version: 66.04
glider: 164
mission: 3
dive: 42
start: 5 29 109 4 1 37
data:
$ID,164
$MISSION,3
$DIVE,42
$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,-33956.848
$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,33
$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
$GPS1,035437,2446.003,12310.823,40,0.8,40,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-67.4
$GPS2,040132,2446.041,12310.784,15,0.9,15,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_2
$TGT_LATLONG,2415.000,12318.000
$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,186.0,58766,-15.7,-10.000
$D_GRID,1546
$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,-194.7,0.0,0.0,0,78,0.00,0.00,-63.88,0.000,2,0.000,0.000,115,1496,2836
$GC,80,-0.99,-194.7,3.0,-7.5,10,112,8.38,1.98,-18.48,0.000,4,0.204,0.065,2423,203,3743
$GC,351,-0.58,-194.7,80.3,-27.5,60,359,0.40,1.92,0.00,0.000,6,0.135,0.033,2550,1480,3746
$GC,679,-0.58,-194.7,129.5,-13.9,121,685,0.00,1.95,0.00,0.000,4,0.000,0.045,2550,210,3747
$GC,759,-0.58,-194.7,140.3,-13.2,136,767,0.00,1.90,0.00,0.000,6,0.000,0.034,2550,1473,3748
$GC,1087,-0.63,-194.7,175.3,-9.7,197,1093,0.00,1.95,0.00,0.000,4,0.000,0.047,2550,206,3748
$GC,1167,-0.71,-194.7,183.8,-10.4,212,1174,0.08,1.88,0.00,0.000,6,0.058,0.035,2499,1453,3749
$GC,1494,-0.66,-194.7,223.0,-11.3,273,1499,0.12,0.00,0.00,0.000,6,0.133,0.000,2535,1454,3749
$GC,1819,-0.73,-194.7,253.4,-8.9,334,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,1453,3749
$GC,2139,-0.82,-194.7,279.7,-8.4,394,2146,0.17,2.12,0.00,0.000,4,0.057,0.041,2453,2879,3749
$GC,2215,-0.75,-194.7,289.2,-13.6,408,2223,0.12,2.15,0.00,0.000,6,0.117,0.035,2497,1443,3749
$GC,2540,-0.75,-194.7,327.0,-11.0,447,2543,0.00,2.15,0.00,0.000,4,0.000,0.041,2498,2875,3749
$GC,2598,-0.81,-194.7,333.1,-10.3,452,2607,0.00,2.10,0.00,0.000,6,0.000,0.035,2498,1465,3748
$GC,2913,-0.81,-194.7,365.8,-10.4,483,2918,0.00,2.12,0.00,0.000,4,0.000,0.041,2498,2879,3747
$GC,2950,-0.88,-194.7,369.4,-9.9,486,2957,0.08,2.10,0.00,0.000,6,0.057,0.035,2445,1473,3747
$GC,3266,-0.76,-194.7,414.8,-14.3,517,3270,0.17,1.90,0.00,0.000,4,0.127,0.048,2498,217,3746
$GC,3415,-0.76,-194.7,432.0,-10.9,531,3419,0.00,1.88,0.00,0.000,6,0.000,0.035,2498,1477,3746
$GC,3736,-0.81,-194.7,462.5,-9.4,562,3740,0.00,1.95,0.00,0.000,4,0.000,0.049,2498,211,3744
$GC,3794,-0.81,-194.7,468.1,-9.7,567,3801,0.00,1.88,0.00,0.000,6,0.000,0.034,2498,1473,3743
$GC,4111,-0.87,-194.7,495.9,-8.9,598,4114,0.00,2.08,0.00,0.000,4,0.000,0.044,2498,2875,3741
$GC,4131,-0.94,-194.7,497.7,-8.1,600,4135,0.12,2.10,0.00,0.000,6,0.050,0.038,2428,1474,3741
$GC,4448,-0.81,-194.7,538.8,-12.9,617,4451,0.17,1.90,0.00,0.000,4,0.130,0.051,2481,209,3740
$GC,4494,-0.81,-194.7,544.2,-10.8,619,4499,0.00,1.92,0.00,0.000,6,0.000,0.035,2481,1502,3740
$GC,4816,-0.81,-194.7,574.7,-9.1,635,4821,0.00,1.98,0.00,0.000,4,0.000,0.052,2481,224,3738
$GC,4922,-0.81,-194.7,585.6,-10.0,640,4926,0.00,1.88,0.00,0.000,6,0.000,0.035,2481,1482,3737
$GC,5249,-0.81,-194.7,617.7,-9.7,656,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1484,3735
$GC,5554,-0.87,-194.7,647.3,-9.6,671,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2480,1484,3734
$GC,5859,-0.92,-194.7,677.5,-10.0,686,5860,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1484,3731
$GC,6165,-0.96,-194.7,707.8,-9.4,701,6167,0.15,0.00,0.00,0.000,6,0.067,0.000,2414,1484,3729
$GC,6469,-0.85,-194.7,741.3,-10.3,716,6471,0.17,0.00,0.00,0.000,6,0.137,0.000,2466,1484,3727
$GC,6775,-0.85,-194.7,766.1,-7.6,731,6776,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,1484,3726
$GC,7080,-0.85,-194.7,790.0,-8.0,746,7084,0.00,1.98,0.00,0.000,4,0.000,0.058,2466,227,3723
$GC,7160,-0.85,-194.7,797.1,-9.3,749,7166,0.00,1.88,0.00,0.000,6,0.000,0.040,2466,1466,3722
$GC,7471,-0.85,-194.7,822.3,-8.1,765,7474,0.00,1.95,0.00,0.000,4,0.000,0.058,2466,222,3720
$GC,7550,-0.85,-194.7,829.5,-9.2,768,7558,0.00,1.88,0.00,0.000,6,0.000,0.041,2466,1458,3720
$GC,7860,-0.85,-194.7,856.1,-9.0,784,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1459,3718
$GC,8166,-0.89,-194.7,885.9,-9.8,799,8167,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1458,3717
$GC,8471,-0.93,-194.7,917.2,-10.2,814,8471,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1459,3715
$GC,8777,-0.97,-194.7,947.4,-9.8,829,8780,0.12,2.15,0.00,0.000,4,0.077,0.052,2412,2881,3714
$GC,8813,-0.91,-194.7,951.6,-11.9,830,8820,0.10,2.15,0.00,0.000,6,0.136,0.045,2447,1477,3713
$GC,9123,-0.91,-194.7,983.7,-10.2,846,9124,0.00,0.00,0.00,0.000,6,0.000,0.000,2447,1477,3712
$STATE,9183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9183,begin apogee
$GC,9187,-0.24,0.0,990.2,10.4,849,9350,0.65,0.00,160.75,1.476,6,0.114,0.000,2665,1581,2947
$STATE,9351,end apogee,CONTROL_FINISHED_OK
$STATE,9351,begin climb
$GC,9352,0.99,194.7,996.9,0.0,857,9525,1.12,0.00,169.62,1.427,6,0.073,0.000,3056,1581,2153
$GC,9818,0.53,194.7,921.1,21.0,880,9819,0.50,0.00,0.00,0.000,6,0.176,0.000,2917,1582,2145
$GC,10122,0.45,194.7,886.7,10.3,895,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,1582,2144
$GC,10427,0.37,194.7,855.3,10.8,910,10432,0.17,2.17,0.00,0.000,4,0.160,0.060,2867,223,2142
$GC,10459,0.53,260.4,852.4,7.7,911,10522,0.10,2.10,56.50,1.366,6,0.063,0.043,2918,1582,1884
$GC,10838,0.47,260.4,805.5,12.8,930,10843,0.00,2.20,0.00,0.000,4,0.000,0.060,2919,227,1875
$GC,10907,0.47,260.4,796.8,12.4,933,10911,0.00,2.10,0.00,0.000,6,0.000,0.043,2919,1564,1874
$GC,11229,0.41,260.4,755.8,13.0,949,11233,0.15,2.15,0.00,0.000,4,0.156,0.061,2879,223,1873
$GC,11254,0.47,260.4,752.6,11.8,950,11259,0.00,2.10,0.00,0.000,6,0.000,0.044,2878,1573,1872
$GC,11576,0.58,282.6,720.7,9.2,966,11606,0.15,2.25,20.60,1.156,4,0.074,0.051,2943,2983,1793
$GC,11633,0.47,282.6,713.2,14.1,968,11640,0.15,2.25,0.00,0.000,6,0.153,0.047,2897,1570,1791
$GC,11944,0.50,282.6,679.8,10.4,984,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1570,1788
$GC,12249,0.55,282.6,648.4,10.8,999,12253,0.00,2.17,0.00,0.000,4,0.000,0.062,2897,208,1787
$GC,12280,0.63,282.6,644.9,10.8,1000,12285,0.10,2.10,0.00,0.000,6,0.063,0.046,2949,1556,1787
$GC,12596,0.52,282.6,604.7,11.5,1016,12598,0.15,0.00,0.00,0.000,6,0.154,0.000,2908,1556,1786
$GC,12902,0.55,303.1,578.2,9.3,1031,12924,0.00,2.22,17.98,1.163,4,0.000,0.061,2908,207,1711
$GC,12954,0.62,303.1,572.7,11.1,1033,12959,0.08,2.12,0.00,0.000,6,0.067,0.045,2950,1554,1708
$GC,13271,0.52,303.1,524.0,16.9,1049,13272,0.15,0.00,0.00,0.000,6,0.153,0.000,2909,1554,1705
$GC,13578,0.58,303.1,484.7,12.2,1069,13578,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1554,1704
$GC,13889,0.65,306.5,451.1,9.9,1099,13890,0.15,0.00,0.00,0.000,6,0.067,0.000,2974,1554,1704
$GC,14199,0.51,306.5,408.3,14.7,1129,14203,0.20,2.10,0.00,0.000,4,0.157,0.058,2916,210,1704
$GC,14229,0.51,306.5,404.6,11.1,1131,14236,0.00,2.10,0.00,0.000,6,0.000,0.044,2916,1569,1704
$GC,14546,0.62,325.4,374.0,9.3,1162,14571,0.00,2.22,19.65,1.009,4,0.000,0.059,2916,198,1619
$GC,14593,0.78,351.0,369.7,9.1,1166,14622,0.17,2.12,23.58,1.001,6,0.054,0.044,3000,1553,1515
$GC,14931,0.58,351.0,308.8,19.4,1199,14934,0.25,2.20,0.00,0.000,4,0.154,0.047,2930,2988,1508
$GC,14983,0.58,351.0,300.6,14.2,1204,14987,0.00,2.22,0.00,0.000,6,0.000,0.044,2931,1565,1507
$GC,15309,0.65,351.0,264.7,12.2,1264,15310,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,1565,1506
$GC,15630,0.81,383.1,227.2,8.9,1324,15662,0.20,2.20,27.33,0.898,4,0.058,0.055,3024,210,1384
$GC,15709,0.63,383.1,214.8,18.2,1338,15717,0.22,2.12,0.00,0.000,6,0.143,0.040,2953,1576,1380
$GC,16036,0.63,383.1,177.8,12.3,1399,16043,0.00,2.15,0.00,0.000,4,0.000,0.044,2953,2977,1378
$GC,16069,0.69,383.1,174.1,11.4,1405,16077,0.00,2.17,0.00,0.000,6,0.000,0.041,2955,1566,1377
$GC,16397,0.78,407.6,137.4,9.2,1466,16424,0.12,2.20,21.10,0.806,4,0.071,0.054,3018,204,1284
$GC,16593,0.78,407.6,105.5,14.6,1502,16600,0.00,2.05,0.00,0.000,6,0.000,0.038,3018,1536,1279
$GC,16920,0.78,407.6,60.9,10.9,1563,16926,0.00,2.08,0.00,0.000,4,0.000,0.054,3018,214,1278
$GC,16989,0.83,407.6,51.6,12.6,1576,16996,0.00,1.98,0.00,0.000,6,0.000,0.038,3018,1510,1278
$GC,17316,1.06,495.3,18.9,7.0,1637,17394,0.17,2.35,72.55,0.721,4,0.054,0.041,3104,2985,925
$STATE,17418,end climb,SURFACE_DEPTH_REACHED
$STATE,17418,begin surface coast
$FINISH,0.0,1.022178
$STATE,17434,end surface coast,CONTROL_FINISHED_OK
$STATE,17434,begin surface
$SM_CCo,17509,0.00,0.000,0,0,919,497.47
$SM_GC,0.61,7.90,0.00,0.00,0.038,0.000,0.000,118,1464,919,-8.13,-0.20,497.47
$IRIDIUM_FIX,2437.06,12313.77,220898,232338
$TT8_MAMPS,0.049855
$HUMID,1448
$INTERNAL_PRESSURE,8.94812
$TCM_TEMP,25.90
$XPDR_PINGS,20
$24V_AH,23.6,12.866
$10V_AH,10.7,7.421
$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,23.250,116.525,589.650,0.000,0.000,30.014,34.147,243.115,13.000,0.000,0.000,17.136,0.000,12923.572,738.476,3683.881,545.560,0.000,2084.036,0.000,3128.690,0.000,53.982,0.000
$DEVICE_MAMPS,204.022,67.496,1475.708,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1123.404,1123.433,1873.650,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94624,1657
$CAP_FILE_SIZE,171287,0
$CFSIZE,260165632,253865984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.047,131.0,1
$GPS,290509,085424,2442.955,12311.167,39,1.0,39,-3.6