version: 66.04
glider: 164
mission: 3
dive: 30
start: 5 26 109 15 38 25
data:
$ID,164
$MISSION,3
$DIVE,30
$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,-33745.09
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,153154,2511.646,12337.278,39,1.0,39,-3.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-62.6
$GPS2,153820,2511.623,12337.286,12,1.0,12,-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,220.4,49123,-15.7,-10.000
$D_GRID,2020
$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,-194.7,0.0,0.0,0,99,0.00,0.00,-85.15,0.000,2,0.000,0.000,116,1444,2832
$GC,101,-0.97,-194.7,3.2,-7.9,13,133,8.52,2.17,-18.42,0.000,4,0.213,0.052,2416,2886,3742
$GC,346,-0.53,-194.7,67.0,-25.3,58,354,0.45,2.12,0.00,0.000,6,0.125,0.036,2565,1484,3745
$GC,673,-0.53,-194.7,114.4,-11.5,119,680,0.00,1.95,0.00,0.000,4,0.000,0.048,2565,215,3746
$GC,759,-0.59,-194.7,125.0,-12.1,135,766,0.00,1.88,0.00,0.000,6,0.000,0.036,2565,1465,3746
$GC,1086,-0.69,-194.7,157.0,-9.7,196,1092,0.15,1.92,0.00,0.000,4,0.059,0.047,2491,208,3747
$GC,1123,-0.48,-194.7,162.7,-17.4,203,1130,0.28,1.88,0.00,0.000,6,0.114,0.035,2582,1461,3747
$GC,1450,-0.68,-194.7,196.0,-9.8,264,1456,0.17,0.00,0.00,0.000,6,0.057,0.000,2499,1461,3747
$GC,1776,-0.59,-194.7,241.7,-13.3,325,1781,0.17,0.00,0.00,0.000,6,0.126,0.000,2552,1461,3747
$GC,2100,-0.74,-194.7,271.8,-7.6,386,2109,0.15,1.90,0.00,0.000,4,0.060,0.046,2481,211,3747
$GC,2150,-0.58,-194.7,278.0,-13.5,395,2157,0.20,1.85,0.00,0.000,6,0.116,0.035,2551,1457,3747
$GC,2480,-0.76,-194.7,303.1,-7.2,453,2484,0.15,2.10,0.00,0.000,4,0.061,0.040,2479,2871,3747
$GC,2522,-0.76,-194.7,307.3,-10.9,457,2527,0.00,2.10,0.00,0.000,6,0.000,0.035,2479,1459,3747
$GC,2843,-0.68,-194.7,346.4,-12.2,488,2844,0.15,0.00,0.00,0.000,6,0.130,0.000,2524,1459,3747
$GC,3154,-0.78,-194.7,376.5,-9.2,518,3154,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,1459,3746
$GC,3465,-0.89,-194.7,401.3,-6.4,548,3466,0.20,0.00,0.00,0.000,6,0.056,0.000,2435,1459,3745
$GC,3775,-0.71,-194.7,435.4,-10.9,578,3779,0.25,1.88,0.00,0.000,4,0.127,0.050,2513,207,3743
$GC,3838,-0.71,-194.7,440.4,-7.5,584,3842,0.00,1.88,0.00,0.000,6,0.000,0.035,2513,1461,3743
$GC,4160,-0.81,-194.7,465.1,-9.5,615,4163,0.00,2.10,0.00,0.000,4,0.000,0.042,2513,2865,3741
$GC,4202,-0.97,-194.7,469.0,-9.3,619,4206,0.20,2.10,0.00,0.000,6,0.046,0.038,2412,1464,3741
$GC,4521,-0.75,-194.7,515.6,-14.0,645,4525,0.30,1.90,0.00,0.000,4,0.127,0.051,2507,219,3739
$GC,4557,-0.83,-194.7,519.7,-10.1,646,4566,0.00,1.85,0.00,0.000,6,0.000,0.035,2507,1458,3739
$GC,4868,-0.93,-194.7,544.0,-7.4,662,4872,0.17,2.12,0.00,0.000,4,0.063,0.044,2429,2872,3737
$GC,4910,-0.82,-194.7,548.1,-10.2,664,4915,0.12,2.12,0.00,0.000,6,0.127,0.038,2472,1460,3737
$GC,5238,-0.82,-194.7,576.9,-9.2,680,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1459,3735
$GC,5543,-0.82,-194.7,606.6,-10.0,695,5544,0.00,0.00,0.00,0.000,6,0.000,0.000,2471,1459,3733
$GC,5847,-0.82,-194.7,636.6,-10.1,710,5851,0.00,2.15,0.00,0.000,4,0.000,0.047,2472,2868,3730
$GC,5900,-0.90,-194.7,641.9,-9.5,712,5905,0.00,2.15,0.00,0.000,6,0.000,0.042,2472,1452,3729
$GC,6216,-0.90,-194.7,672.3,-9.2,728,6220,0.00,2.15,0.00,0.000,4,0.000,0.047,2472,2861,3728
$GC,6269,-0.97,-194.7,676.8,-8.7,730,6273,0.10,2.12,0.00,0.000,6,0.058,0.042,2415,1460,3727
$GC,6585,-0.81,-194.7,713.8,-12.2,746,6589,0.22,1.92,0.00,0.000,4,0.134,0.058,2483,215,3725
$GC,6675,-0.81,-194.7,722.9,-9.7,750,6679,0.00,1.85,0.00,0.000,6,0.000,0.040,2483,1439,3724
$GC,6997,-0.89,-194.7,751.0,-8.6,766,7000,0.00,2.15,0.00,0.000,4,0.000,0.049,2482,2874,3722
$GC,7028,-1.03,-194.7,753.7,-8.2,767,7032,0.17,2.15,0.00,0.000,6,0.048,0.043,2398,1457,3721
$GC,7344,-0.83,-194.7,793.2,-12.5,783,7348,0.25,1.92,0.00,0.000,4,0.137,0.059,2473,220,3720
$GC,7380,-0.83,-194.7,797.1,-10.1,784,7388,0.00,1.88,0.00,0.000,6,0.000,0.041,2473,1460,3720
$GC,7691,-0.88,-194.7,820.7,-7.2,800,7695,0.00,2.15,0.00,0.000,4,0.000,0.050,2473,2869,3718
$GC,7765,-0.99,-194.7,826.0,-7.2,803,7770,0.10,2.15,0.00,0.000,6,0.061,0.044,2416,1464,3716
$GC,8082,-0.86,-194.7,859.9,-11.3,819,8083,0.17,0.00,0.00,0.000,6,0.138,0.000,2467,1464,3716
$GC,8386,-0.86,-194.7,887.6,-9.2,834,8390,0.00,2.17,0.00,0.000,4,0.000,0.051,2467,2872,3714
$GC,8451,-0.96,-194.7,893.3,-8.8,837,8454,0.00,2.15,0.00,0.000,6,0.000,0.046,2467,1451,3713
$GC,8777,-1.01,-194.7,922.1,-8.8,853,8781,0.15,2.17,0.00,0.000,4,0.073,0.051,2403,2868,3711
$GC,8829,-0.88,-194.7,927.9,-12.0,855,8834,0.15,2.15,0.00,0.000,6,0.133,0.047,2453,1469,3711
$GC,9146,-0.88,-194.7,958.4,-9.7,871,9146,0.00,0.00,0.00,0.000,6,0.000,0.000,2454,1468,3709
$GC,9450,-0.88,-194.7,988.4,-9.8,886,9455,0.00,2.17,0.00,0.000,4,0.000,0.053,2454,2872,3709
$STATE,9470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9470,begin apogee
$GC,9476,-0.23,0.0,990.3,9.6,887,9638,0.65,0.00,159.82,1.464,6,0.117,0.000,2670,1598,2947
$STATE,9639,end apogee,CONTROL_FINISHED_OK
$STATE,9639,begin climb
$GC,9640,0.97,194.7,996.8,0.0,895,9819,1.10,2.40,169.98,1.416,4,0.068,0.061,3055,219,2152
$GC,9893,0.33,194.7,962.9,21.4,907,9898,0.68,2.22,0.00,0.000,6,0.179,0.042,2856,1594,2146
$GC,10220,0.53,266.9,935.6,7.5,923,10288,0.17,2.35,63.10,1.378,4,0.070,0.063,2927,212,1857
$GC,10348,0.39,266.9,919.6,13.9,929,10352,0.20,2.17,0.00,0.000,6,0.155,0.043,2874,1583,1851
$GC,10670,0.52,288.0,889.2,9.3,945,10693,0.12,2.28,18.27,1.297,4,0.084,0.062,2928,220,1772
$GC,10726,0.40,288.0,881.9,14.5,947,10734,0.17,2.15,0.00,0.000,6,0.150,0.044,2874,1568,1770
$GC,11037,0.54,307.7,851.7,9.3,963,11068,0.12,2.28,19.90,1.185,4,0.083,0.063,2928,211,1691
$GC,11089,0.44,307.7,845.0,13.7,965,11094,0.12,2.15,0.00,0.000,6,0.152,0.044,2890,1560,1689
$GC,11405,0.49,307.7,810.7,10.9,981,11406,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1560,1685
$GC,11710,0.55,307.7,776.7,11.5,996,11714,0.00,2.17,0.00,0.000,4,0.000,0.062,2890,210,1683
$GC,11753,0.64,307.7,771.9,11.1,998,11757,0.12,2.10,0.00,0.000,6,0.063,0.045,2950,1556,1684
$GC,12079,0.41,307.7,715.9,17.0,1014,12083,0.25,2.15,0.00,0.000,4,0.159,0.063,2879,214,1683
$GC,12127,0.55,311.2,710.3,9.9,1016,12131,0.10,2.05,0.00,0.000,6,0.067,0.047,2932,1532,1682
$GC,12448,0.42,311.2,668.2,13.5,1032,12452,0.20,2.28,0.00,0.000,4,0.151,0.051,2876,3006,1682
$GC,12496,0.57,318.1,663.0,9.8,1034,12513,0.12,2.28,9.10,1.112,6,0.062,0.048,2942,1546,1649
$GC,12817,0.44,318.1,617.6,14.4,1050,12820,0.20,2.10,0.00,0.000,4,0.159,0.063,2886,208,1646
$GC,12864,0.61,318.1,612.2,10.1,1052,12868,0.12,2.08,0.00,0.000,6,0.057,0.047,2948,1537,1646
$GC,13185,0.45,318.1,563.3,15.5,1068,13189,0.20,2.28,0.00,0.000,4,0.151,0.051,2891,3008,1645
$GC,13221,0.50,318.1,558.4,12.6,1069,13228,0.00,2.28,0.00,0.000,6,0.000,0.048,2891,1546,1644
$GC,13533,0.68,325.9,529.1,9.7,1085,13546,0.20,2.17,7.80,0.997,4,0.068,0.063,2975,205,1617
$GC,13589,0.49,325.9,520.3,16.4,1087,13597,0.22,2.05,0.00,0.000,6,0.151,0.045,2904,1522,1617
$GC,13903,0.60,325.9,486.4,11.7,1109,13904,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1522,1615
$GC,14214,0.75,325.9,454.9,10.1,1139,14218,0.20,2.28,0.00,0.000,4,0.064,0.051,2995,3010,1615
$GC,14293,0.44,325.9,441.0,20.3,1146,14297,0.35,2.30,0.00,0.000,6,0.160,0.048,2889,1524,1614
$GC,14614,0.78,394.9,412.2,7.6,1177,14681,0.30,2.15,60.22,1.060,4,0.054,0.059,3014,215,1337
$GC,14748,0.42,394.9,385.6,24.4,1189,14755,0.43,2.05,0.00,0.000,6,0.154,0.043,2886,1502,1331
$GC,15064,0.85,448.0,357.2,8.2,1220,15113,0.38,0.00,46.12,0.993,6,0.046,0.000,3042,1502,1120
$GC,15429,0.45,448.0,257.5,29.3,1268,15436,0.52,2.35,0.00,0.000,4,0.153,0.047,2886,3006,1110
$GC,15488,0.81,448.0,248.2,10.4,1279,15496,0.28,2.35,0.00,0.000,6,0.040,0.044,3031,1510,1108
$GC,15816,0.55,448.0,181.2,21.3,1340,15823,0.38,2.30,0.00,0.000,4,0.145,0.046,2918,3017,1107
$GC,15854,0.69,448.0,175.4,12.7,1347,15862,0.10,2.30,0.00,0.000,6,0.054,0.044,2979,1535,1107
$GC,16182,0.82,448.0,133.1,11.1,1408,16189,0.00,2.08,0.00,0.000,4,0.000,0.056,2985,217,1106
$GC,16214,0.97,448.0,129.7,10.7,1414,16221,0.15,2.03,0.00,0.000,6,0.048,0.042,3065,1534,1106
$GC,16541,0.83,448.0,75.0,15.9,1475,16549,0.20,2.25,0.00,0.000,4,0.143,0.044,3006,3013,1106
$GC,16563,0.83,448.0,71.8,13.7,1479,16571,0.00,2.28,0.00,0.000,6,0.000,0.042,3006,1531,1106
$GC,16891,1.09,486.8,40.3,8.7,1540,16929,0.25,2.08,31.60,0.721,4,0.049,0.053,3127,205,960
$GC,16939,0.87,486.8,33.0,18.0,1548,16946,0.30,2.08,0.00,0.000,6,0.142,0.039,3031,1549,958
$STATE,17205,end climb,SURFACE_DEPTH_REACHED
$STATE,17205,begin surface coast
$FINISH,0.7,1.021988
$STATE,17232,end surface coast,CONTROL_FINISHED_OK
$STATE,17232,begin surface
$SM_CCo,17305,0.00,0.000,0,0,951,489.37
$SM_GC,0.62,7.68,0.00,0.00,0.051,0.000,0.000,122,1449,951,-8.13,-0.62,489.37
$IRIDIUM_FIX,2505.59,12336.78,200898,101012
$TT8_MAMPS,0.050622
$HUMID,1463
$INTERNAL_PRESSURE,8.98718
$TCM_TEMP,26.40
$XPDR_PINGS,12
$24V_AH,23.6,10.139
$10V_AH,10.7,5.634
$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,29.575,148.325,585.925,0.000,0.000,29.627,38.541,215.633,11.000,0.000,0.000,13.949,0.000,12630.021,747.167,3776.761,507.027,0.000,2164.133,0.000,3187.883,0.000,53.963,0.000
$DEVICE_MAMPS,213.226,69.797,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.491,1101.937,1844.667,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91470,1603
$CAP_FILE_SIZE,183458,0
$CFSIZE,260165632,254984192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026, 95.1,1
$GPS,260509,202736,2509.344,12335.626,27,1.2,27,-3.7