000,54.897,0.000
$DEVICE_MAMPS,210.158,69.030,1463.436,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1043.505,1021.084,1707.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88139,1543
$CAP_FILE_SIZE,173278,0
$CFSIZE,260165632,255184896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.142, 76.0,1
$GPS,260509,104036,2513.493,12339.037,34,1.2,40,-3.7