version: 66.04
glider: 164
mission: 3
dive: 33
start: 5 27 109 6 43 2
data:
$ID,164
$MISSION,3
$DIVE,33
$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,-33785.27
$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,31
$R_STBD_OVSHOOT,40
$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
$GPS1,063636,2503.844,12332.326,27,1.3,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-61.4
$GPS2,064256,2503.846,12332.168,11,1.4,11,-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,207.9,32401,-15.7,-10.000
$D_GRID,2059
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.99,-194.7,0.0,0.0,0,96,0.00,0.00,-82.78,0.000,2,0.000,0.000,121,1465,2857
$GC,98,-0.99,-194.7,3.0,-6.9,13,130,8.38,1.95,-17.83,0.000,4,0.207,0.065,2422,201,3743
$GC,369,-0.54,-194.7,78.8,-27.9,63,376,0.45,1.92,0.00,0.000,6,0.133,0.034,2564,1477,3746
$GC,696,-0.54,-194.7,124.7,-13.2,124,702,0.00,1.95,0.00,0.000,4,0.000,0.046,2564,213,3746
$GC,808,-0.54,-194.7,139.1,-12.5,145,814,0.00,1.88,0.00,0.000,6,0.000,0.035,2565,1465,3747
$GC,1134,-0.64,-194.7,176.3,-9.0,206,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,1465,3748
$GC,1461,-0.75,-194.7,201.1,-7.4,267,1467,0.17,2.08,0.00,0.000,4,0.056,0.039,2481,2887,3749
$GC,1503,-0.68,-194.7,205.8,-12.2,275,1509,0.10,2.12,0.00,0.000,6,0.123,0.035,2519,1454,3749
$GC,1829,-0.68,-194.7,248.1,-14.4,336,1836,0.00,1.88,0.00,0.000,4,0.000,0.046,2518,221,3749
$GC,1909,-0.68,-194.7,259.8,-14.5,351,1915,0.00,1.88,0.00,0.000,6,0.000,0.035,2519,1479,3749
$GC,2235,-0.68,-194.7,296.0,-9.3,412,2241,0.00,1.92,0.00,0.000,4,0.000,0.047,2519,221,3749
$GC,2299,-0.68,-194.7,302.2,-9.1,422,2303,0.00,1.85,0.00,0.000,6,0.000,0.035,2519,1461,3748
$GC,2621,-0.73,-194.7,323.8,-7.1,453,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,1462,3748
$GC,2931,-0.79,-194.7,354.1,-10.6,483,2934,0.00,1.88,0.00,0.000,4,0.000,0.047,2519,216,3747
$GC,2988,-0.83,-194.7,360.3,-10.8,488,2996,0.08,1.83,0.00,0.000,6,0.061,0.034,2468,1441,3747
$GC,3305,-0.76,-194.7,400.2,-12.5,519,3309,0.12,2.10,0.00,0.000,4,0.140,0.041,2504,2873,3746
$GC,3405,-0.83,-194.7,410.5,-10.6,528,3412,0.00,2.10,0.00,0.000,6,0.000,0.035,2504,1463,3745
$GC,3721,-0.88,-194.7,441.8,-9.5,559,3723,0.12,0.00,0.00,0.000,6,0.070,0.000,2446,1463,3743
$GC,4032,-0.77,-194.7,479.1,-11.7,589,4036,0.17,1.90,0.00,0.000,4,0.134,0.051,2498,214,3742
$GC,4193,-0.77,-194.7,495.4,-9.4,604,4196,0.00,1.83,0.00,0.000,6,0.000,0.035,2498,1464,3741
$GC,4508,-0.82,-194.7,524.5,-9.5,622,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,1465,3739
$GC,4814,-0.88,-194.7,553.8,-9.9,637,4815,0.12,0.00,0.00,0.000,6,0.073,0.000,2442,1465,3737
$GC,5118,-0.79,-194.7,590.9,-11.8,652,5122,0.17,1.92,0.00,0.000,4,0.134,0.052,2494,215,3735
$GC,5230,-0.79,-194.7,602.7,-10.5,657,5234,0.00,1.85,0.00,0.000,6,0.000,0.036,2493,1455,3734
$GC,5551,-0.85,-194.7,631.0,-8.6,673,5555,0.00,2.12,0.00,0.000,4,0.000,0.046,2493,2864,3732
$GC,5572,-0.93,-194.7,632.8,-8.7,674,5576,0.10,2.12,0.00,0.000,6,0.056,0.040,2436,1455,3732
$GC,5898,-0.84,-194.7,668.5,-10.2,690,5900,0.12,0.00,0.00,0.000,6,0.143,0.000,2470,1456,3730
$GC,6204,-0.84,-194.7,694.6,-9.1,705,6208,0.00,1.92,0.00,0.000,4,0.000,0.055,2470,216,3728
$GC,6289,-0.84,-194.7,703.4,-10.9,709,6293,0.00,1.85,0.00,0.000,6,0.000,0.038,2470,1442,3728
$GC,6616,-0.84,-194.7,735.8,-9.8,725,6619,0.00,1.92,0.00,0.000,4,0.000,0.056,2470,211,3725
$GC,6646,-0.84,-194.7,739.1,-10.8,726,6651,0.00,1.90,0.00,0.000,6,0.000,0.038,2470,1462,3725
$GC,6963,-0.84,-194.7,769.5,-9.4,742,6967,0.00,2.15,0.00,0.000,4,0.000,0.048,2470,2875,3723
$GC,7000,-0.91,-194.7,772.6,-9.0,743,7006,0.00,2.15,0.00,0.000,6,0.000,0.042,2470,1456,3722
$GC,7311,-0.95,-194.7,798.3,-7.9,759,7314,0.00,1.92,0.00,0.000,4,0.000,0.058,2470,219,3721
$GC,7347,-0.95,-194.7,801.3,-8.3,760,7354,0.00,1.85,0.00,0.000,6,0.000,0.041,2470,1444,3720
$GC,7658,-0.95,-194.7,825.6,-8.0,776,7661,0.00,2.15,0.00,0.000,4,0.000,0.049,2470,2877,3718
$GC,7679,-1.00,-194.7,827.3,-8.2,777,7683,0.10,2.15,0.00,0.000,6,0.060,0.044,2414,1462,3718
$GC,8005,-0.90,-194.7,863.7,-11.8,793,8009,0.15,1.92,0.00,0.000,4,0.142,0.060,2457,208,3716
$GC,8057,-0.90,-194.7,869.6,-10.8,795,8062,0.00,1.88,0.00,0.000,6,0.000,0.041,2457,1448,3716
$GC,8375,-0.90,-194.7,901.1,-10.0,811,8376,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1449,3715
$GC,8678,-0.90,-194.7,931.4,-9.8,826,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1450,3713
$GC,8984,-0.90,-194.7,959.5,-9.2,841,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1449,3712
$GC,9289,-0.90,-194.7,986.7,-8.8,856,9293,0.00,2.17,0.00,0.000,4,0.000,0.053,2457,2865,3709
$GC,9311,-0.90,-194.7,988.4,-8.3,857,9314,0.00,2.15,0.00,0.000,6,0.000,0.048,2457,1467,3709
$STATE,9329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9329,begin apogee
$GC,9333,-0.24,0.0,990.1,8.6,858,9496,0.62,0.00,160.07,1.465,6,0.114,0.000,2667,1584,2947
$STATE,9496,end apogee,CONTROL_FINISHED_OK
$STATE,9496,begin climb
$GC,9498,0.99,194.7,995.1,0.0,866,9676,1.12,2.38,169.35,1.416,4,0.074,0.048,3056,2988,2152
$GC,9691,0.50,194.7,972.5,21.2,875,9696,0.52,2.33,0.00,0.000,6,0.180,0.045,2911,1587,2148
$GC,10013,0.42,194.7,932.9,11.9,891,10017,0.00,2.25,0.00,0.000,4,0.000,0.061,2911,203,2142
$GC,10065,0.36,194.7,926.4,13.2,893,10070,0.15,2.15,0.00,0.000,6,0.145,0.042,2862,1575,2142
$GC,10382,0.47,230.4,898.0,8.8,909,10416,0.10,2.25,30.55,1.354,4,0.091,0.062,2903,208,2006
$GC,10438,0.47,230.4,892.0,11.6,911,10445,0.00,2.15,0.00,0.000,6,0.000,0.042,2903,1555,2003
$GC,10749,0.43,230.4,854.4,12.4,927,10750,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1555,1998
$GC,11053,0.39,230.4,816.4,12.5,942,11055,0.12,0.00,0.00,0.000,6,0.163,0.000,2871,1555,1996
$GC,11359,0.48,237.0,785.9,9.8,957,11368,0.00,2.15,5.30,0.983,4,0.000,0.063,2871,206,1980
$GC,11385,0.58,246.1,783.4,9.7,958,11404,0.15,2.10,9.95,1.187,6,0.058,0.044,2942,1557,1942
$GC,11706,0.44,246.1,738.4,13.7,974,11707,0.20,0.00,0.00,0.000,6,0.156,0.000,2887,1557,1939
$GC,12011,0.52,266.7,708.2,9.3,989,12032,0.00,0.00,19.35,1.252,6,0.000,0.000,2887,1557,1859
$GC,12336,0.62,292.3,677.9,9.1,1005,12361,0.17,0.00,23.30,1.242,6,0.071,0.000,2958,1557,1754
$GC,12661,0.46,292.3,632.4,14.3,1021,12665,0.22,2.17,0.00,0.000,4,0.153,0.062,2895,192,1747
$GC,12687,0.46,292.3,629.4,11.5,1022,12691,0.00,2.15,0.00,0.000,6,0.000,0.047,2894,1555,1746
$GC,13008,0.62,357.1,603.9,7.8,1038,13071,0.15,0.00,56.70,1.215,6,0.068,0.000,2960,1555,1491
$GC,13374,0.46,357.1,544.8,18.1,1056,13375,0.25,0.00,0.00,0.000,6,0.153,0.000,2890,1555,1481
$GC,13679,0.62,357.1,512.8,10.0,1071,13683,0.17,2.22,0.00,0.000,4,0.066,0.051,2963,2980,1478
$GC,13700,0.67,357.1,510.0,12.3,1072,13704,0.00,2.22,0.00,0.000,6,0.000,0.048,2962,1565,1479
$GC,14022,0.52,357.1,460.3,15.7,1099,14025,0.17,2.12,0.00,0.000,4,0.163,0.061,2915,209,1477
$GC,14069,0.59,357.1,454.0,11.4,1103,14072,0.00,2.10,0.00,0.000,6,0.000,0.047,2916,1557,1477
$GC,14389,0.66,357.1,415.2,12.6,1134,14393,0.12,2.15,0.00,0.000,4,0.074,0.061,2975,205,1476
$GC,14415,0.62,357.1,411.2,16.2,1136,14422,0.08,2.10,0.00,0.000,6,0.159,0.045,2952,1558,1476
$GC,14731,0.57,357.1,362.8,13.5,1167,14732,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,1559,1476
$GC,15041,0.57,357.1,324.0,12.3,1197,15046,0.00,2.12,0.00,0.000,4,0.000,0.059,2951,217,1476
$GC,15105,0.57,357.1,316.4,10.3,1203,15109,0.00,2.03,0.00,0.000,6,0.000,0.044,2951,1536,1476
$GC,15427,0.57,357.1,275.9,12.9,1251,15433,0.00,2.10,0.00,0.000,4,0.000,0.058,2952,208,1475
$GC,15480,0.61,357.1,269.8,11.1,1261,15486,0.00,2.03,0.00,0.000,6,0.000,0.044,2952,1530,1476
$GC,15806,0.66,357.1,231.6,12.4,1322,15813,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1530,1476
$GC,16133,0.77,397.8,195.8,8.6,1383,16171,0.12,2.10,32.72,0.866,4,0.067,0.056,3011,201,1325
$GC,16212,0.67,397.8,185.4,13.7,1397,16219,0.15,2.08,0.00,0.000,6,0.141,0.041,2964,1535,1321
$GC,16539,0.85,435.0,152.1,8.7,1458,16579,0.17,2.28,32.22,0.819,4,0.058,0.044,3045,2981,1171
$GC,16599,0.72,435.0,142.2,22.9,1468,16605,0.22,2.28,0.00,0.000,6,0.140,0.042,2965,1537,1169
$GC,16927,1.05,522.1,107.9,7.0,1529,17004,0.28,2.20,72.88,0.781,4,0.045,0.054,3096,211,817
$GC,17052,0.96,522.1,85.2,15.6,1550,17059,0.10,2.05,0.00,0.000,6,0.132,0.038,3053,1515,812
$GC,17379,1.04,522.1,38.0,12.2,1611,17385,0.00,2.08,0.00,0.000,4,0.000,0.053,3053,211,810
$GC,17454,1.18,522.1,29.6,11.7,1625,17461,0.15,1.95,0.00,0.000,6,0.048,0.038,3130,1483,809
$STATE,17604,end climb,SURFACE_DEPTH_REACHED
$STATE,17604,begin surface coast
$FINISH,-0.1,1.008388
$STATE,17619,end surface coast,CONTROL_FINISHED_OK
$STATE,17619,begin surface
$SM_CCo,17692,0.00,0.000,0,0,807,524.70
$SM_GC,0.56,7.78,0.00,0.00,0.036,0.000,0.000,114,1483,807,-8.15,0.34,524.70
$IRIDIUM_FIX,2456.07,12336.13,210898,010106
$TT8_MAMPS,0.049855
$HUMID,1449
$INTERNAL_PRESSURE,8.95789
$TCM_TEMP,26.10
$XPDR_PINGS,12
$24V_AH,23.6,10.855
$10V_AH,10.7,6.080
$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,23.700,127.625,612.400,0.000,0.000,27.519,33.438,215.854,11.000,0.000,0.000,13.296,0.000,13034.146,758.388,3739.092,510.310,0.000,2144.402,0.000,3167.935,0.000,53.963,0.000
$DEVICE_MAMPS,207.090,65.195,1464.970,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1121.479,1127.776,1885.853,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94637,1656
$CAP_FILE_SIZE,175898,0
$CFSIZE,260165632,254705664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,251.5,1
$GPS,270509,113857,2500.963,12330.188,24,2.2,43,-3.7