version: 66.04
glider: 164
mission: 3
dive: 32
start: 5 27 109 1 39 43
data:
$ID,164
$MISSION,3
$DIVE,32
$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,-33771.344
$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
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.035
$PITCH_ADJ_DBAND,1
$ROLL_MIN,204
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,1471
$C_ROLL_CLIMB,1580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$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
$GPS1,013337,2507.001,12334.348,26,1.1,26,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-61.9
$GPS2,013938,2506.959,12334.260,10,1.2,10,-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,211.4,39121,-15.7,-10.000
$D_GRID,2016
$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,-0.99,-194.7,0.0,0.0,0,83,0.00,0.00,-69.05,0.000,2,0.000,0.000,113,1457,2897
$GC,85,-0.99,-194.7,3.2,-8.3,11,117,8.50,1.98,-16.48,0.000,4,0.212,0.070,2417,208,3745
$GC,356,-0.60,-194.7,79.5,-26.8,61,363,0.38,1.92,0.00,0.000,6,0.123,0.035,2544,1481,3747
$GC,683,-0.55,-194.7,123.7,-11.0,122,689,0.00,1.95,0.00,0.000,4,0.000,0.047,2544,214,3748
$GC,870,-0.55,-194.7,148.1,-13.8,157,876,0.00,1.88,0.00,0.000,6,0.000,0.036,2544,1465,3749
$GC,1196,-0.55,-194.7,181.5,-8.6,218,1203,0.00,1.92,0.00,0.000,4,0.000,0.047,2544,211,3750
$GC,1244,-0.55,-194.7,186.3,-9.7,227,1251,0.00,1.88,0.00,0.000,6,0.000,0.035,2544,1461,3750
$GC,1571,-0.62,-194.7,221.0,-12.0,288,1579,0.00,1.92,0.00,0.000,4,0.000,0.047,2544,208,3750
$GC,1657,-0.67,-194.7,231.5,-11.7,304,1665,0.00,1.85,0.00,0.000,6,0.000,0.035,2544,1447,3750
$GC,1985,-0.77,-194.7,259.5,-5.8,365,1991,0.15,2.10,0.00,0.000,4,0.063,0.041,2473,2876,3750
$GC,2054,-0.73,-194.7,265.5,-9.5,378,2061,0.10,2.12,0.00,0.000,6,0.119,0.035,2509,1452,3750
$GC,2381,-0.73,-194.7,298.4,-11.9,439,2387,0.00,1.88,0.00,0.000,4,0.000,0.047,2509,215,3750
$GC,2428,-0.73,-194.7,304.1,-11.9,445,2435,0.00,1.85,0.00,0.000,6,0.000,0.035,2509,1458,3750
$GC,2744,-0.73,-194.7,339.5,-10.9,476,2748,0.00,1.90,0.00,0.000,4,0.000,0.047,2509,217,3749
$GC,2807,-0.73,-194.7,346.5,-11.5,482,2812,0.00,1.85,0.00,0.000,6,0.000,0.035,2509,1454,3749
$GC,3129,-0.77,-194.7,377.7,-8.8,513,3132,0.00,2.10,0.00,0.000,4,0.000,0.041,2509,2882,3747
$GC,3176,-0.86,-194.7,382.1,-9.4,517,3183,0.10,2.12,0.00,0.000,6,0.050,0.036,2447,1456,3747
$GC,3492,-0.74,-194.7,427.2,-15.7,548,3496,0.20,1.88,0.00,0.000,4,0.129,0.048,2509,219,3746
$GC,3647,-0.74,-194.7,445.6,-10.6,562,3653,0.00,1.83,0.00,0.000,6,0.000,0.035,2509,1445,3746
$GC,3962,-0.81,-194.7,477.0,-10.2,593,3966,0.00,2.10,0.00,0.000,4,0.000,0.042,2508,2872,3744
$GC,4048,-0.92,-194.7,483.9,-7.3,601,4051,0.15,2.10,0.00,0.000,6,0.044,0.038,2426,1465,3744
$GC,4366,-0.78,-194.7,522.4,-12.2,623,4370,0.20,1.90,0.00,0.000,4,0.133,0.050,2490,206,3742
$GC,4423,-0.78,-194.7,528.3,-9.4,625,4430,0.00,1.85,0.00,0.000,6,0.000,0.035,2490,1456,3742
$GC,4734,-0.82,-194.7,556.2,-10.1,641,4735,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1457,3740
$GC,5039,-0.87,-194.7,588.9,-11.0,656,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,2490,1457,3739
$GC,5345,-0.91,-194.7,620.9,-10.0,671,5348,0.12,2.12,0.00,0.000,4,0.071,0.045,2432,2867,3737
$GC,5370,-0.87,-194.7,623.9,-12.0,672,5375,0.08,2.12,0.00,0.000,6,0.134,0.041,2458,1454,3736
$GC,5692,-0.87,-194.7,657.7,-9.9,688,5696,0.00,2.15,0.00,0.000,4,0.000,0.046,2457,2867,3734
$GC,5723,-0.87,-194.7,660.5,-9.1,689,5727,0.00,2.15,0.00,0.000,6,0.000,0.041,2458,1447,3734
$GC,6040,-0.87,-194.7,690.6,-9.7,705,6043,0.00,1.88,0.00,0.000,4,0.000,0.063,2458,211,3732
$GC,6145,-0.83,-194.7,702.1,-10.6,710,6150,0.00,1.85,0.00,0.000,6,0.000,0.038,2458,1442,3731
$GC,6472,-0.83,-194.7,730.5,-8.5,726,6476,0.00,2.17,0.00,0.000,4,0.000,0.048,2458,2878,3729
$GC,6530,-0.88,-194.7,735.2,-7.6,728,6539,0.00,2.17,0.00,0.000,6,0.000,0.042,2457,1447,3728
$GC,6841,-0.88,-194.7,760.0,-8.3,744,6845,0.00,2.17,0.00,0.000,4,0.000,0.048,2457,2870,3726
$GC,6867,-0.88,-194.7,762.3,-8.3,745,6871,0.00,2.17,0.00,0.000,6,0.000,0.043,2458,1446,3726
$GC,7188,-0.88,-194.7,791.4,-9.5,761,7189,0.00,0.00,0.00,0.000,6,0.000,0.000,2458,1446,3725
$GC,7493,-0.88,-194.7,821.5,-10.0,776,7497,0.00,1.92,0.00,0.000,4,0.000,0.061,2458,213,3722
$GC,7535,-0.88,-194.7,826.3,-11.5,778,7540,0.00,1.88,0.00,0.000,6,0.000,0.041,2457,1448,3722
$GC,7862,-0.88,-194.7,858.5,-9.4,794,7866,0.00,2.17,0.00,0.000,4,0.000,0.051,2458,2874,3719
$GC,7888,-0.88,-194.7,860.8,-9.4,795,7892,0.00,2.17,0.00,0.000,6,0.000,0.044,2458,1449,3719
$GC,8210,-0.88,-194.7,888.7,-8.6,811,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1449,3718
$GC,8514,-0.88,-194.7,916.3,-9.3,826,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1449,3716
$GC,8820,-0.88,-194.7,946.5,-10.1,841,8824,0.00,1.95,0.00,0.000,4,0.000,0.067,2457,211,3715
$GC,8862,-0.88,-194.7,951.2,-11.4,843,8866,0.00,1.88,0.00,0.000,6,0.000,0.043,2457,1445,3714
$GC,9189,-0.88,-194.7,984.7,-10.3,859,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1445,3713
$STATE,9248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9248,begin apogee
$GC,9252,-0.24,0.0,991.1,10.3,862,9415,0.62,0.00,160.93,1.465,6,0.117,0.000,2667,1592,2947
$STATE,9415,end apogee,CONTROL_FINISHED_OK
$STATE,9415,begin climb
$GC,9417,0.99,194.7,998.5,0.0,870,9595,1.12,2.42,168.80,1.420,4,0.074,0.061,3056,212,2151
$GC,9643,0.49,194.7,972.9,21.1,880,9651,0.52,2.20,0.00,0.000,6,0.179,0.041,2909,1572,2147
$GC,9953,0.42,194.7,938.8,10.6,896,9957,0.00,2.22,0.00,0.000,4,0.000,0.061,2909,208,2143
$GC,9990,0.35,194.7,934.6,11.1,897,9997,0.15,2.12,0.00,0.000,6,0.148,0.041,2862,1574,2143
$GC,10301,0.47,240.5,908.4,8.4,913,10343,0.12,0.00,39.50,1.371,6,0.084,0.000,2915,1574,1965
$GC,10646,0.39,240.5,866.4,12.5,930,10650,0.15,2.20,0.00,0.000,4,0.159,0.061,2876,211,1957
$GC,10683,0.45,240.5,862.4,10.1,931,10689,0.00,2.12,0.00,0.000,6,0.000,0.043,2877,1571,1956
$GC,10994,0.51,242.6,831.9,9.9,947,10994,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1571,1955
$GC,11298,0.58,244.4,801.3,9.9,962,11303,0.15,2.17,0.00,0.000,4,0.077,0.063,2942,210,1954
$GC,11367,0.45,244.4,791.9,15.1,965,11372,0.15,2.08,0.00,0.000,6,0.153,0.044,2894,1556,1954
$GC,11689,0.45,244.4,758.0,10.0,981,11692,0.00,2.20,0.00,0.000,4,0.000,0.051,2894,2980,1953
$GC,11709,0.45,244.4,755.8,10.2,982,11714,0.00,2.22,0.00,0.000,6,0.000,0.048,2894,1550,1952
$GC,12036,0.46,252.4,724.7,9.7,998,12051,0.00,2.15,9.43,1.157,4,0.000,0.063,2894,214,1918
$GC,12072,0.51,260.0,721.0,9.7,999,12086,0.00,2.10,8.55,1.120,6,0.000,0.047,2894,1558,1886
$GC,12404,0.57,272.2,689.9,9.6,1016,12417,0.10,0.00,12.12,1.180,6,0.084,0.000,2940,1558,1837
$GC,12708,0.47,272.2,649.0,13.5,1031,12712,0.17,2.15,0.00,0.000,4,0.154,0.062,2893,218,1832
$GC,12767,0.59,302.3,642.6,9.0,1033,12798,0.08,2.08,27.50,1.226,6,0.071,0.046,2935,1551,1714
$GC,13113,0.51,302.3,598.6,13.3,1051,13117,0.00,2.25,0.00,0.000,4,0.000,0.051,2936,2983,1705
$GC,13150,0.44,302.3,593.6,12.1,1052,13159,0.15,2.25,0.00,0.000,6,0.150,0.048,2889,1557,1705
$GC,13460,0.62,342.4,565.8,8.6,1068,13500,0.15,2.28,35.12,1.175,4,0.074,0.062,2950,200,1550
$GC,13552,0.56,342.4,554.1,14.6,1071,13556,0.00,2.15,0.00,0.000,6,0.000,0.045,2950,1548,1545
$GC,13868,0.46,342.4,505.8,15.9,1087,13872,0.20,2.22,0.00,0.000,4,0.151,0.050,2894,2989,1541
$GC,13926,0.57,342.4,498.5,10.7,1089,13933,0.00,2.22,0.00,0.000,6,0.000,0.047,2894,1570,1540
$GC,14243,0.79,394.2,472.2,8.2,1120,14292,0.30,2.22,45.10,1.103,4,0.052,0.060,3024,210,1338
$GC,14340,0.51,394.2,453.3,21.1,1128,14348,0.32,2.15,0.00,0.000,6,0.160,0.043,2914,1555,1332
$GC,14655,0.61,394.2,419.4,10.2,1159,14659,0.00,2.17,0.00,0.000,4,0.000,0.060,2915,208,1327
$GC,14681,0.72,394.2,416.7,10.5,1161,14688,0.12,2.10,0.00,0.000,6,0.058,0.045,2978,1546,1327
$GC,14997,0.58,394.2,361.0,17.1,1192,15001,0.17,2.22,0.00,0.000,4,0.159,0.048,2931,2989,1327
$GC,15034,0.58,394.2,355.4,15.5,1195,15040,0.00,2.22,0.00,0.000,6,0.000,0.045,2931,1557,1326
$GC,15350,0.63,394.2,315.6,12.4,1226,15351,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1557,1326
$GC,15666,0.70,394.2,276.2,12.4,1273,15672,0.12,2.12,0.00,0.000,4,0.077,0.058,2995,205,1326
$GC,15725,0.56,394.2,265.7,18.9,1284,15733,0.20,2.05,0.00,0.000,6,0.150,0.041,2930,1549,1325
$GC,16054,0.75,467.9,228.5,7.5,1345,16120,0.17,2.22,61.60,0.906,4,0.064,0.057,3015,211,1038
$GC,16151,0.58,467.9,213.1,19.3,1362,16158,0.25,2.10,0.00,0.000,6,0.146,0.041,2939,1533,1033
$GC,16478,0.84,505.5,178.8,8.7,1423,16517,0.22,2.12,31.77,0.840,4,0.050,0.055,3038,207,886
$GC,16532,0.69,505.5,169.1,21.4,1432,16540,0.20,2.10,0.00,0.000,6,0.140,0.040,2975,1535,884
$GC,16860,0.86,505.5,121.7,14.4,1493,16866,0.15,0.00,0.00,0.000,6,0.061,0.000,3047,1535,879
$GC,17186,0.86,505.5,67.3,14.4,1554,17192,0.00,2.10,0.00,0.000,4,0.000,0.054,3051,207,878
$GC,17212,0.86,505.5,63.4,14.9,1559,17219,0.08,2.03,0.00,0.000,6,0.131,0.039,3025,1535,878
$GC,17540,1.14,583.6,26.2,7.3,1620,17611,0.20,2.12,64.62,0.715,4,0.052,0.052,3125,208,565
$GC,17664,1.05,583.6,5.3,17.4,1641,17670,0.10,2.05,0.00,0.000,6,0.143,0.037,3081,1528,561
$STATE,17678,end climb,SURFACE_DEPTH_REACHED
$STATE,17678,begin surface coast
$FINISH,0.2,1.021967
$STATE,17694,end surface coast,CONTROL_FINISHED_OK
$STATE,17694,begin surface
$SM_CCo,17767,0.00,0.000,0,0,559,585.78
$SM_GC,0.60,7.68,0.00,0.00,0.029,0.000,0.000,121,1467,559,-8.13,-0.08,585.78
$IRIDIUM_FIX,2500.82,12332.16,200898,202000
$TT8_MAMPS,0.050622
$HUMID,1452
$INTERNAL_PRESSURE,8.93835
$TCM_TEMP,26.10
$XPDR_PINGS,14
$24V_AH,23.6,10.622
$10V_AH,10.7,5.931
$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,24.125,154.050,665.050,0.000,0.000,24.216,34.046,200.847,11.500,0.000,0.000,12.439,0.000,12963.566,816.743,3808.948,508.307,0.000,2262.276,0.000,3230.451,0.000,53.955,0.000
$DEVICE_MAMPS,211.692,89.739,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1114.130,1109.770,1853.006,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94879,1647
$CAP_FILE_SIZE,183352,0
$CFSIZE,260165632,254791680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.073,208.8,1
$GPS,270509,063636,2503.844,12332.326,27,1.3,27,-3.7