version: 66.04
glider: 164
mission: 3
dive: 36
start: 5 27 109 21 54 57
data:
$ID,164
$MISSION,3
$DIVE,36
$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,-33844.84
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,214836,2452.462,12326.521,36,0.9,36,-3.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-66.1
$GPS2,215450,2452.323,12326.507,10,1.2,10,-3.6
$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,214.2,9047,-19.4,-10.000
$D_GRID,1853
$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,-1.08,-130.2,0.0,0.0,0,102,0.00,0.00,-88.20,0.000,2,0.000,0.000,111,1470,2898
$GC,104,-1.11,-155.0,3.2,-8.7,13,130,8.38,2.22,-13.65,0.000,4,0.212,0.055,2378,2893,3582
$GC,370,-0.77,-155.0,78.8,-28.7,62,377,0.35,2.17,0.00,0.000,6,0.133,0.036,2492,1460,3584
$GC,696,-0.69,-155.0,141.4,-16.4,123,704,0.00,1.92,0.00,0.000,4,0.000,0.046,2493,208,3585
$GC,751,-0.61,-155.0,150.2,-15.6,133,758,0.15,1.88,0.00,0.000,6,0.121,0.035,2546,1459,3586
$GC,1078,-0.79,-194.7,184.2,-7.5,194,1084,0.17,2.10,0.00,0.000,4,0.056,0.039,2461,2872,3587
$GC,1201,-0.75,-194.7,199.0,-12.8,217,1208,0.10,2.10,0.00,0.000,6,0.126,0.035,2495,1467,3587
$GC,1527,-0.80,-194.7,241.3,-10.1,278,1534,0.00,1.90,0.00,0.000,4,0.000,0.047,2496,217,3587
$GC,1720,-0.85,-194.7,259.2,-9.4,314,1727,0.00,1.85,0.00,0.000,6,0.000,0.034,2495,1460,3587
$GC,2047,-0.94,-194.7,300.3,-13.0,375,2050,0.17,1.88,0.00,0.000,4,0.054,0.046,2412,213,3587
$GC,2142,-0.77,-194.7,315.4,-15.6,384,2146,0.25,1.85,0.00,0.000,6,0.123,0.033,2493,1458,3587
$GC,2463,-0.87,-194.7,342.9,-9.1,415,2467,0.00,1.92,0.00,0.000,4,0.000,0.048,2493,209,3587
$GC,2537,-0.91,-194.7,351.0,-11.4,422,2542,0.10,1.85,0.00,0.000,6,0.055,0.034,2436,1458,3587
$GC,2858,-0.86,-194.7,395.6,-13.5,453,2862,0.10,1.90,0.00,0.000,4,0.156,0.049,2461,217,3585
$GC,3050,-0.86,-194.7,421.2,-13.1,471,3055,0.00,1.83,0.00,0.000,6,0.000,0.035,2461,1439,3585
$GC,3371,-0.86,-194.7,454.0,-9.1,502,3375,0.00,1.90,0.00,0.000,4,0.000,0.049,2461,209,3582
$GC,3472,-0.86,-194.7,464.8,-10.4,511,3480,0.00,1.83,0.00,0.000,6,0.000,0.034,2461,1436,3582
$GC,3788,-0.86,-194.7,495.6,-11.6,542,3792,0.00,2.15,0.00,0.000,4,0.000,0.043,2461,2864,3580
$GC,3900,-0.94,-194.7,509.7,-13.2,549,3904,0.00,2.12,0.00,0.000,6,0.000,0.039,2461,1453,3579
$GC,4221,-0.98,-194.7,545.8,-9.3,565,4225,0.00,1.90,0.00,0.000,4,0.000,0.052,2461,217,3577
$GC,4284,-0.98,-194.7,552.2,-10.7,568,4289,0.00,1.85,0.00,0.000,6,0.000,0.036,2461,1457,3577
$GC,4611,-1.03,-194.7,582.2,-8.0,584,4615,0.15,1.92,0.00,0.000,4,0.067,0.052,2391,212,3575
$GC,4728,-0.85,-194.7,595.8,-11.2,589,4732,0.22,1.85,0.00,0.000,6,0.135,0.036,2466,1448,3574
$GC,5044,-0.92,-194.7,617.5,-8.5,605,5048,0.00,2.15,0.00,0.000,4,0.000,0.046,2466,2871,3572
$GC,5081,-1.03,-194.7,621.0,-9.8,606,5088,0.12,2.12,0.00,0.000,6,0.053,0.041,2399,1466,3572
$GC,5391,-0.95,-194.7,666.1,-13.4,622,5395,0.15,1.92,0.00,0.000,4,0.149,0.055,2440,219,3570
$GC,5498,-0.95,-194.7,676.3,-9.5,627,5502,0.00,1.85,0.00,0.000,6,0.000,0.038,2440,1449,3569
$GC,5825,-0.95,-194.7,700.4,-8.4,643,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,1451,3567
$GC,6129,-0.98,-194.7,729.9,-10.6,658,6133,0.00,2.15,0.00,0.000,4,0.000,0.048,2440,2863,3565
$GC,6161,-1.06,-194.7,733.3,-11.0,659,6165,0.08,2.15,0.00,0.000,6,0.064,0.043,2394,1453,3565
$GC,6478,-0.97,-194.7,775.7,-13.7,675,6481,0.15,1.90,0.00,0.000,4,0.151,0.057,2436,216,3563
$GC,6540,-0.97,-194.7,783.7,-13.0,678,6545,0.00,1.85,0.00,0.000,6,0.000,0.041,2436,1435,3563
$GC,6867,-0.97,-194.7,817.7,-9.9,694,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1437,3562
$GC,7173,-0.97,-194.7,850.4,-11.4,709,7176,0.00,2.15,0.00,0.000,4,0.000,0.051,2436,2874,3559
$GC,7198,-1.02,-194.7,853.4,-11.9,710,7203,0.00,2.20,0.00,0.000,6,0.000,0.044,2436,1434,3559
$GC,7519,-1.02,-194.7,889.7,-11.0,726,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,1434,3557
$GC,7825,-1.06,-194.7,920.4,-9.4,741,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,1434,3555
$GC,8130,-1.06,-194.7,944.2,-7.2,756,8134,0.00,2.22,0.00,0.000,4,0.000,0.052,2436,2872,3554
$GC,8157,-1.11,-194.7,946.0,-7.5,757,8161,0.10,2.20,0.00,0.000,6,0.061,0.047,2379,1443,3553
$GC,8478,-1.01,-194.7,978.0,-10.7,773,8482,0.15,1.92,0.00,0.000,4,0.157,0.064,2419,208,3552
$GC,8530,-0.96,-194.7,983.5,-9.9,775,8535,0.00,1.88,0.00,0.000,6,0.000,0.043,2419,1436,3552
$STATE,8620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8620,begin apogee
$GC,8624,-0.24,0.0,991.5,8.7,780,8754,0.75,0.00,127.05,1.467,6,0.123,0.000,2667,1584,2947
$STATE,8754,end apogee,CONTROL_FINISHED_OK
$STATE,8754,begin climb
$GC,8756,1.16,194.7,993.0,0.0,786,8934,1.30,2.38,169.10,1.421,4,0.075,0.048,3115,2986,2152
$GC,8955,0.67,194.7,963.5,24.4,795,8959,0.55,2.33,0.00,0.000,6,0.198,0.046,2969,1584,2147
$GC,9271,0.55,194.7,910.2,15.9,811,9275,0.17,2.22,0.00,0.000,4,0.176,0.061,2923,208,2141
$GC,9307,0.55,194.7,904.9,14.0,812,9315,0.00,2.15,0.00,0.000,6,0.000,0.042,2922,1578,2141
$GC,9618,0.55,194.7,867.9,11.0,828,9619,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1578,2139
$GC,9923,0.55,194.7,834.9,10.8,843,9927,0.00,2.20,0.00,0.000,4,0.000,0.061,2923,208,2138
$GC,9966,0.55,194.7,830.4,10.4,845,9970,0.00,2.10,0.00,0.000,6,0.000,0.044,2922,1565,2138
$GC,10292,0.55,194.7,795.8,11.7,861,10296,0.00,2.17,0.00,0.000,4,0.000,0.061,2922,208,2137
$GC,10313,0.55,194.7,793.3,12.1,862,10317,0.00,2.10,0.00,0.000,6,0.000,0.044,2922,1563,2137
$GC,10639,0.59,194.7,749.4,13.3,878,10644,0.00,2.20,0.00,0.000,4,0.000,0.051,2923,2985,2136
$GC,10697,0.59,194.7,741.4,13.5,880,10705,0.00,2.20,0.00,0.000,6,0.000,0.048,2923,1566,2136
$GC,11008,0.68,231.8,710.8,8.1,896,11044,0.12,2.22,29.85,1.280,4,0.084,0.062,2974,215,2000
$GC,11071,0.58,231.8,703.5,13.5,899,11075,0.12,2.15,0.00,0.000,6,0.169,0.046,2938,1563,1998
$GC,11397,0.58,231.8,660.1,13.4,915,11401,0.00,2.17,0.00,0.000,4,0.000,0.062,2938,219,1992
$GC,11428,0.58,231.8,655.9,13.2,916,11433,0.00,2.12,0.00,0.000,6,0.000,0.046,2938,1577,1993
$GC,11744,0.58,231.8,620.6,10.3,932,11745,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,1578,1992
$GC,12050,0.62,231.8,586.3,12.0,947,12054,0.00,2.17,0.00,0.000,4,0.000,0.062,2938,220,1990
$GC,12076,0.68,231.8,583.2,12.2,948,12080,0.00,2.10,0.00,0.000,6,0.000,0.046,2938,1574,1991
$GC,12397,0.73,231.8,544.6,12.8,964,12398,0.12,0.00,0.00,0.000,6,0.075,0.000,2992,1574,1990
$GC,12703,0.62,231.8,497.7,14.6,979,12707,0.17,2.17,0.00,0.000,4,0.171,0.051,2946,2989,1989
$GC,12755,0.62,231.8,491.3,10.9,984,12759,0.00,2.22,0.00,0.000,6,0.000,0.048,2945,1557,1989
$GC,13078,0.65,231.8,453.6,13.6,1015,13081,0.00,2.10,0.00,0.000,4,0.000,0.063,2947,210,1989
$GC,13103,0.70,231.8,449.9,13.9,1017,13109,0.00,2.08,0.00,0.000,6,0.000,0.046,2947,1554,1988
$GC,13420,0.76,231.8,406.2,12.5,1048,13423,0.12,2.17,0.00,0.000,4,0.074,0.050,3002,2989,1989
$GC,13450,0.65,231.8,401.4,15.9,1050,13457,0.15,2.22,0.00,0.000,6,0.170,0.048,2960,1551,1989
$GC,13766,0.65,231.8,365.4,11.5,1081,13770,0.00,2.12,0.00,0.000,4,0.000,0.061,2960,205,1989
$GC,13877,0.65,231.8,351.1,12.9,1091,13885,0.00,2.05,0.00,0.000,6,0.000,0.044,2960,1537,1989
$GC,14194,0.69,231.8,312.3,11.9,1122,14195,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1537,1990
$GC,14511,0.74,231.8,268.3,11.7,1173,14516,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,1537,1990
$GC,14836,0.79,231.8,232.7,11.1,1234,14843,0.12,2.10,0.00,0.000,4,0.075,0.058,3017,207,1990
$GC,14879,0.68,231.8,227.1,12.6,1242,14886,0.15,2.05,0.00,0.000,6,0.158,0.043,2970,1544,1991
$GC,15207,0.76,231.8,192.8,10.0,1303,15214,0.00,2.10,0.00,0.000,4,0.000,0.058,2970,211,1991
$GC,15370,0.86,232.9,177.6,9.9,1333,15376,0.15,2.00,0.00,0.000,6,0.069,0.041,3036,1530,1992
$GC,15695,0.81,232.9,139.2,10.4,1394,15702,0.12,2.20,0.00,0.000,4,0.155,0.044,3003,2988,1992
$GC,15717,0.84,262.9,137.4,8.5,1398,15749,0.00,2.25,25.15,0.827,6,0.000,0.044,3002,1519,1874
$GC,16070,0.93,262.9,113.9,14.0,1463,16077,0.12,2.22,0.00,0.000,4,0.071,0.043,3060,2987,1870
$GC,16124,0.84,262.9,103.1,19.3,1473,16131,0.15,2.30,0.00,0.000,6,0.156,0.042,3018,1494,1870
$GC,16451,1.00,288.8,69.0,8.7,1534,16476,0.15,0.00,21.80,0.744,6,0.064,0.000,3087,1494,1769
$GC,16796,1.00,288.8,33.6,12.2,1598,16803,0.00,2.28,0.00,0.000,4,0.000,0.041,3087,2988,1763
$GC,16876,0.95,288.8,24.0,13.1,1613,16883,0.12,2.30,0.00,0.000,6,0.153,0.040,3056,1479,1763
$STATE,17089,end climb,SURFACE_DEPTH_REACHED
$STATE,17089,begin surface coast
$FINISH,0.3,1.022210
$STATE,17116,end surface coast,CONTROL_FINISHED_OK
$STATE,17116,begin surface
$SM_CCo,17129,98.75,0.701,0,0,1254,415.05
$SM_GC,0.83,0.00,0.00,98.75,0.000,0.000,0.701,118,1477,1254,-8.21,0.17,415.05
$IRIDIUM_FIX,2446.56,12329.54,210898,171741
$TT8_MAMPS,0.049855
$HUMID,1418
$INTERNAL_PRESSURE,8.98718
$TCM_TEMP,26.40
$XPDR_PINGS,14
$24V_AH,23.6,11.508
$10V_AH,10.7,6.529
$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,23.050,145.725,372.950,98.750,0.000,30.003,33.146,209.149,11.500,0.000,0.000,12.644,0.000,12532.994,672.938,3868.511,501.601,0.000,2083.116,0.000,3280.017,0.000,54.844,0.000
$DEVICE_MAMPS,211.692,63.661,1466.504,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1125.959,1147.924,1921.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94598,1658
$CAP_FILE_SIZE,178158,0
$CFSIZE,260165632,254418944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.208,197.2,1
$GPS,280509,024306,2448.343,12324.582,34,1.0,40,-3.6