version: 66.04
glider: 164
mission: 3
dive: 38
start: 5 28 109 7 42 36
data:
$ID,164
$MISSION,3
$DIVE,38
$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,-33893.918
$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,26
$R_STBD_OVSHOOT,36
$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
$GPS1,073624,2447.409,12321.805,36,1.6,36,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-64.4
$GPS2,074231,2447.315,12321.787,11,1.6,29,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,RET_2
$TGT_LATLONG,2439.600,12252.800
$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,300.5,50838,-15.7,-10.000
$D_GRID,1741
$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,-194.7,0.0,0.0,0,103,0.00,0.00,-88.68,0.000,2,0.000,0.000,114,1496,2935
$GC,105,-0.99,-194.7,3.5,-9.0,14,136,8.50,2.15,-15.48,0.000,4,0.212,0.056,2415,2886,3744
$GC,227,-0.58,-194.7,37.6,-26.6,36,234,0.40,2.17,0.00,0.000,6,0.130,0.036,2557,1459,3746
$GC,554,-0.51,-194.7,94.9,-15.7,97,561,0.00,2.15,0.00,0.000,4,0.000,0.041,2557,2875,3747
$GC,634,-0.51,-194.7,104.6,-11.2,112,642,0.00,2.12,0.00,0.000,6,0.000,0.035,2557,1466,3747
$GC,961,-0.51,-194.7,145.2,-14.6,173,968,0.00,1.92,0.00,0.000,4,0.000,0.047,2557,211,3748
$GC,1020,-0.55,-194.7,152.3,-10.0,184,1028,0.00,1.88,0.00,0.000,6,0.000,0.035,2557,1462,3749
$GC,1348,-0.66,-194.7,185.7,-11.6,245,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2557,1462,3750
$GC,1673,-0.79,-194.7,213.5,-6.8,306,1680,0.20,2.10,0.00,0.000,4,0.053,0.039,2461,2876,3750
$GC,1726,-0.72,-194.7,218.7,-10.0,316,1734,0.12,2.10,0.00,0.000,6,0.117,0.034,2507,1466,3750
$GC,2054,-0.72,-194.7,256.9,-12.8,377,2060,0.00,1.90,0.00,0.000,4,0.000,0.047,2507,216,3750
$GC,2117,-0.72,-194.7,264.3,-11.4,389,2124,0.00,1.85,0.00,0.000,6,0.000,0.035,2507,1458,3750
$GC,2443,-0.72,-194.7,291.3,-7.5,450,2450,0.00,1.90,0.00,0.000,4,0.000,0.047,2507,214,3750
$GC,2507,-0.72,-194.7,296.7,-9.3,462,2514,0.00,1.88,0.00,0.000,6,0.000,0.035,2507,1467,3750
$GC,2830,-0.76,-194.7,329.2,-11.0,497,2833,0.00,2.10,0.00,0.000,4,0.000,0.041,2507,2873,3750
$GC,2882,-0.85,-194.7,334.9,-10.2,502,2887,0.08,2.12,0.00,0.000,6,0.061,0.035,2455,1450,3750
$GC,3204,-0.75,-194.7,379.6,-14.5,533,3208,0.15,1.88,0.00,0.000,4,0.133,0.048,2499,217,3748
$GC,3304,-0.75,-194.7,392.5,-12.1,542,3311,0.00,1.88,0.00,0.000,6,0.000,0.035,2499,1464,3748
$GC,3621,-0.80,-194.7,423.8,-8.8,573,3624,0.00,1.90,0.00,0.000,4,0.000,0.049,2499,209,3746
$GC,3651,-0.80,-194.7,426.9,-10.1,576,3656,0.00,1.85,0.00,0.000,6,0.000,0.035,2499,1445,3746
$GC,3973,-0.85,-194.7,456.0,-9.1,607,3977,0.00,2.15,0.00,0.000,4,0.000,0.043,2499,2875,3744
$GC,4004,-0.94,-194.7,458.8,-9.0,610,4009,0.12,2.12,0.00,0.000,6,0.051,0.037,2429,1457,3743
$GC,4325,-0.81,-194.7,497.3,-11.8,641,4327,0.17,0.00,0.00,0.000,6,0.136,0.000,2480,1457,3741
$GC,4641,-0.81,-194.7,527.6,-10.1,658,4645,0.00,1.92,0.00,0.000,4,0.000,0.052,2481,209,3739
$GC,4699,-0.81,-194.7,534.1,-11.7,660,4708,0.00,1.85,0.00,0.000,6,0.000,0.035,2481,1449,3739
$GC,5010,-0.81,-194.7,565.3,-8.7,676,5014,0.00,2.15,0.00,0.000,4,0.000,0.044,2481,2872,3737
$GC,5052,-0.87,-194.7,568.8,-7.9,678,5056,0.00,2.12,0.00,0.000,6,0.000,0.039,2481,1459,3736
$GC,5379,-0.87,-194.7,598.9,-10.0,694,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1459,3735
$GC,5685,-0.91,-194.7,627.7,-9.2,709,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,2481,1459,3733
$GC,5989,-0.96,-194.7,655.0,-9.3,724,5990,0.15,0.00,0.00,0.000,6,0.070,0.000,2416,1459,3731
$GC,6295,-0.83,-194.7,693.5,-11.8,739,6296,0.20,0.00,0.00,0.000,6,0.135,0.000,2475,1459,3730
$GC,6599,-0.87,-194.7,718.5,-8.3,754,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1459,3728
$GC,6905,-0.92,-194.7,746.1,-9.5,769,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,2475,1459,3726
$GC,7210,-0.97,-194.7,774.1,-9.2,784,7214,0.12,1.92,0.00,0.000,4,0.075,0.058,2423,221,3725
$GC,7252,-0.83,-194.7,779.1,-12.6,786,7257,0.15,1.88,0.00,0.000,6,0.133,0.041,2472,1456,3724
$GC,7580,-0.88,-194.7,808.7,-8.8,802,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,2472,1458,3722
$GC,7885,-0.93,-194.7,832.9,-7.6,817,7888,0.00,2.15,0.00,0.000,4,0.000,0.051,2472,2884,3721
$GC,7932,-1.03,-194.7,836.4,-7.8,819,7936,0.15,2.17,0.00,0.000,6,0.054,0.045,2398,1460,3721
$GC,8253,-0.89,-194.7,871.1,-11.0,835,8257,0.20,1.95,0.00,0.000,4,0.140,0.061,2457,217,3718
$GC,8354,-0.89,-194.7,880.3,-8.3,839,8360,0.00,1.88,0.00,0.000,6,0.000,0.043,2457,1444,3718
$GC,8664,-0.89,-194.7,907.1,-9.1,855,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1444,3716
$GC,8969,-0.89,-194.7,932.6,-8.0,870,8973,0.00,2.20,0.00,0.000,4,0.000,0.051,2457,2878,3715
$GC,9001,-0.94,-194.7,935.0,-7.5,871,9005,0.00,2.17,0.00,0.000,6,0.000,0.045,2457,1455,3715
$GC,9317,-0.94,-194.7,960.0,-8.0,887,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2457,1455,3713
$GC,9622,-0.94,-194.7,986.1,-8.9,902,9626,0.00,2.20,0.00,0.000,4,0.000,0.052,2457,2873,3712
$GC,9659,-1.01,-194.7,989.2,-8.9,903,9666,0.08,2.17,0.00,0.000,6,0.069,0.047,2415,1457,3712
$STATE,9683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9683,begin apogee
$GC,9687,-0.24,0.0,991.8,10.0,905,9851,0.77,0.00,160.93,1.472,6,0.124,0.000,2668,1579,2947
$STATE,9851,end apogee,CONTROL_FINISHED_OK
$STATE,9851,begin climb
$GC,9853,0.99,194.7,997.8,0.0,913,10031,1.12,2.38,169.88,1.423,4,0.073,0.061,3058,222,2152
$GC,10100,0.52,194.7,965.1,21.6,924,10107,0.50,2.20,0.00,0.000,6,0.178,0.041,2917,1579,2146
$GC,10410,0.44,194.7,925.7,12.4,940,10412,0.12,0.00,0.00,0.000,6,0.166,0.000,2884,1579,2142
$GC,10716,0.44,199.8,893.3,9.8,955,10721,0.00,0.00,3.78,0.788,6,0.000,0.000,2884,1579,2132
$GC,11021,0.50,244.9,865.8,8.4,970,11066,0.00,2.30,40.65,1.361,4,0.000,0.061,2884,215,1947
$GC,11115,0.59,274.7,857.4,9.0,974,11156,0.12,2.17,29.73,1.244,6,0.062,0.044,2942,1574,1826
$GC,11473,0.46,274.7,808.8,13.5,992,11477,0.17,2.20,0.00,0.000,4,0.159,0.051,2895,2989,1816
$GC,11494,0.39,274.7,806.2,12.4,993,11498,0.00,2.22,0.00,0.000,6,0.000,0.048,2895,1580,1815
$GC,11820,0.39,274.7,771.5,10.7,1009,11824,0.00,2.20,0.00,0.000,4,0.000,0.063,2895,210,1813
$GC,11867,0.44,274.7,766.5,10.1,1011,11872,0.00,2.12,0.00,0.000,6,0.000,0.045,2895,1570,1813
$GC,12189,0.50,287.4,734.8,9.6,1027,12203,0.00,2.20,10.40,1.180,4,0.000,0.064,2895,206,1774
$GC,12252,0.56,287.4,728.7,10.0,1030,12256,0.00,2.10,0.00,0.000,6,0.000,0.046,2895,1543,1773
$GC,12578,0.61,287.4,692.9,12.2,1046,12582,0.15,2.25,0.00,0.000,4,0.069,0.052,2959,2989,1771
$GC,12609,0.48,287.4,687.8,17.4,1047,12614,0.17,2.25,0.00,0.000,6,0.160,0.048,2905,1554,1770
$GC,12926,0.49,299.1,652.3,9.6,1063,12947,0.00,2.15,11.43,1.108,4,0.000,0.063,2905,205,1727
$GC,12983,0.56,304.2,647.1,9.8,1065,12995,0.00,2.10,6.45,0.996,6,0.000,0.046,2905,1539,1706
$GC,13318,0.63,304.2,613.7,10.3,1082,13321,0.12,2.22,0.00,0.000,4,0.078,0.052,2960,2989,1702
$GC,13348,0.53,304.2,609.3,15.5,1083,13353,0.12,2.28,0.00,0.000,6,0.159,0.048,2920,1540,1701
$GC,13664,0.53,304.2,567.5,11.7,1099,13668,0.00,2.12,0.00,0.000,4,0.000,0.063,2920,210,1700
$GC,13701,0.53,304.2,563.5,11.1,1100,13708,0.00,2.08,0.00,0.000,6,0.000,0.047,2920,1536,1700
$GC,14011,0.53,304.2,531.1,11.6,1116,14016,0.00,2.25,0.00,0.000,4,0.000,0.051,2920,2988,1699
$GC,14037,0.53,304.2,527.7,12.4,1117,14042,0.00,2.28,0.00,0.000,6,0.000,0.048,2920,1521,1699
$GC,14350,0.53,304.2,490.2,11.4,1136,14354,0.00,2.08,0.00,0.000,4,0.000,0.061,2920,210,1699
$GC,14382,0.57,304.2,486.7,10.9,1139,14386,0.00,2.03,0.00,0.000,6,0.000,0.047,2920,1515,1699
$GC,14704,0.62,307.6,453.7,9.9,1170,14707,0.00,2.25,0.00,0.000,4,0.000,0.051,2920,2996,1699
$GC,14745,0.62,311.6,449.3,9.9,1174,14757,0.00,2.28,7.05,0.913,6,0.000,0.047,2920,1525,1676
$GC,15066,0.74,370.8,422.0,8.0,1205,15123,0.17,2.20,52.55,1.071,4,0.067,0.059,2998,211,1434
$GC,15142,0.53,370.8,411.0,16.9,1212,15147,0.25,2.12,0.00,0.000,6,0.156,0.044,2923,1532,1430
$GC,15464,0.59,370.8,371.7,12.4,1243,15464,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,1532,1423
$GC,15775,0.65,370.8,334.4,12.4,1273,15778,0.00,2.25,0.00,0.000,4,0.000,0.049,2923,2994,1422
$GC,15817,0.71,370.8,328.8,12.5,1277,15821,0.10,2.28,0.00,0.000,6,0.058,0.046,2992,1538,1422
$GC,16137,0.54,370.8,266.6,17.4,1322,16144,0.25,2.25,0.00,0.000,4,0.156,0.047,2921,2991,1422
$GC,16186,0.58,370.8,259.8,12.5,1331,16192,0.00,2.25,0.00,0.000,6,0.000,0.045,2921,1542,1422
$GC,16511,0.68,370.8,229.5,10.1,1392,16518,0.12,2.10,0.00,0.000,4,0.074,0.058,2984,208,1421
$GC,16586,0.60,370.8,218.0,14.8,1406,16593,0.12,2.03,0.00,0.000,6,0.147,0.042,2945,1530,1421
$GC,16913,0.69,370.8,183.0,11.3,1467,16919,0.00,2.22,0.00,0.000,4,0.000,0.047,2944,2985,1421
$GC,16945,0.77,370.8,179.2,13.5,1473,16953,0.10,2.25,0.00,0.000,6,0.058,0.045,3001,1526,1421
$GC,17273,0.71,370.8,131.2,14.9,1534,17279,0.00,2.05,0.00,0.000,4,0.000,0.057,3001,218,1421
$GC,17353,0.71,370.8,120.0,12.6,1549,17361,0.00,1.98,0.00,0.000,6,0.000,0.040,3001,1513,1421
$GC,17680,0.71,371.7,82.1,10.0,1610,17686,0.00,2.22,0.00,0.000,4,0.000,0.044,3001,2981,1420
$GC,17771,0.74,392.4,72.0,9.3,1627,17792,0.00,2.22,17.38,0.747,6,0.000,0.041,3001,1519,1347
$GC,18112,0.95,456.6,43.2,7.8,1690,18170,0.12,2.15,53.47,0.741,4,0.067,0.054,3065,207,1084
$GC,18234,0.95,456.6,26.6,12.4,1711,18240,0.00,2.05,0.00,0.000,6,0.000,0.038,3065,1522,1079
$STATE,18413,end climb,SURFACE_DEPTH_REACHED
$STATE,18413,begin surface coast
$FINISH,-0.2,1.010598
$STATE,18441,end surface coast,CONTROL_FINISHED_OK
$STATE,18441,begin surface
$SM_CCo,18514,0.00,0.000,0,0,1074,459.45
$SM_GC,0.77,7.68,0.00,0.00,0.038,0.000,0.000,116,1467,1074,-8.13,-0.11,459.45
$IRIDIUM_FIX,2439.44,12326.92,220898,020238
$TT8_MAMPS,0.051389
$HUMID,1447
$INTERNAL_PRESSURE,8.96765
$TCM_TEMP,26.10
$XPDR_PINGS,12
$24V_AH,23.5,11.981
$10V_AH,10.7,6.828
$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,23.125,156.450,563.675,0.000,0.000,28.484,30.114,189.853,11.000,0.000,0.000,31.177,0.000,13605.161,750.278,4007.623,488.925,0.000,2232.445,0.000,3377.300,0.000,53.954,0.000
$DEVICE_MAMPS,212.459,95.875,1471.873,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1187.028,1196.927,2002.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,100966,1750
$CAP_FILE_SIZE,188439,0
$CFSIZE,260165632,254218240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.121,183.9,1
$GPS,280509,125207,2447.503,12318.808,38,1.2,38,-3.6