version: 66.04
glider: 164
mission: 3
dive: 34
start: 5 27 109 11 45 15
data:
$ID,164
$MISSION,3
$DIVE,34
$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,-33819.422
$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,29
$R_STBD_OVSHOOT,37
$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
$GPS1,113857,2500.963,12330.188,24,2.2,43,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-68.1
$GPS2,114510,2500.956,12330.039,11,2.2,30,-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,194.7,26054,-15.7,-10.000
$D_GRID,2081
$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,-194.7,0.0,0.0,0,90,0.00,0.00,-75.72,0.000,2,0.000,0.000,114,1484,2928
$GC,91,-0.99,-194.7,3.5,-7.8,11,123,8.52,2.15,-15.62,0.000,4,0.212,0.054,2415,2888,3745
$GC,363,-0.61,-194.7,77.3,-24.8,61,371,0.40,2.15,0.00,0.000,6,0.130,0.035,2547,1465,3747
$GC,690,-0.57,-194.7,124.2,-14.2,122,697,0.00,2.15,0.00,0.000,4,0.000,0.040,2547,2887,3748
$GC,727,-0.57,-194.7,129.0,-12.5,129,736,0.00,2.15,0.00,0.000,6,0.000,0.035,2547,1457,3748
$GC,1055,-0.57,-194.7,168.3,-11.8,190,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,1457,3749
$GC,1380,-0.65,-194.7,204.0,-8.5,251,1386,0.00,2.15,0.00,0.000,4,0.000,0.040,2547,2887,3750
$GC,1423,-0.80,-194.7,207.3,-7.6,259,1429,0.15,2.10,0.00,0.000,6,0.041,0.035,2462,1476,3750
$GC,1748,-0.65,-194.7,252.7,-14.1,320,1755,0.22,1.90,0.00,0.000,4,0.125,0.046,2533,218,3750
$GC,1829,-0.69,-194.7,262.0,-10.4,335,1835,0.00,1.88,0.00,0.000,6,0.000,0.035,2533,1479,3750
$GC,2155,-0.78,-194.7,294.3,-9.2,396,2161,0.12,1.92,0.00,0.000,4,0.070,0.047,2471,215,3749
$GC,2208,-0.65,-194.7,301.2,-13.5,406,2213,0.17,1.85,0.00,0.000,6,0.120,0.035,2533,1459,3749
$GC,2530,-0.75,-194.7,331.3,-8.9,437,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,1460,3749
$GC,2841,-0.85,-194.7,358.8,-9.4,467,2844,0.17,1.88,0.00,0.000,4,0.058,0.047,2454,208,3748
$GC,2882,-0.69,-194.7,364.3,-14.4,471,2886,0.17,1.85,0.00,0.000,6,0.123,0.035,2516,1458,3748
$GC,3203,-0.74,-194.7,392.1,-8.0,502,3207,0.00,1.90,0.00,0.000,4,0.000,0.048,2517,218,3747
$GC,3277,-0.74,-194.7,398.5,-8.8,509,3281,0.00,1.85,0.00,0.000,6,0.000,0.035,2517,1458,3747
$GC,3599,-0.82,-194.7,425.3,-8.5,540,3600,0.12,0.00,0.00,0.000,6,0.071,0.000,2457,1461,3745
$GC,3909,-0.75,-194.7,462.9,-12.2,570,3910,0.15,0.00,0.00,0.000,6,0.131,0.000,2501,1461,3743
$GC,4220,-0.80,-194.7,494.5,-10.9,600,4220,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1461,3742
$GC,4536,-0.85,-194.7,525.9,-8.6,618,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,2501,1461,3740
$GC,4842,-0.92,-194.7,551.1,-8.0,633,4845,0.15,1.90,0.00,0.000,4,0.064,0.051,2433,213,3738
$GC,4867,-0.83,-194.7,553.8,-11.7,634,4871,0.12,1.88,0.00,0.000,6,0.131,0.036,2474,1464,3738
$GC,5188,-0.83,-194.7,581.3,-8.9,650,5192,0.00,2.12,0.00,0.000,4,0.000,0.044,2474,2876,3735
$GC,5235,-0.88,-194.7,585.4,-8.8,652,5240,0.00,2.12,0.00,0.000,6,0.000,0.038,2474,1466,3736
$GC,5556,-0.88,-194.7,615.6,-9.7,668,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1466,3734
$GC,5862,-0.88,-194.7,644.0,-8.5,683,5866,0.00,2.15,0.00,0.000,4,0.000,0.046,2475,2894,3731
$GC,5941,-0.94,-194.7,650.5,-8.3,686,5948,0.00,2.17,0.00,0.000,6,0.000,0.041,2474,1461,3731
$GC,6252,-0.94,-194.7,674.3,-7.4,702,6256,0.00,1.92,0.00,0.000,4,0.000,0.056,2474,221,3729
$GC,6305,-0.94,-194.7,678.8,-9.1,704,6309,0.08,1.85,0.00,0.000,6,0.068,0.038,2430,1447,3729
$GC,6621,-0.86,-194.7,712.2,-11.5,720,6622,0.12,0.00,0.00,0.000,6,0.143,0.000,2464,1447,3727
$GC,6926,-0.86,-194.7,744.1,-10.8,735,6930,0.00,2.17,0.00,0.000,4,0.000,0.049,2464,2874,3725
$GC,6952,-0.90,-194.7,746.9,-11.2,736,6956,0.00,2.15,0.00,0.000,6,0.000,0.042,2464,1463,3724
$GC,7273,-0.90,-194.7,781.2,-10.0,752,7274,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1463,3723
$GC,7579,-0.90,-194.7,808.7,-8.3,767,7582,0.00,2.17,0.00,0.000,4,0.000,0.051,2464,2874,3721
$GC,7605,-0.95,-194.7,810.8,-8.8,768,7609,0.00,2.15,0.00,0.000,6,0.000,0.044,2464,1470,3721
$GC,7926,-0.95,-194.7,837.7,-8.3,784,7930,0.00,1.98,0.00,0.000,4,0.000,0.062,2464,211,3719
$GC,7952,-0.95,-194.7,840.1,-9.9,785,7956,0.00,1.90,0.00,0.000,6,0.000,0.041,2464,1465,3718
$GC,8273,-0.95,-194.7,866.7,-8.3,801,8274,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1465,3717
$GC,8578,-0.95,-194.7,891.6,-8.1,816,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,2464,1465,3715
$GC,8884,-0.95,-194.7,916.7,-8.3,831,8888,0.00,2.15,0.00,0.000,4,0.000,0.051,2464,2872,3714
$GC,8926,-1.02,-194.7,920.2,-8.1,833,8930,0.10,2.15,0.00,0.000,6,0.063,0.046,2409,1469,3714
$GC,9254,-0.91,-194.7,956.9,-11.3,849,9257,0.15,1.95,0.00,0.000,4,0.144,0.065,2452,210,3711
$GC,9316,-0.87,-194.7,963.9,-10.7,852,9320,0.00,1.90,0.00,0.000,6,0.000,0.043,2451,1460,3712
$STATE,9600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9600,begin apogee
$GC,9604,-0.24,0.0,991.3,9.6,866,9767,0.65,0.00,160.43,1.469,6,0.117,0.000,2668,1585,2948
$STATE,9767,end apogee,CONTROL_FINISHED_OK
$STATE,9767,begin climb
$GC,9769,0.99,194.7,997.2,0.0,874,9948,1.12,2.42,169.32,1.419,4,0.074,0.060,3057,206,2151
$GC,10001,0.51,194.7,968.6,20.7,885,10005,0.50,2.22,0.00,0.000,6,0.181,0.041,2909,1577,2147
$GC,10327,0.44,194.7,931.6,10.7,901,10331,0.00,2.22,0.00,0.000,4,0.000,0.061,2909,213,2143
$GC,10364,0.38,194.7,927.4,11.1,902,10372,0.12,2.12,0.00,0.000,6,0.150,0.042,2868,1574,2143
$GC,10675,0.48,238.0,900.7,8.5,918,10716,0.00,0.00,37.33,1.365,6,0.000,0.000,2868,1574,1975
$GC,11020,0.62,281.2,870.8,8.5,935,11070,0.22,2.30,40.55,1.297,4,0.065,0.062,2958,201,1798
$GC,11098,0.43,281.2,860.2,15.9,938,11107,0.22,2.20,0.00,0.000,6,0.155,0.043,2891,1565,1794
$GC,11408,0.45,298.7,829.5,9.4,954,11435,0.00,2.25,17.38,1.144,4,0.000,0.062,2891,213,1728
$GC,11457,0.52,315.2,824.9,9.4,956,11484,0.00,2.12,17.92,1.137,6,0.000,0.044,2891,1551,1662
$GC,11794,0.58,321.5,792.5,9.8,973,11807,0.12,2.30,6.43,1.048,4,0.081,0.051,2946,2984,1635
$GC,11829,0.46,321.5,787.6,15.5,974,11837,0.15,2.25,0.00,0.000,6,0.161,0.048,2900,1566,1634
$GC,12139,0.46,321.5,750.5,11.8,990,12143,0.00,2.17,0.00,0.000,4,0.000,0.062,2900,212,1631
$GC,12176,0.51,321.5,746.5,10.7,991,12182,0.00,2.08,0.00,0.000,6,0.000,0.045,2900,1539,1631
$GC,12487,0.52,328.7,716.3,9.8,1007,12500,0.00,2.30,7.65,1.095,4,0.000,0.052,2900,2985,1605
$GC,12522,0.52,328.7,712.5,11.0,1008,12529,0.00,2.25,0.00,0.000,6,0.000,0.048,2902,1554,1603
$GC,12832,0.52,328.7,679.3,10.4,1024,12836,0.00,2.15,0.00,0.000,4,0.000,0.063,2901,209,1601
$GC,12885,0.58,328.7,673.8,10.1,1026,12890,0.00,2.08,0.00,0.000,6,0.000,0.045,2902,1543,1601
$GC,13201,0.63,328.7,642.4,10.5,1042,13202,0.12,0.00,0.00,0.000,6,0.078,0.000,2959,1543,1601
$GC,13507,0.46,328.7,593.2,16.5,1057,13511,0.22,2.22,0.00,0.000,4,0.157,0.052,2896,2983,1600
$GC,13538,0.46,328.7,588.8,13.2,1058,13542,0.00,2.25,0.00,0.000,6,0.000,0.048,2895,1538,1600
$GC,13854,0.56,328.7,556.3,10.8,1074,13858,0.00,2.10,0.00,0.000,4,0.000,0.063,2895,215,1600
$GC,13907,0.70,328.7,550.3,11.0,1076,13911,0.17,2.05,0.00,0.000,6,0.053,0.047,2976,1535,1600
$GC,14223,0.50,328.7,493.1,18.6,1093,14225,0.25,0.00,0.00,0.000,6,0.161,0.000,2905,1536,1600
$GC,14535,0.64,358.3,460.9,9.0,1123,14567,0.12,2.28,26.30,1.095,4,0.075,0.051,2962,2991,1485
$GC,14577,0.57,358.3,455.6,13.7,1127,14580,0.10,2.33,0.00,0.000,6,0.163,0.048,2932,1526,1483
$GC,14897,0.57,358.3,416.1,12.0,1158,14901,0.00,2.10,0.00,0.000,4,0.000,0.061,2932,211,1479
$GC,14929,0.57,358.3,412.2,11.6,1161,14933,0.00,2.05,0.00,0.000,6,0.000,0.046,2931,1519,1478
$GC,15250,0.57,358.3,372.6,13.4,1192,15254,0.00,2.25,0.00,0.000,4,0.000,0.050,2931,2989,1478
$GC,15276,0.57,358.3,368.9,13.4,1194,15284,0.00,2.28,0.00,0.000,6,0.000,0.047,2931,1524,1478
$GC,15593,0.61,358.3,330.9,10.0,1225,15596,0.00,2.05,0.00,0.000,4,0.000,0.059,2931,208,1478
$GC,15656,0.67,358.3,323.9,10.7,1231,15659,0.00,2.03,0.00,0.000,6,0.000,0.044,2931,1516,1477
$GC,15974,0.71,358.3,284.9,12.9,1272,15976,0.12,0.00,0.00,0.000,6,0.072,0.000,2989,1516,1477
$GC,16295,0.58,358.3,227.8,15.1,1332,16302,0.20,2.05,0.00,0.000,4,0.153,0.058,2934,214,1477
$GC,16333,0.64,358.3,223.2,11.3,1339,16339,0.00,1.98,0.00,0.000,6,0.000,0.043,2934,1502,1477
$GC,16659,0.78,382.0,195.1,9.2,1400,16686,0.17,2.28,20.65,0.857,4,0.060,0.045,3016,2989,1387
$GC,16711,0.63,382.0,188.1,16.3,1409,16718,0.20,2.30,0.00,0.000,6,0.154,0.044,2956,1517,1385
$GC,17038,0.74,382.0,151.5,11.5,1470,17044,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,1517,1383
$GC,17364,0.96,429.9,119.9,8.3,1531,17409,0.28,2.12,40.67,0.800,4,0.048,0.054,3081,210,1193
$GC,17440,0.70,429.9,106.0,23.2,1544,17447,0.35,2.00,0.00,0.000,6,0.148,0.038,2972,1490,1189
$GC,17767,0.90,450.5,71.6,9.3,1605,17789,0.17,2.10,17.42,0.722,4,0.057,0.054,3056,197,1109
$GC,17820,0.80,450.5,63.8,18.2,1614,17827,0.15,1.98,0.00,0.000,6,0.136,0.038,3007,1476,1106
$GC,18147,0.96,450.5,31.6,10.3,1675,18154,0.15,2.30,0.00,0.000,4,0.058,0.042,3082,2987,1104
$GC,18180,0.91,450.5,27.0,15.0,1681,18186,0.12,2.33,0.00,0.000,6,0.143,0.042,3042,1477,1104
$STATE,18376,end climb,SURFACE_DEPTH_REACHED
$STATE,18376,begin surface coast
$FINISH,-0.1,1.008608
$STATE,18403,end surface coast,CONTROL_FINISHED_OK
$STATE,18403,begin surface
$SM_CCo,18477,0.00,0.000,0,0,1101,452.58
$SM_GC,0.80,7.45,0.00,0.00,0.031,0.000,0.000,109,1475,1101,-8.16,0.11,452.58
$IRIDIUM_FIX,2456.07,12328.87,210898,060608
$TT8_MAMPS,0.049855
$HUMID,1449
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,26.10
$XPDR_PINGS,8
$24V_AH,23.6,11.075
$10V_AH,10.7,6.235
$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,24.450,147.700,562.050,0.000,0.000,22.437,31.193,196.192,10.000,0.000,0.000,33.525,0.000,13660.040,736.923,3931.637,490.623,0.000,2189.464,0.000,3312.745,0.000,53.957,0.000
$DEVICE_MAMPS,212.459,67.496,1468.805,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1168.630,1178.273,1967.861,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,98055,1723
$CAP_FILE_SIZE,186378,0
$CFSIZE,260165632,254599168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$CURRENT,0.134,229.8,1
$GPS,270509,165407,2457.235,12328.020,36,1.0,36,-3.6