version: 66.04
glider: 164
mission: 3
dive: 41
start: 5 28 109 23 2 13
data:
$ID,164
$MISSION,3
$DIVE,41
$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,-33939.082
$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,46
$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
$GPS1,225607,2446.616,12313.281,37,0.9,37,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-65.7
$GPS2,230208,2446.614,12313.230,14,1.0,14,-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,259.8,36758,-15.7,-10.000
$D_GRID,1598
$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,-194.7,0.0,0.0,0,83,0.00,0.00,-69.28,0.000,2,0.000,0.000,114,1450,3049
$GC,85,-0.99,-194.7,3.8,-8.3,11,111,8.50,2.15,-12.80,0.000,4,0.212,0.051,2415,2888,3742
$GC,292,-0.63,-194.7,62.2,-26.0,49,300,0.35,2.15,0.00,0.000,6,0.124,0.036,2533,1473,3745
$GC,620,-0.56,-194.7,107.7,-14.0,110,626,0.00,1.92,0.00,0.000,4,0.000,0.048,2533,218,3746
$GC,770,-0.50,-194.7,128.6,-13.7,138,776,0.12,1.88,0.00,0.000,6,0.109,0.035,2577,1466,3747
$GC,1096,-0.66,-194.7,158.4,-9.8,199,1103,0.15,1.92,0.00,0.000,4,0.058,0.046,2501,208,3748
$GC,1262,-0.59,-194.7,181.5,-13.3,230,1269,0.12,1.85,0.00,0.000,6,0.117,0.035,2546,1445,3749
$GC,1589,-0.69,-194.7,211.3,-8.6,291,1595,0.00,2.12,0.00,0.000,4,0.000,0.040,2545,2869,3749
$GC,1636,-0.83,-194.7,215.0,-7.9,300,1643,0.15,2.12,0.00,0.000,6,0.043,0.035,2460,1445,3749
$GC,1963,-0.71,-194.7,257.3,-13.0,361,1970,0.17,2.12,0.00,0.000,4,0.128,0.040,2513,2887,3749
$GC,2022,-0.81,-194.7,263.3,-8.9,372,2029,0.00,2.15,0.00,0.000,6,0.000,0.035,2513,1449,3749
$GC,2349,-0.85,-194.7,292.5,-9.9,433,2356,0.12,2.12,0.00,0.000,4,0.067,0.041,2448,2869,3749
$GC,2382,-0.77,-194.7,296.6,-13.1,439,2388,0.12,2.10,0.00,0.000,6,0.122,0.036,2492,1457,3748
$GC,2697,-0.77,-194.7,335.5,-12.7,472,2702,0.00,2.12,0.00,0.000,4,0.000,0.041,2493,2872,3748
$GC,2767,-0.83,-194.7,343.7,-12.1,478,2774,0.00,2.10,0.00,0.000,6,0.000,0.035,2493,1466,3748
$GC,3083,-0.83,-194.7,381.7,-10.3,509,3087,0.00,2.12,0.00,0.000,4,0.000,0.041,2493,2874,3747
$GC,3141,-0.90,-194.7,387.3,-9.5,514,3148,0.08,2.10,0.00,0.000,6,0.058,0.036,2441,1471,3746
$GC,3457,-0.79,-194.7,428.2,-14.4,545,3461,0.17,1.90,0.00,0.000,4,0.130,0.049,2494,219,3744
$GC,3493,-0.79,-194.7,433.1,-12.8,548,3501,0.00,1.88,0.00,0.000,6,0.000,0.035,2494,1480,3745
$GC,3809,-0.83,-194.7,467.4,-9.9,579,3813,0.00,2.08,0.00,0.000,4,0.000,0.043,2494,2865,3744
$GC,3841,-0.91,-194.7,470.4,-9.4,582,3845,0.10,2.08,0.00,0.000,6,0.051,0.038,2435,1482,3743
$GC,4160,-0.81,-194.7,508.3,-12.7,610,4165,0.17,1.92,0.00,0.000,4,0.130,0.051,2487,221,3742
$GC,4240,-0.81,-194.7,517.5,-11.1,613,4248,0.00,1.88,0.00,0.000,6,0.000,0.035,2487,1478,3742
$GC,4551,-0.84,-194.7,549.8,-10.1,629,4559,0.00,1.95,0.00,0.000,4,0.000,0.052,2487,217,3739
$GC,4583,-0.84,-194.7,553.4,-11.6,630,4588,0.00,1.88,0.00,0.000,6,0.000,0.035,2487,1469,3739
$GC,4899,-0.84,-194.7,586.9,-11.1,646,4904,0.00,1.95,0.00,0.000,4,0.000,0.052,2487,212,3737
$GC,4942,-0.84,-194.7,591.7,-11.6,648,4946,0.00,1.88,0.00,0.000,6,0.000,0.035,2487,1467,3737
$GC,5268,-0.89,-194.7,624.2,-8.7,664,5272,0.00,2.12,0.00,0.000,4,0.000,0.044,2487,2874,3735
$GC,5295,-0.97,-194.7,626.3,-7.7,665,5299,0.12,2.10,0.00,0.000,6,0.052,0.040,2417,1478,3735
$GC,5616,-0.85,-194.7,663.0,-12.3,681,5618,0.17,0.00,0.00,0.000,6,0.135,0.000,2468,1478,3733
$GC,5921,-0.85,-194.7,693.7,-9.9,696,5925,0.00,1.95,0.00,0.000,4,0.000,0.054,2468,220,3731
$GC,5942,-0.85,-194.7,695.7,-10.3,697,5946,0.00,1.90,0.00,0.000,6,0.000,0.038,2468,1484,3731
$GC,6270,-0.85,-194.7,725.8,-9.8,713,6273,0.00,1.95,0.00,0.000,4,0.000,0.055,2468,217,3730
$GC,6407,-0.85,-194.7,740.4,-10.4,719,6411,0.00,1.88,0.00,0.000,6,0.000,0.039,2469,1463,3729
$GC,6723,-0.85,-194.7,770.8,-9.2,735,6727,0.00,1.95,0.00,0.000,4,0.000,0.056,2468,220,3727
$GC,6792,-0.85,-194.7,777.4,-9.0,738,6796,0.00,1.88,0.00,0.000,6,0.000,0.039,2468,1461,3727
$GC,7113,-0.85,-194.7,803.7,-7.9,754,7117,0.00,2.15,0.00,0.000,4,0.000,0.048,2468,2874,3725
$GC,7193,-0.92,-194.7,810.2,-8.3,757,7201,0.00,2.12,0.00,0.000,6,0.000,0.043,2468,1474,3724
$GC,7503,-0.96,-194.7,839.7,-10.1,773,7505,0.12,0.00,0.00,0.000,6,0.074,0.000,2415,1474,3723
$GC,7809,-0.87,-194.7,877.4,-12.0,788,7813,0.17,1.98,0.00,0.000,4,0.139,0.059,2466,210,3721
$GC,7845,-0.87,-194.7,881.6,-10.8,789,7853,0.00,1.92,0.00,0.000,6,0.000,0.041,2466,1480,3721
$GC,8156,-0.87,-194.7,911.2,-9.3,805,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,2466,1480,3719
$GC,8461,-0.91,-194.7,937.8,-8.5,820,8465,0.00,2.12,0.00,0.000,4,0.000,0.051,2465,2864,3717
$GC,8487,-0.98,-194.7,939.9,-8.5,821,8492,0.08,2.15,0.00,0.000,6,0.067,0.045,2420,1466,3717
$GC,8809,-0.91,-194.7,971.6,-10.1,837,8813,0.12,1.95,0.00,0.000,4,0.145,0.067,2454,210,3715
$GC,8872,-0.91,-194.7,977.8,-10.2,840,8876,0.00,1.90,0.00,0.000,6,0.000,0.042,2454,1457,3715
$STATE,9014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9014,begin apogee
$GC,9018,-0.24,0.0,990.9,8.8,847,9181,0.62,0.00,161.20,1.473,6,0.117,0.000,2662,1584,2947
$STATE,9182,end apogee,CONTROL_FINISHED_OK
$STATE,9182,begin climb
$GC,9183,0.99,194.7,996.3,0.0,855,9356,1.15,0.00,168.95,1.427,6,0.073,0.000,3060,1584,2153
$GC,9652,0.53,194.7,920.9,19.8,878,9656,0.50,2.22,0.00,0.000,4,0.176,0.060,2920,217,2144
$GC,9700,0.45,194.7,914.5,11.5,880,9704,0.08,2.15,0.00,0.000,6,0.150,0.042,2894,1582,2144
$GC,10021,0.50,240.8,887.0,8.4,896,10065,0.00,2.33,39.45,1.365,4,0.000,0.060,2894,213,1964
$GC,10096,0.54,273.6,880.6,8.9,899,10132,0.00,2.20,30.52,1.331,6,0.000,0.041,2894,1584,1830
$GC,10455,0.54,273.6,842.9,11.6,917,10458,0.00,2.20,0.00,0.000,4,0.000,0.059,2894,208,1820
$GC,10475,0.54,273.6,840.2,12.1,918,10479,0.00,2.15,0.00,0.000,6,0.000,0.041,2894,1582,1820
$GC,10801,0.54,273.6,797.1,13.3,934,10805,0.00,2.17,0.00,0.000,4,0.000,0.049,2894,2979,1818
$GC,10838,0.54,273.6,792.0,13.5,935,10845,0.00,2.17,0.00,0.000,6,0.000,0.044,2894,1584,1818
$GC,11149,0.58,273.6,753.6,11.7,951,11153,0.12,2.17,0.00,0.000,4,0.081,0.060,2947,212,1817
$GC,11223,0.47,273.6,742.9,15.5,954,11228,0.15,2.08,0.00,0.000,6,0.153,0.044,2899,1555,1817
$GC,11539,0.51,273.6,707.0,10.4,970,11543,0.00,2.12,0.00,0.000,4,0.000,0.059,2899,219,1816
$GC,11587,0.57,273.6,701.9,11.3,972,11591,0.00,2.08,0.00,0.000,6,0.000,0.044,2899,1561,1816
$GC,11908,0.57,273.6,668.9,10.8,988,11912,0.00,2.20,0.00,0.000,4,0.000,0.050,2899,2984,1816
$GC,11939,0.57,273.6,665.4,11.5,989,11944,0.00,2.20,0.00,0.000,6,0.000,0.044,2899,1560,1815
$GC,12256,0.63,273.6,631.9,10.1,1005,12260,0.15,2.12,0.00,0.000,4,0.075,0.060,2960,211,1815
$GC,12298,0.52,273.6,626.2,13.5,1007,12302,0.12,2.05,0.00,0.000,6,0.150,0.044,2909,1540,1815
$GC,12624,0.56,279.6,593.7,9.8,1023,12628,0.00,2.22,0.00,0.000,4,0.000,0.050,2909,3005,1814
$GC,12677,0.56,279.6,587.9,11.1,1025,12681,0.00,2.25,0.00,0.000,6,0.000,0.044,2909,1545,1813
$GC,12993,0.60,279.6,552.8,12.0,1041,12997,0.00,2.10,0.00,0.000,4,0.000,0.059,2909,208,1813
$GC,13056,0.64,279.6,545.1,11.6,1044,13061,0.08,2.05,0.00,0.000,6,0.067,0.044,2957,1540,1813
$GC,13383,0.54,279.6,498.3,14.9,1060,13387,0.15,2.10,0.00,0.000,4,0.156,0.058,2917,208,1813
$GC,13415,0.54,279.6,494.3,11.1,1063,13419,0.00,2.05,0.00,0.000,6,0.000,0.045,2917,1537,1813
$GC,13736,0.58,279.6,457.8,11.1,1094,13740,0.00,2.17,0.00,0.000,4,0.000,0.049,2917,2989,1813
$GC,13756,0.62,279.6,455.5,11.1,1096,13760,0.00,2.25,0.00,0.000,6,0.000,0.044,2917,1526,1813
$GC,14079,0.70,305.8,423.6,9.1,1127,14110,0.15,0.00,25.73,1.068,6,0.072,0.000,2984,1526,1698
$GC,14418,0.53,305.8,369.8,15.6,1160,14422,0.25,2.28,0.00,0.000,4,0.150,0.047,2913,2991,1694
$GC,14471,0.61,305.8,363.7,10.6,1165,14475,0.00,2.25,0.00,0.000,6,0.000,0.044,2915,1538,1693
$GC,14793,0.72,305.8,329.0,10.8,1196,14794,0.17,0.00,0.00,0.000,6,0.067,0.000,2992,1538,1692
$GC,15107,0.55,305.8,278.0,15.7,1239,15113,0.25,2.22,0.00,0.000,4,0.151,0.045,2920,2989,1692
$GC,15155,0.62,305.8,272.6,10.5,1248,15161,0.00,2.25,0.00,0.000,6,0.000,0.042,2920,1520,1692
$GC,15481,0.77,335.7,242.0,9.0,1309,15513,0.20,2.33,25.67,0.916,4,0.058,0.044,3010,2990,1577
$GC,15540,0.58,335.7,233.2,18.0,1319,15546,0.28,2.28,0.00,0.000,6,0.160,0.043,2935,1519,1574
$GC,15866,0.68,353.3,196.9,9.4,1380,15886,0.00,2.12,15.50,0.843,4,0.000,0.054,2935,206,1505
$GC,15933,0.84,367.4,190.6,9.5,1392,15954,0.20,2.03,13.50,0.815,6,0.046,0.041,3029,1508,1447
$GC,16275,0.65,367.4,128.1,17.3,1455,16281,0.22,2.03,0.00,0.000,4,0.143,0.051,2960,204,1442
$GC,16301,0.60,367.4,124.1,14.1,1460,16308,0.00,1.98,0.00,0.000,6,0.000,0.039,2960,1486,1442
$GC,16628,0.84,445.4,92.9,7.3,1521,16699,0.15,2.05,65.00,0.796,4,0.062,0.051,3038,207,1129
$GC,16736,0.76,445.4,76.5,15.1,1539,16742,0.12,2.03,0.00,0.000,6,0.134,0.037,2987,1493,1125
$GC,17062,0.99,461.7,41.7,9.4,1600,17082,0.20,2.33,13.68,0.690,4,0.051,0.041,3082,2991,1063
$GC,17108,0.88,461.7,34.6,16.7,1608,17115,0.15,2.33,0.00,0.000,6,0.140,0.040,3034,1500,1061
$STATE,17384,end climb,SURFACE_DEPTH_REACHED
$STATE,17384,begin surface coast
$FINISH,-0.1,1.022145
$STATE,17412,end surface coast,CONTROL_FINISHED_OK
$STATE,17412,begin surface
$SM_CCo,17485,0.00,0.000,0,0,1055,464.11
$SM_GC,0.71,7.45,0.00,0.00,0.031,0.000,0.000,116,1497,1055,-8.14,0.74,464.11
$IRIDIUM_FIX,2437.06,12315.07,220898,181838
$TT8_MAMPS,0.050622
$HUMID,1462
$INTERNAL_PRESSURE,8.97742
$TCM_TEMP,25.90
$XPDR_PINGS,14
$24V_AH,23.5,12.639
$10V_AH,10.7,7.273
$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,24.075,166.950,559.200,0.000,0.000,27.750,31.168,197.441,11.500,0.000,0.000,15.989,0.000,12702.564,753.239,3858.402,502.219,0.000,2184.602,0.000,3264.026,0.000,53.970,0.000
$DEVICE_MAMPS,211.692,66.729,1472.640,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1128.624,1140.246,1904.400,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,94683,1665
$CAP_FILE_SIZE,185371,0
$CFSIZE,260165632,253939712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074, 86.0,1
$GPS,290509,035437,2446.003,12310.823,40,0.8,40,-3.6