version: 66.04
glider: 164
mission: 3
dive: 31
start: 5 26 109 20 37 31
data:
$ID,164
$MISSION,3
$DIVE,31
$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,-33758.277
$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,49
$R_STBD_OVSHOOT,35
$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
$GPS1,202736,2509.344,12335.626,27,1.2,27,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-64.5
$GPS2,203726,2509.289,12335.553,10,1.4,10,-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,214.5,43952,-15.7,-10.000
$D_GRID,2041
$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,-70.03,0.000,2,0.000,0.000,120,1448,2938
$GC,86,-0.99,-194.7,3.1,-6.6,11,118,8.40,1.92,-15.77,0.000,4,0.206,0.063,2417,224,3744
$GC,357,-0.58,-194.7,77.2,-26.7,61,365,0.40,1.90,0.00,0.000,6,0.123,0.035,2550,1481,3747
$GC,685,-0.54,-194.7,126.9,-14.1,122,691,0.00,1.95,0.00,0.000,4,0.000,0.047,2550,222,3748
$GC,930,-0.54,-194.7,161.0,-11.8,168,937,0.00,1.85,0.00,0.000,6,0.000,0.035,2550,1459,3749
$GC,1257,-0.58,-194.7,196.8,-9.7,229,1264,0.00,2.12,0.00,0.000,4,0.000,0.040,2550,2882,3749
$GC,1279,-0.66,-194.7,199.0,-10.0,233,1287,0.00,2.10,0.00,0.000,6,0.000,0.035,2550,1479,3749
$GC,1607,-0.75,-194.7,228.9,-9.1,294,1614,0.15,1.90,0.00,0.000,4,0.058,0.046,2474,221,3749
$GC,1677,-0.58,-194.7,238.6,-15.3,307,1683,0.22,1.88,0.00,0.000,6,0.117,0.035,2553,1477,3749
$GC,2003,-0.70,-194.7,265.9,-8.6,368,2009,0.00,2.08,0.00,0.000,4,0.000,0.040,2553,2872,3749
$GC,2024,-0.84,-194.7,267.5,-7.9,372,2031,0.17,2.08,0.00,0.000,6,0.041,0.035,2461,1477,3749
$GC,2353,-0.71,-194.7,311.3,-13.1,426,2357,0.17,1.90,0.00,0.000,4,0.127,0.047,2514,220,3749
$GC,2493,-0.71,-194.7,327.0,-10.6,439,2496,0.00,1.88,0.00,0.000,6,0.000,0.035,2514,1475,3749
$GC,2813,-0.76,-194.7,357.6,-8.7,470,2816,0.00,1.92,0.00,0.000,4,0.000,0.048,2514,220,3748
$GC,2866,-0.76,-194.7,362.7,-9.9,475,2870,0.00,1.85,0.00,0.000,6,0.000,0.035,2514,1462,3747
$GC,3186,-0.80,-194.7,391.5,-10.4,506,3190,0.00,1.92,0.00,0.000,4,0.000,0.048,2514,210,3746
$GC,3240,-0.80,-194.7,396.8,-10.8,511,3244,0.00,1.88,0.00,0.000,6,0.000,0.035,2514,1465,3746
$GC,3560,-0.87,-194.7,427.4,-10.3,542,3565,0.15,2.10,0.00,0.000,4,0.064,0.041,2443,2872,3744
$GC,3603,-0.79,-194.7,432.9,-13.3,546,3607,0.12,2.10,0.00,0.000,6,0.123,0.037,2486,1467,3742
$GC,3924,-0.79,-194.7,467.4,-9.6,577,3928,0.00,2.12,0.00,0.000,4,0.000,0.042,2486,2875,3741
$GC,3998,-0.84,-194.7,473.4,-7.3,584,4002,0.00,2.08,0.00,0.000,6,0.000,0.037,2486,1486,3741
$GC,4320,-0.84,-194.7,500.7,-9.3,615,4323,0.00,1.92,0.00,0.000,4,0.000,0.051,2486,208,3739
$GC,4377,-0.84,-194.7,507.0,-10.9,617,4385,0.00,1.88,0.00,0.000,6,0.000,0.034,2486,1471,3739
$GC,4688,-0.84,-194.7,539.5,-10.8,633,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1472,3737
$GC,4993,-0.84,-194.7,568.4,-8.7,648,4994,0.00,0.00,0.00,0.000,6,0.000,0.000,2486,1472,3735
$GC,5299,-0.84,-194.7,591.4,-7.2,663,5302,0.00,2.10,0.00,0.000,4,0.000,0.045,2486,2866,3733
$GC,5324,-0.89,-194.7,593.3,-7.1,664,5329,0.00,2.10,0.00,0.000,6,0.000,0.040,2486,1474,3733
$GC,5645,-0.93,-194.7,622.1,-10.1,680,5647,0.12,0.00,0.00,0.000,6,0.075,0.000,2431,1474,3730
$GC,5951,-0.83,-194.7,664.3,-14.0,695,5955,0.15,1.92,0.00,0.000,4,0.137,0.054,2473,224,3729
$GC,6126,-0.83,-194.7,686.3,-12.1,703,6131,0.00,1.88,0.00,0.000,6,0.000,0.037,2474,1462,3728
$GC,6448,-0.83,-194.7,715.8,-8.1,719,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1464,3725
$GC,6753,-0.83,-194.7,738.4,-7.4,734,6754,0.00,0.00,0.00,0.000,6,0.000,0.000,2473,1464,3724
$GC,7059,-0.83,-194.7,763.2,-8.9,749,7062,0.00,2.12,0.00,0.000,4,0.000,0.048,2473,2865,3721
$GC,7117,-0.91,-194.7,768.3,-9.2,751,7123,0.00,2.12,0.00,0.000,6,0.000,0.043,2473,1472,3721
$GC,7428,-0.95,-194.7,797.9,-9.6,767,7429,0.12,0.00,0.00,0.000,6,0.079,0.000,2418,1472,3720
$GC,7732,-0.84,-194.7,832.7,-10.8,782,7734,0.20,0.00,0.00,0.000,6,0.134,0.000,2477,1472,3717
$GC,8038,-0.89,-194.7,855.1,-7.1,797,8039,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,1472,3716
$GC,8344,-0.94,-194.7,875.7,-6.7,812,8345,0.12,0.00,0.00,0.000,6,0.076,0.000,2425,1472,3715
$GC,8648,-0.85,-194.7,904.2,-9.7,827,8652,0.15,1.95,0.00,0.000,4,0.142,0.061,2467,223,3713
$GC,8679,-0.85,-194.7,907.1,-9.1,828,8684,0.00,1.90,0.00,0.000,6,0.000,0.042,2467,1467,3713
$GC,8995,-0.85,-194.7,932.2,-8.1,844,8996,0.00,0.00,0.00,0.000,6,0.000,0.000,2467,1467,3711
$GC,9301,-0.85,-194.7,956.8,-7.9,859,9304,0.00,2.15,0.00,0.000,4,0.000,0.052,2467,2869,3709
$GC,9337,-0.92,-194.7,959.5,-6.9,860,9344,0.00,2.15,0.00,0.000,6,0.000,0.047,2467,1473,3709
$GC,9648,-0.96,-194.7,982.6,-7.4,876,9652,0.00,2.15,0.00,0.000,4,0.000,0.051,2467,2869,3708
$GC,9674,-1.03,-194.7,984.7,-8.3,877,9678,0.12,2.15,0.00,0.000,6,0.060,0.046,2404,1472,3708
$STATE,9729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9729,begin apogee
$GC,9733,-0.24,0.0,990.4,10.9,880,9895,0.80,0.00,159.90,1.464,6,0.124,0.000,2665,1577,2947
$STATE,9896,end apogee,CONTROL_FINISHED_OK
$STATE,9896,begin climb
$GC,9897,0.99,194.7,994.5,0.0,888,10071,1.15,0.00,169.57,1.417,6,0.076,0.000,3059,1577,2153
$GC,10367,0.49,194.7,914.0,21.6,911,10369,0.55,0.00,0.00,0.000,6,0.184,0.000,2906,1577,2143
$GC,10672,0.44,194.7,877.3,11.6,926,10676,0.00,2.20,0.00,0.000,4,0.000,0.061,2907,217,2142
$GC,10714,0.39,194.7,872.2,12.2,928,10719,0.10,2.12,0.00,0.000,6,0.151,0.044,2873,1578,2142
$GC,11041,0.44,194.7,838.8,10.1,944,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1578,2141
$GC,11347,0.50,201.9,808.7,9.7,959,11356,0.00,2.17,5.47,0.997,4,0.000,0.062,2873,214,2123
$GC,11394,0.59,221.0,804.0,9.3,961,11415,0.12,2.12,18.10,1.282,6,0.061,0.045,2935,1579,2046
$GC,11738,0.46,221.0,755.7,14.3,978,11739,0.15,0.00,0.00,0.000,6,0.161,0.000,2896,1579,2040
$GC,12043,0.48,237.7,723.7,9.4,993,12064,0.00,0.00,15.18,1.228,6,0.000,0.000,2896,1579,1976
$GC,12367,0.58,314.7,698.7,7.3,1009,12437,0.10,0.00,68.57,1.278,6,0.084,0.000,2938,1579,1663
$GC,12732,0.48,314.7,652.1,13.8,1027,12736,0.15,2.22,0.00,0.000,4,0.156,0.061,2902,214,1651
$GC,12780,0.56,329.2,646.8,9.5,1029,12798,0.00,2.12,12.32,1.132,6,0.000,0.046,2902,1556,1603
$GC,13101,0.65,349.2,615.5,9.3,1045,13132,0.15,2.33,20.20,1.070,4,0.073,0.051,2967,2994,1522
$GC,13165,0.46,349.2,606.0,17.9,1048,13169,0.22,2.28,0.00,0.000,6,0.165,0.048,2900,1575,1520
$GC,13491,0.57,349.2,568.8,10.8,1064,13492,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1575,1515
$GC,13796,0.67,349.2,535.7,10.6,1079,13801,0.17,2.17,0.00,0.000,4,0.068,0.062,2973,210,1514
$GC,13817,0.67,349.2,532.9,13.2,1080,13821,0.00,2.12,0.00,0.000,6,0.000,0.046,2974,1572,1514
$GC,14136,0.48,349.2,473.6,20.3,1101,14140,0.22,2.15,0.00,0.000,4,0.163,0.061,2905,208,1514
$GC,14151,0.38,349.2,471.0,17.8,1102,14158,0.10,2.12,0.00,0.000,6,0.140,0.047,2870,1573,1514
$GC,14467,0.75,410.9,443.5,7.9,1133,14526,0.32,2.33,53.88,1.088,4,0.051,0.050,3009,2989,1269
$GC,14551,0.47,410.9,428.8,24.7,1140,14559,0.38,2.33,0.00,0.000,6,0.165,0.047,2902,1553,1266
$GC,14867,0.68,420.2,391.5,9.7,1171,14879,0.17,2.20,7.72,0.875,4,0.064,0.060,2974,209,1233
$GC,14910,0.65,420.2,385.5,14.4,1175,14915,0.00,2.10,0.00,0.000,6,0.000,0.044,2974,1541,1232
$GC,15232,0.52,420.2,327.9,17.4,1206,15236,0.22,2.20,0.00,0.000,4,0.153,0.048,2910,2993,1230
$GC,15285,0.61,420.2,319.8,13.8,1211,15288,0.00,2.25,0.00,0.000,6,0.000,0.045,2910,1549,1229
$GC,15603,0.89,457.9,292.6,8.7,1250,15640,0.32,2.20,33.50,0.946,4,0.049,0.058,3051,214,1080
$GC,15721,0.63,457.9,265.6,28.0,1271,15726,0.35,2.08,0.00,0.000,6,0.153,0.041,2951,1554,1074
$GC,16046,0.70,457.9,215.1,14.7,1332,16052,0.00,2.22,0.00,0.000,4,0.000,0.046,2951,2987,1071
$GC,16067,0.76,457.9,211.7,15.5,1336,16074,0.08,2.25,0.00,0.000,6,0.066,0.044,2998,1544,1071
$GC,16394,0.69,457.9,157.9,16.6,1397,16402,0.12,2.08,0.00,0.000,4,0.155,0.054,2972,220,1070
$GC,16438,0.74,457.9,151.1,16.1,1405,16446,0.00,2.03,0.00,0.000,6,0.000,0.041,2972,1540,1070
$GC,16766,0.91,479.5,113.0,9.3,1466,16792,0.17,2.10,18.10,0.770,4,0.058,0.054,3057,204,991
$GC,16839,0.79,479.5,102.2,18.1,1479,16846,0.17,2.03,0.00,0.000,6,0.137,0.038,2999,1520,989
$GC,17166,0.95,487.6,66.5,9.7,1540,17179,0.15,0.00,7.97,0.644,6,0.062,0.000,3070,1520,958
$GC,17499,0.95,487.6,20.0,13.2,1602,17505,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1520,956
$STATE,17619,end climb,SURFACE_DEPTH_REACHED
$STATE,17619,begin surface coast
$FINISH,-0.1,1.008256
$STATE,17647,end surface coast,CONTROL_FINISHED_OK
$STATE,17648,begin surface
$SM_CCo,17721,0.00,0.000,0,0,954,488.88
$SM_GC,0.78,7.53,0.00,0.00,0.031,0.000,0.000,114,1460,954,-8.15,-0.34,488.88
$IRIDIUM_FIX,2500.82,12338.76,200898,202010
$TT8_MAMPS,0.049088
$HUMID,1471
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,26.10
$XPDR_PINGS,12
$24V_AH,23.6,10.377
$10V_AH,10.7,5.782
$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,24.800,124.775,590.500,0.000,0.000,58.278,97.327,264.539,11.000,0.000,0.000,12.560,0.000,13187.960,746.402,3687.571,658.047,0.000,2099.860,0.000,3118.463,0.000,54.923,0.000
$DEVICE_MAMPS,206.323,94.341,1464.203,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.760,1097.578,1835.993,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,91723,1630
$CAP_FILE_SIZE,177082,0
$CFSIZE,260165632,254894080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.021, 48.7,1
$GPS,270509,013337,2507.001,12334.348,26,1.1,26,-3.7