version: 66.04
glider: 164
mission: 3
dive: 43
start: 5 29 109 9 0 37
data:
$ID,164
$MISSION,3
$DIVE,43
$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,-33973.652
$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,30
$R_STBD_OVSHOOT,39
$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
$GPS1,085424,2442.955,12311.167,39,1.0,39,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-63.0
$GPS2,090032,2442.941,12311.166,14,1.1,14,-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,176.5,53017,-15.7,-10.000
$D_GRID,1374
$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,-194.7,0.0,0.0,0,84,0.00,0.00,-70.35,0.000,2,0.000,0.000,116,1462,2848
$GC,86,-0.99,-194.7,3.1,-8.2,11,118,8.48,1.92,-18.08,0.000,4,0.209,0.067,2422,208,3742
$GC,358,-0.56,-194.7,79.7,-27.0,61,366,0.43,1.92,0.00,0.000,6,0.123,0.035,2558,1479,3745
$GC,685,-0.56,-194.7,119.9,-9.5,122,692,0.00,1.98,0.00,0.000,4,0.000,0.048,2558,204,3746
$GC,776,-0.62,-194.7,128.6,-8.2,139,783,0.00,1.90,0.00,0.000,6,0.000,0.035,2558,1466,3746
$GC,1102,-0.67,-194.7,157.7,-11.0,200,1108,0.00,0.00,0.00,0.000,6,0.000,0.000,2558,1467,3747
$GC,1428,-0.77,-194.7,190.8,-7.7,261,1435,0.17,0.00,0.00,0.000,6,0.057,0.000,2473,1466,3748
$GC,1754,-0.61,-194.7,236.3,-15.4,322,1761,0.22,2.10,0.00,0.000,4,0.125,0.040,2542,2878,3748
$GC,1808,-0.77,-194.7,242.1,-8.8,332,1815,0.10,2.12,0.00,0.000,6,0.048,0.035,2474,1450,3747
$GC,2135,-0.67,-194.7,290.3,-15.9,393,2142,0.17,2.12,0.00,0.000,4,0.127,0.041,2527,2891,3748
$GC,2211,-0.79,-194.7,298.1,-9.4,407,2217,0.08,2.12,0.00,0.000,6,0.055,0.035,2472,1471,3747
$GC,2532,-0.72,-194.7,334.9,-10.5,440,2536,0.12,2.12,0.00,0.000,4,0.135,0.041,2508,2874,3747
$GC,2638,-0.82,-194.7,343.5,-7.7,450,2643,0.00,2.08,0.00,0.000,6,0.000,0.035,2509,1481,3747
$GC,2960,-0.88,-194.7,373.4,-9.6,481,2964,0.15,1.92,0.00,0.000,4,0.058,0.048,2433,211,3746
$GC,3045,-0.68,-194.7,386.5,-17.2,489,3049,0.25,1.90,0.00,0.000,6,0.118,0.035,2529,1480,3745
$GC,3365,-0.80,-194.7,415.6,-8.0,520,3370,0.12,2.08,0.00,0.000,4,0.071,0.041,2469,2871,3745
$GC,3440,-0.80,-194.7,423.5,-10.9,527,3444,0.00,2.08,0.00,0.000,6,0.000,0.036,2469,1484,3744
$GC,3761,-0.76,-194.7,461.0,-11.2,558,3765,0.12,1.92,0.00,0.000,4,0.134,0.050,2505,224,3743
$GC,3867,-0.80,-194.7,472.6,-10.7,568,3872,0.00,1.88,0.00,0.000,6,0.000,0.035,2505,1478,3742
$GC,4198,-0.87,-194.7,506.3,-10.0,597,4202,0.12,2.08,0.00,0.000,4,0.071,0.043,2447,2863,3741
$GC,4229,-0.82,-194.7,509.9,-12.1,598,4233,0.08,2.08,0.00,0.000,6,0.128,0.038,2474,1479,3740
$GC,4545,-0.82,-194.7,541.3,-8.8,614,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1479,3739
$GC,4850,-0.82,-194.7,566.0,-8.1,629,4854,0.00,2.12,0.00,0.000,4,0.000,0.044,2474,2875,3737
$GC,4887,-0.87,-194.7,569.3,-8.0,630,4894,0.00,2.10,0.00,0.000,6,0.000,0.039,2474,1483,3736
$GC,5197,-0.87,-194.7,595.5,-9.7,646,5201,0.00,1.95,0.00,0.000,4,0.000,0.052,2474,217,3735
$GC,5298,-0.87,-194.7,606.1,-10.7,650,5306,0.00,1.88,0.00,0.000,6,0.000,0.037,2474,1468,3734
$GC,5609,-0.87,-194.7,633.7,-9.1,666,5610,0.00,0.00,0.00,0.000,6,0.000,0.000,2474,1469,3732
$GC,5914,-0.87,-194.7,660.7,-8.7,681,5918,0.00,1.95,0.00,0.000,4,0.000,0.054,2474,217,3730
$GC,5973,-0.87,-194.7,666.2,-9.7,683,5979,0.00,1.90,0.00,0.000,6,0.000,0.038,2474,1477,3730
$GC,6284,-0.87,-194.7,692.2,-8.3,699,6287,0.00,1.98,0.00,0.000,4,0.000,0.057,2474,214,3728
$GC,6357,-0.87,-194.7,698.7,-9.0,702,6362,0.00,1.88,0.00,0.000,6,0.000,0.038,2474,1461,3727
$GC,6674,-0.87,-194.7,725.3,-8.2,718,6677,0.00,2.12,0.00,0.000,4,0.000,0.048,2474,2882,3725
$GC,6738,-0.95,-194.7,730.7,-8.7,721,6741,0.10,2.12,0.00,0.000,6,0.085,0.042,2428,1459,3725
$GC,7064,-0.87,-194.7,766.6,-11.4,737,7068,0.12,2.12,0.00,0.000,4,0.142,0.049,2461,2870,3724
$GC,7122,-0.92,-194.7,772.3,-9.7,739,7128,0.00,2.12,0.00,0.000,6,0.000,0.042,2461,1476,3723
$GC,7432,-0.92,-194.7,804.4,-10.9,755,7433,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,1476,3721
$GC,7737,-0.92,-194.7,837.1,-10.1,770,7741,0.00,1.98,0.00,0.000,4,0.000,0.058,2461,215,3720
$GC,7822,-0.92,-194.7,846.3,-10.4,774,7827,0.00,1.90,0.00,0.000,6,0.000,0.041,2461,1467,3719
$GC,8149,-0.92,-194.7,876.7,-8.8,790,8153,0.00,2.15,0.00,0.000,4,0.000,0.051,2461,2874,3717
$GC,8170,-0.95,-194.7,878.6,-9.1,791,8174,0.00,2.15,0.00,0.000,6,0.000,0.044,2461,1472,3717
$GC,8497,-0.95,-194.7,907.2,-9.4,807,8500,0.00,2.15,0.00,0.000,4,0.000,0.051,2461,2885,3716
$GC,8560,-1.02,-194.7,913.1,-9.7,810,8564,0.10,2.15,0.00,0.000,6,0.064,0.045,2404,1480,3715
$GC,8888,-0.90,-194.7,951.1,-11.4,826,8891,0.17,1.98,0.00,0.000,4,0.143,0.060,2460,207,3713
$GC,8961,-0.90,-194.7,958.6,-10.1,829,8965,0.00,1.92,0.00,0.000,6,0.000,0.041,2460,1474,3714
$GC,9277,-0.90,-194.7,983.8,-7.3,845,9281,0.00,2.15,0.00,0.000,4,0.000,0.052,2460,2874,3712
$GC,9298,-0.96,-194.7,985.4,-7.3,846,9302,0.00,2.15,0.00,0.000,6,0.000,0.046,2460,1476,3712
$STATE,9378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9378,begin apogee
$GC,9382,-0.24,0.0,990.9,6.9,850,9545,0.62,0.00,160.65,1.470,6,0.115,0.000,2669,1580,2947
$STATE,9546,end apogee,CONTROL_FINISHED_OK
$STATE,9546,begin climb
$GC,9547,0.99,194.7,993.1,0.0,858,9723,1.15,2.38,168.80,1.419,4,0.067,0.060,3065,222,2152
$GC,9744,0.51,194.7,967.2,21.4,867,9751,0.55,2.22,0.00,0.000,6,0.180,0.041,2914,1579,2149
$GC,10055,0.43,194.7,930.1,10.5,883,10056,0.12,0.00,0.00,0.000,6,0.164,0.000,2882,1579,2144
$GC,10360,0.52,268.7,906.1,7.4,898,10429,0.00,2.30,64.50,1.384,4,0.000,0.060,2881,210,1849
$GC,10460,0.60,278.6,897.8,9.7,903,10474,0.12,2.20,9.73,1.175,6,0.060,0.041,2937,1578,1810
$GC,10787,0.48,278.6,854.3,13.7,919,10790,0.15,2.17,0.00,0.000,4,0.160,0.048,2898,2982,1802
$GC,10849,0.48,278.6,846.9,10.4,922,10853,0.00,2.20,0.00,0.000,6,0.000,0.047,2898,1593,1801
$GC,11175,0.50,299.5,815.7,9.3,938,11206,0.00,2.28,20.30,1.185,4,0.000,0.062,2898,210,1725
$GC,11286,0.55,299.5,805.3,10.1,943,11291,0.00,2.15,0.00,0.000,6,0.000,0.043,2898,1575,1722
$GC,11608,0.55,299.5,770.9,11.5,959,11612,0.00,2.20,0.00,0.000,4,0.000,0.051,2898,2983,1718
$GC,11660,0.55,299.5,764.3,13.0,961,11665,0.00,2.20,0.00,0.000,6,0.000,0.047,2898,1584,1718
$GC,11977,0.60,299.5,726.7,11.7,977,11981,0.12,2.17,0.00,0.000,4,0.082,0.062,2948,215,1717
$GC,11992,0.60,299.5,724.7,11.6,977,12000,0.00,2.12,0.00,0.000,6,0.000,0.045,2948,1579,1717
$GC,12303,0.48,299.5,674.2,15.7,993,12307,0.17,2.17,0.00,0.000,4,0.155,0.051,2899,2982,1716
$GC,12323,0.43,299.5,671.3,13.7,994,12328,0.00,2.20,0.00,0.000,6,0.000,0.047,2902,1569,1716
$GC,12650,0.48,299.5,635.7,10.3,1010,12654,0.00,2.15,0.00,0.000,4,0.000,0.061,2902,217,1716
$GC,12681,0.55,304.0,632.5,9.8,1011,12693,0.00,2.10,3.90,0.766,6,0.000,0.047,2902,1572,1706
$GC,12997,0.61,304.0,597.1,13.1,1027,13001,0.10,2.15,0.00,0.000,4,0.087,0.061,2950,215,1705
$GC,13039,0.54,304.0,590.9,15.2,1029,13043,0.08,2.10,0.00,0.000,6,0.152,0.045,2925,1570,1705
$GC,13366,0.54,304.0,551.9,10.2,1045,13369,0.00,2.17,0.00,0.000,4,0.000,0.051,2924,2997,1705
$GC,13391,0.54,304.0,549.2,10.2,1046,13396,0.00,2.20,0.00,0.000,6,0.000,0.047,2924,1582,1705
$GC,13713,0.54,304.0,518.1,10.3,1062,13717,0.00,2.17,0.00,0.000,4,0.000,0.061,2924,208,1705
$GC,13808,0.58,304.0,507.9,10.9,1066,13813,0.00,2.10,0.00,0.000,6,0.000,0.045,2924,1566,1704
$GC,14128,0.58,304.0,472.1,10.9,1093,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,1566,1705
$GC,14440,0.58,304.0,437.3,12.0,1123,14443,0.00,2.12,0.00,0.000,4,0.000,0.060,2924,205,1704
$GC,14491,0.63,304.0,430.7,11.4,1128,14496,0.00,2.08,0.00,0.000,6,0.000,0.045,2924,1549,1705
$GC,14814,0.66,330.3,396.6,9.1,1159,14844,0.00,0.00,24.30,1.036,6,0.000,0.000,2924,1549,1599
$GC,15152,0.77,382.2,370.2,8.2,1192,15202,0.20,2.17,45.55,1.025,4,0.058,0.058,3011,211,1388
$GC,15223,0.54,382.2,358.7,19.1,1198,15227,0.30,2.15,0.00,0.000,6,0.155,0.043,2921,1551,1384
$GC,15544,0.64,382.2,320.1,11.1,1229,15547,0.00,2.17,0.00,0.000,4,0.000,0.059,2922,205,1378
$GC,15586,0.79,382.2,315.1,11.7,1233,15590,0.17,2.08,0.00,0.000,6,0.049,0.044,3005,1530,1377
$GC,15910,0.58,382.2,246.9,21.2,1286,15916,0.25,0.00,0.00,0.000,6,0.156,0.000,2936,1530,1377
$GC,16236,0.65,382.2,205.5,13.8,1347,16241,0.00,2.22,0.00,0.000,4,0.000,0.046,2936,2994,1376
$GC,16272,0.73,382.2,200.7,12.9,1354,16279,0.10,2.28,0.00,0.000,6,0.057,0.044,2992,1522,1376
$GC,16599,0.66,382.2,143.9,15.0,1415,16604,0.12,0.00,0.00,0.000,6,0.159,0.000,2961,1523,1376
$GC,16924,0.78,382.2,109.1,10.6,1476,16930,0.00,2.25,0.00,0.000,4,0.000,0.044,2961,2987,1376
$GC,16956,0.89,382.2,105.6,12.3,1482,16963,0.15,2.22,0.00,0.000,6,0.049,0.042,3043,1536,1376
$GC,17282,0.89,382.2,60.5,11.3,1543,17289,0.00,2.08,0.00,0.000,4,0.000,0.055,3043,208,1376
$GC,17422,0.89,382.2,40.4,15.0,1569,17429,0.00,2.00,0.00,0.000,6,0.000,0.038,3044,1529,1375
$STATE,17721,end climb,SURFACE_DEPTH_REACHED
$STATE,17721,begin surface coast
$FINISH,0.0,1.022249
$STATE,17748,end surface coast,CONTROL_FINISHED_OK
$STATE,17748,begin surface
$SM_CCo,17761,25.62,0.703,0,0,1254,415.05
$SM_GC,1.04,0.00,0.00,25.62,0.000,0.000,0.703,116,1454,1254,-8.21,-0.48,415.05
$IRIDIUM_FIX,2437.06,12308.50,230898,040414
$TT8_MAMPS,0.049855
$HUMID,1494
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,25.80
$XPDR_PINGS,13
$24V_AH,23.6,13.077
$10V_AH,10.7,7.571
$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,23.150,155.450,497.725,25.625,0.000,28.797,32.248,200.695,11.250,0.000,0.000,16.181,0.000,13054.988,704.583,3871.565,495.232,0.000,2138.386,0.000,3278.101,0.000,54.932,0.000
$DEVICE_MAMPS,208.624,83.603,1470.339,703.339,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1107.527,1115.678,1864.969,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91523,1630
$CAP_FILE_SIZE,182544,0
$CFSIZE,260165632,253763584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015, 59.0,1
$GPS,290509,135806,2440.246,12311.555,36,1.0,41,-3.5