version: 66.04
glider: 164
mission: 3
dive: 29
start: 5 26 109 10 46 49
data:
$ID,164
$MISSION,3
$DIVE,29
$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,-33730.512
$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,40
$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
$GPS1,104036,2513.493,12339.037,34,1.2,40,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.62
$_SM_ANGLEo,-61.7
$GPS2,104644,2513.516,12339.063,10,1.5,10,-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,232.7,53613,-15.7,-10.000
$D_GRID,2023
$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,-88.55,0.000,2,0.000,0.000,112,1441,2918
$GC,105,-0.97,-194.7,3.2,-7.9,14,136,8.57,2.20,-16.02,0.000,4,0.216,0.053,2416,2877,3745
$GC,263,-0.48,-194.7,46.6,-24.7,43,270,0.50,2.12,0.00,0.000,6,0.129,0.035,2580,1474,3747
$GC,589,-0.48,-194.7,93.9,-13.1,104,597,0.00,1.95,0.00,0.000,4,0.000,0.048,2581,209,3748
$GC,692,-0.48,-194.7,105.7,-10.2,123,699,0.00,1.88,0.00,0.000,6,0.000,0.035,2581,1453,3748
$GC,1018,-0.60,-194.7,137.3,-9.3,184,1026,0.00,2.12,0.00,0.000,4,0.000,0.040,2581,2875,3749
$GC,1079,-0.84,-194.7,142.5,-8.4,195,1085,0.22,2.12,0.00,0.000,6,0.036,0.036,2445,1453,3749
$GC,1404,-0.56,-194.7,202.6,-18.9,256,1412,0.38,1.88,0.00,0.000,4,0.126,0.046,2564,217,3750
$GC,1491,-0.68,-194.7,213.5,-10.8,272,1500,0.10,1.83,0.00,0.000,6,0.051,0.035,2502,1438,3750
$GC,1820,-0.63,-194.7,253.9,-12.9,333,1826,0.12,1.85,0.00,0.000,4,0.133,0.047,2537,224,3750
$GC,1916,-0.71,-194.7,264.2,-9.8,351,1922,0.00,1.83,0.00,0.000,6,0.000,0.035,2538,1446,3750
$GC,2241,-0.84,-194.7,296.1,-9.3,412,2248,0.17,0.00,0.00,0.000,6,0.058,0.000,2456,1446,3750
$GC,2558,-0.68,-194.7,335.9,-11.8,446,2563,0.22,1.88,0.00,0.000,4,0.126,0.048,2526,217,3750
$GC,2606,-0.76,-194.7,340.5,-8.9,450,2613,0.00,1.83,0.00,0.000,6,0.000,0.035,2526,1444,3750
$GC,2923,-0.87,-194.7,367.6,-9.0,481,2926,0.17,2.10,0.00,0.000,4,0.059,0.040,2445,2875,3750
$GC,2948,-0.79,-194.7,370.7,-12.0,483,2952,0.10,2.15,0.00,0.000,6,0.127,0.037,2481,1435,3749
$GC,3268,-0.79,-194.7,406.3,-10.7,514,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1435,3748
$GC,3579,-0.79,-194.7,439.1,-10.1,544,3583,0.00,1.85,0.00,0.000,4,0.000,0.049,2482,223,3747
$GC,3616,-0.74,-194.7,443.2,-11.3,547,3623,0.00,1.83,0.00,0.000,6,0.000,0.035,2481,1443,3746
$GC,3932,-0.74,-194.7,474.5,-9.9,578,3936,0.00,2.12,0.00,0.000,4,0.000,0.042,2482,2881,3745
$GC,3953,-0.74,-194.7,476.4,-9.3,580,3957,0.00,2.15,0.00,0.000,6,0.000,0.038,2482,1448,3745
$GC,4273,-0.74,-194.7,505.9,-9.0,608,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1447,3742
$GC,4578,-0.74,-194.7,534.6,-9.6,623,4582,0.00,1.90,0.00,0.000,4,0.000,0.051,2481,209,3741
$GC,4641,-0.74,-194.7,541.2,-10.6,626,4646,0.00,1.85,0.00,0.000,6,0.000,0.035,2481,1445,3740
$GC,4968,-0.74,-194.7,572.6,-9.8,642,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1445,3739
$GC,5274,-0.74,-194.7,602.1,-9.6,657,5277,0.00,1.90,0.00,0.000,4,0.000,0.054,2481,220,3735
$GC,5316,-0.74,-194.7,606.6,-10.6,659,5320,0.00,1.83,0.00,0.000,6,0.000,0.038,2482,1435,3736
$GC,5643,-0.79,-194.7,637.5,-9.0,675,5644,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1436,3734
$GC,5947,-0.79,-194.7,663.1,-8.4,690,5951,0.00,2.17,0.00,0.000,4,0.000,0.046,2482,2872,3731
$GC,6075,-0.88,-194.7,672.1,-6.3,696,6079,0.00,2.17,0.00,0.000,6,0.000,0.041,2482,1442,3730
$GC,6401,-0.94,-194.7,694.2,-7.2,712,6406,0.12,1.90,0.00,0.000,4,0.074,0.064,2429,213,3729
$GC,6481,-0.76,-194.7,702.7,-11.3,715,6488,0.20,1.85,0.00,0.000,6,0.127,0.038,2496,1442,3728
$GC,6792,-0.88,-194.7,721.0,-5.4,731,6796,0.12,2.12,0.00,0.000,4,0.075,0.048,2441,2871,3726
$GC,6860,-0.88,-194.7,725.9,-7.5,734,6865,0.00,2.15,0.00,0.000,6,0.000,0.043,2441,1454,3725
$GC,7182,-0.81,-194.7,753.0,-9.2,750,7183,0.15,0.00,0.00,0.000,6,0.137,0.000,2484,1454,3724
$GC,7488,-0.91,-194.7,776.7,-8.0,765,7491,0.00,2.15,0.00,0.000,4,0.000,0.050,2484,2876,3721
$GC,7545,-1.05,-194.7,781.1,-7.3,767,7552,0.20,2.15,0.00,0.000,6,0.049,0.044,2390,1462,3722
$GC,7856,-0.83,-194.7,819.1,-12.4,783,7860,0.28,1.95,0.00,0.000,4,0.140,0.060,2473,214,3719
$GC,7946,-0.83,-194.7,827.5,-8.6,787,7950,0.00,1.88,0.00,0.000,6,0.000,0.041,2473,1446,3719
$GC,8269,-0.89,-194.7,851.0,-7.2,803,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1446,3717
$GC,8572,-0.95,-194.7,873.3,-7.7,818,8577,0.12,2.17,0.00,0.000,4,0.081,0.051,2418,2873,3715
$GC,8615,-0.87,-194.7,877.2,-9.5,820,8620,0.12,2.17,0.00,0.000,6,0.133,0.046,2460,1454,3715
$GC,8941,-0.87,-194.7,902.5,-7.4,836,8945,0.00,2.20,0.00,0.000,4,0.000,0.051,2460,2878,3714
$GC,8999,-0.94,-194.7,906.5,-6.7,838,9006,0.00,2.17,0.00,0.000,6,0.000,0.045,2460,1460,3713
$GC,9310,-0.94,-194.7,928.7,-7.3,854,9311,0.00,0.00,0.00,0.000,6,0.000,0.000,2460,1460,3712
$GC,9616,-0.94,-194.7,950.8,-7.3,869,9617,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1460,3711
$GC,9921,-0.94,-194.7,975.1,-8.2,884,9924,0.00,2.17,0.00,0.000,4,0.000,0.054,2460,2880,3710
$GC,9957,-1.02,-194.7,978.1,-8.3,885,9964,0.10,2.17,0.00,0.000,6,0.065,0.048,2405,1468,3709
$STATE,10083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10083,begin apogee
$GC,10087,-0.23,0.0,991.6,10.9,892,10250,0.80,0.00,160.62,1.461,6,0.128,0.000,2665,1607,2947
$STATE,10250,end apogee,CONTROL_FINISHED_OK
$STATE,10250,begin climb
$GC,10252,0.97,194.7,995.9,0.0,900,10427,1.12,0.00,170.15,1.414,6,0.075,0.000,3052,1607,2153
$GC,10725,0.35,194.7,911.9,22.4,923,10729,0.68,2.25,0.00,0.000,4,0.179,0.061,2862,211,2143
$GC,10751,0.20,194.7,907.8,14.9,924,10756,0.15,2.17,0.00,0.000,6,0.130,0.044,2810,1585,2142
$GC,11072,0.64,286.6,885.3,6.8,940,11159,0.40,2.33,79.88,1.361,4,0.053,0.061,2968,209,1776
$GC,11174,0.34,286.6,869.4,19.7,944,11182,0.38,2.25,0.00,0.000,6,0.155,0.044,2858,1585,1772
$GC,11484,0.60,346.6,840.2,7.9,960,11550,0.22,2.33,54.20,1.289,4,0.064,0.051,2949,3006,1533
$GC,11570,0.35,346.6,827.2,18.5,964,11574,0.30,2.33,0.00,0.000,6,0.159,0.047,2861,1589,1530
$GC,11897,0.60,364.5,795.7,9.4,980,11924,0.22,2.25,17.83,1.123,4,0.064,0.062,2950,206,1459
$GC,11983,0.45,364.5,781.2,18.7,984,11987,0.17,2.17,0.00,0.000,6,0.148,0.045,2895,1573,1457
$GC,12304,0.53,364.5,736.3,13.0,1000,12308,0.00,2.25,0.00,0.000,4,0.000,0.052,2895,3006,1452
$GC,12325,0.60,364.5,733.5,13.0,1001,12329,0.10,2.25,0.00,0.000,6,0.067,0.049,2949,1581,1452
$GC,12652,0.39,364.5,676.1,17.6,1017,12656,0.28,2.17,0.00,0.000,4,0.157,0.063,2873,200,1452
$GC,12672,0.32,364.5,673.0,14.7,1018,12676,0.00,2.15,0.00,0.000,6,0.000,0.048,2873,1573,1451
$GC,12999,0.58,387.0,643.1,9.2,1034,13030,0.17,2.22,22.20,1.120,4,0.065,0.063,2949,204,1368
$GC,13045,0.49,387.0,636.6,15.0,1036,13050,0.12,2.17,0.00,0.000,6,0.146,0.048,2908,1571,1365
$GC,13361,0.56,387.0,593.9,13.6,1052,13365,0.00,2.25,0.00,0.000,4,0.000,0.053,2908,3003,1362
$GC,13383,0.63,387.0,590.9,13.8,1053,13387,0.08,2.25,0.00,0.000,6,0.072,0.049,2955,1574,1362
$GC,13709,0.44,387.0,529.5,19.0,1069,13713,0.25,2.15,0.00,0.000,4,0.156,0.062,2886,207,1360
$GC,13751,0.63,387.0,523.7,11.2,1071,13755,0.12,2.12,0.00,0.000,6,0.057,0.048,2950,1565,1359
$GC,14071,0.51,387.0,471.2,17.1,1094,14074,0.15,2.20,0.00,0.000,4,0.155,0.052,2908,3007,1359
$GC,14124,0.61,387.0,463.5,13.8,1099,14127,0.00,2.20,0.00,0.000,6,0.000,0.048,2908,1574,1359
$GC,14444,0.76,391.6,430.4,9.8,1130,14448,0.22,2.15,0.00,0.000,4,0.060,0.062,3004,214,1358
$GC,14508,0.48,391.6,419.5,18.3,1136,14521,0.32,2.12,4.03,0.692,6,0.156,0.045,2903,1586,1349
$GC,14829,0.84,489.0,393.2,6.6,1167,14920,0.30,2.30,86.62,1.045,4,0.054,0.058,3029,208,951
$GC,14941,0.46,489.0,370.7,24.3,1177,14945,0.47,2.20,0.00,0.000,6,0.153,0.044,2894,1581,948
$GC,15256,1.03,596.3,345.7,6.3,1207,15352,0.50,0.00,93.35,0.977,6,0.041,0.000,3102,1581,514
$GC,15670,0.58,596.3,204.3,34.0,1271,15676,0.55,2.22,0.00,0.000,4,0.159,0.046,2935,3017,506
$GC,15723,0.82,596.3,193.6,13.7,1281,15730,0.17,2.30,0.00,0.000,6,0.045,0.044,3023,1558,505
$GC,16049,0.75,596.3,126.5,19.8,1342,16057,0.12,2.12,0.00,0.000,4,0.150,0.058,2989,214,504
$GC,16077,0.82,596.3,121.5,18.1,1347,16084,0.00,2.10,0.00,0.000,6,0.000,0.042,2989,1566,504
$GC,16403,1.25,664.0,85.9,7.7,1408,16413,0.40,2.17,4.97,0.560,4,0.041,0.056,3163,211,490
$GC,16481,0.90,664.0,69.3,27.4,1422,16488,0.40,2.05,0.00,0.000,6,0.148,0.038,3037,1549,489
$GC,16808,1.10,664.0,26.7,12.1,1483,16814,0.17,2.22,0.00,0.000,4,0.055,0.044,3118,3010,489
$GC,16866,1.03,664.0,16.6,16.4,1494,16873,0.12,2.20,0.00,0.000,6,0.149,0.040,3080,1569,489
$STATE,16951,end climb,SURFACE_DEPTH_REACHED
$STATE,16951,begin surface coast
$FINISH,-0.1,1.021976
$STATE,16973,end surface coast,CONTROL_FINISHED_OK
$STATE,16973,begin surface
$SM_CCo,17047,0.00,0.000,0,0,488,603.19
$SM_GC,0.56,7.62,0.00,0.00,0.039,0.000,0.000,116,1449,488,-8.14,-0.62,603.19
$IRIDIUM_FIX,2505.59,12338.76,200898,060630
$TT8_MAMPS,0.050622
$HUMID,1499
$INTERNAL_PRESSURE,8.91882
$TCM_TEMP,26.00
$XPDR_PINGS,16
$24V_AH,23.6,9.908
$10V_AH,10.7,5.486
$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,29.125,147.725,693.850,0.000,0.000,31.627,36.112,199.935,12.000,0.000,0.000,12.501,0.000,12482.297,830.809,3586.205,486.615,0.000,2206.926,0.000,3026.873,0.000,53.957,0.000
$DEVICE_MAMPS,215.527,70.564,1461.135,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.151,1028.190,1719.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85177,1514
$CAP_FILE_SIZE,178053,0
$CFSIZE,260165632,255090688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.056, 88.4,1
$GPS,260509,153154,2511.646,12337.278,39,1.0,39,-3.7