version: 66.04
glider: 164
mission: 3
dive: 105
start: 6 3 109 17 44 19
data:
$ID,164
$MISSION,3
$DIVE,105
$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,-35209.848
$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,32
$R_STBD_OVSHOOT,40
$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
$GPS1,173806,2429.666,12243.655,33,1.4,33,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-67.7
$GPS2,174414,2429.675,12243.604,13,1.9,13,-3.5
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,OFF_1
$TGT_LATLONG,2442.000,12228.000
$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,273.4,34790,-15.7,-10.000
$D_GRID,787
$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,-194.7,0.0,0.0,0,92,0.00,0.00,-77.62,0.000,2,0.000,0.000,111,1498,2964
$GC,94,-0.99,-194.7,3.9,-9.9,12,120,8.98,2.12,-14.12,0.000,4,0.230,0.050,2415,2885,3744
$GC,360,-0.58,-194.7,77.6,-21.4,61,367,0.40,2.12,0.00,0.000,6,0.125,0.031,2549,1459,3746
$GC,686,-0.58,-194.7,119.4,-11.1,122,694,0.00,2.12,0.00,0.000,4,0.000,0.036,2549,2880,3748
$GC,736,-0.67,-194.7,124.5,-9.3,131,742,0.00,2.10,0.00,0.000,6,0.000,0.031,2549,1467,3748
$GC,1062,-0.73,-194.7,156.3,-9.4,192,1069,0.12,2.10,0.00,0.000,4,0.065,0.036,2485,2880,3749
$GC,1084,-0.73,-194.7,158.9,-11.7,196,1090,0.00,2.08,0.00,0.000,6,0.000,0.031,2485,1480,3749
$GC,1410,-0.63,-194.7,208.7,-16.2,257,1416,0.17,0.00,0.00,0.000,6,0.126,0.000,2539,1479,3749
$GC,1735,-0.71,-194.7,239.8,-7.5,318,1742,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1480,3750
$GC,2062,-0.81,-194.7,259.9,-6.3,379,2068,0.17,2.05,0.00,0.000,4,0.056,0.037,2457,2882,3750
$GC,2082,-0.81,-194.7,261.7,-8.4,383,2088,0.00,2.08,0.00,0.000,6,0.000,0.031,2457,1481,3750
$GC,2413,-0.69,-194.7,303.3,-13.5,443,2417,0.22,1.90,0.00,0.000,4,0.123,0.044,2528,218,3749
$GC,2557,-0.75,-194.7,318.8,-10.3,456,2563,0.00,1.88,0.00,0.000,6,0.000,0.031,2527,1487,3749
$GC,2872,-0.86,-194.7,346.0,-7.7,487,2876,0.17,2.05,0.00,0.000,4,0.058,0.038,2447,2872,3747
$GC,2909,-0.78,-194.7,350.0,-11.2,490,2919,0.10,2.08,0.00,0.000,6,0.125,0.031,2483,1470,3746
$GC,3225,-0.78,-194.7,383.2,-10.9,521,3229,0.00,2.10,0.00,0.000,4,0.000,0.038,2483,2874,3745
$GC,3289,-0.83,-194.7,389.9,-10.2,527,3292,0.00,2.05,0.00,0.000,6,0.000,0.031,2484,1486,3745
$GC,3610,-0.83,-194.7,421.8,-8.6,558,3613,0.00,1.90,0.00,0.000,4,0.000,0.045,2484,214,3743
$GC,3647,-0.83,-194.7,425.2,-9.6,561,3653,0.00,1.88,0.00,0.000,6,0.000,0.031,2483,1486,3743
$GC,3963,-0.83,-194.7,451.4,-8.7,592,3966,0.00,1.92,0.00,0.000,4,0.000,0.045,2484,209,3741
$GC,4004,-0.83,-194.7,455.2,-8.9,596,4008,0.00,1.88,0.00,0.000,6,0.000,0.030,2484,1478,3740
$GC,4326,-0.83,-194.7,482.0,-8.7,627,4329,0.00,1.90,0.00,0.000,4,0.000,0.047,2484,219,3738
$GC,4421,-0.83,-194.7,491.1,-9.0,636,4425,0.00,1.85,0.00,0.000,6,0.000,0.031,2484,1466,3737
$GC,4739,-0.83,-194.7,521.4,-10.4,657,4739,0.00,0.00,0.00,0.000,6,0.000,0.000,2483,1467,3735
$GC,5044,-0.83,-194.7,551.8,-9.6,672,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,1467,3732
$GC,5349,-0.83,-194.7,581.7,-10.5,687,5353,0.00,2.10,0.00,0.000,4,0.000,0.042,2484,2864,3731
$GC,5375,-0.90,-194.7,584.2,-10.3,688,5379,0.00,2.10,0.00,0.000,6,0.000,0.035,2483,1462,3730
$GC,5696,-0.90,-194.7,615.6,-9.0,704,5701,0.00,1.92,0.00,0.000,4,0.000,0.050,2484,212,3728
$GC,5744,-0.90,-194.7,620.2,-10.1,706,5748,0.00,1.85,0.00,0.000,6,0.000,0.031,2484,1462,3728
$GC,6066,-0.95,-194.7,651.4,-9.5,722,6067,0.15,0.00,0.00,0.000,6,0.067,0.000,2417,1463,3725
$GC,6370,-0.82,-194.7,688.9,-12.8,737,6372,0.20,0.00,0.00,0.000,6,0.134,0.000,2476,1463,3724
$GC,6675,-0.86,-194.7,715.6,-7.8,752,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1463,3723
$GC,6982,-0.90,-194.7,736.2,-6.0,767,6985,0.00,2.10,0.00,0.000,4,0.000,0.044,2476,2870,3721
$GC,7007,-0.98,-194.7,738.0,-7.0,768,7011,0.10,2.12,0.00,0.000,6,0.058,0.037,2420,1462,3721
$GC,7329,-0.87,-194.7,773.9,-11.6,784,7332,0.15,1.90,0.00,0.000,4,0.143,0.052,2462,210,3719
$GC,7397,-0.87,-194.7,781.6,-10.4,787,7401,0.00,1.88,0.00,0.000,6,0.000,0.034,2462,1462,3718
$STATE,7473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7473,begin apogee
$GC,7476,-0.24,0.0,788.8,9.3,791,7637,0.62,0.00,157.25,1.327,6,0.113,0.000,2670,1584,2947
$STATE,7637,end apogee,CONTROL_FINISHED_OK
$STATE,7637,begin climb
$GC,7639,0.99,194.7,794.9,0.0,799,7809,1.10,2.35,164.02,1.283,4,0.071,0.052,3056,218,2153
$GC,7824,0.54,194.7,777.0,17.8,807,7833,0.47,2.20,0.00,0.000,6,0.169,0.035,2922,1579,2150
$GC,8136,0.47,194.7,741.5,10.7,823,8139,0.00,2.17,0.00,0.000,4,0.000,0.053,2922,222,2144
$GC,8209,0.43,221.2,734.3,9.1,826,8236,0.10,2.08,22.50,1.214,6,0.149,0.036,2889,1571,2045
$GC,8542,0.52,297.1,709.3,7.4,842,8613,0.00,2.30,65.47,1.255,4,0.000,0.054,2889,211,1734
$GC,8663,0.66,338.4,699.7,8.6,847,8706,0.15,2.10,37.38,1.214,6,0.056,0.036,2970,1547,1566
$GC,9018,0.47,338.4,635.2,19.0,865,9020,0.28,0.00,0.00,0.000,6,0.155,0.000,2894,1547,1554
$GC,9322,0.54,338.4,599.4,11.3,880,9326,0.00,2.10,0.00,0.000,4,0.000,0.054,2894,227,1552
$GC,9359,0.65,338.4,595.3,11.1,881,9366,0.12,2.03,0.00,0.000,6,0.056,0.038,2959,1548,1551
$GC,9669,0.49,338.4,548.6,14.3,897,9673,0.20,2.10,0.00,0.000,4,0.152,0.054,2903,221,1550
$GC,9695,0.49,338.4,545.5,11.9,898,9700,0.00,2.03,0.00,0.000,6,0.000,0.039,2903,1540,1549
$GC,10017,0.60,372.3,517.0,8.8,914,10049,0.10,2.17,28.23,1.134,4,0.086,0.054,2955,211,1428
$GC,10063,0.51,372.3,511.2,14.9,916,10068,0.12,2.08,0.00,0.000,6,0.147,0.039,2916,1534,1426
$GC,10385,0.57,372.3,468.6,12.8,943,10388,0.00,2.08,0.00,0.000,4,0.000,0.054,2916,210,1421
$GC,10442,0.64,372.3,460.9,13.2,948,10449,0.08,2.05,0.00,0.000,6,0.073,0.039,2959,1538,1421
$GC,10758,0.50,372.3,405.0,19.0,979,10761,0.20,2.08,0.00,0.000,4,0.153,0.053,2904,222,1419
$GC,10779,0.42,372.3,401.2,19.2,981,10782,0.00,2.00,0.00,0.000,6,0.000,0.040,2904,1525,1418
$GC,11100,0.56,372.3,365.0,10.2,1012,11103,0.00,2.22,0.00,0.000,4,0.000,0.044,2904,2994,1418
$GC,11125,0.68,372.3,362.1,11.0,1014,11133,0.12,2.22,0.00,0.000,6,0.058,0.039,2971,1541,1418
$GC,11441,0.59,372.3,310.1,15.3,1045,11445,0.15,2.08,0.00,0.000,4,0.155,0.053,2931,209,1418
$GC,11510,0.66,372.3,301.6,10.7,1051,11518,0.00,2.00,0.00,0.000,6,0.000,0.038,2931,1517,1417
$GC,11836,0.72,386.8,263.0,9.5,1111,11855,0.12,2.08,12.35,0.892,4,0.071,0.052,2998,210,1368
$GC,11897,0.56,386.8,254.8,14.5,1122,11904,0.22,2.00,0.00,0.000,6,0.147,0.037,2927,1518,1366
$GC,12224,0.69,409.6,224.5,9.2,1183,12250,0.12,2.25,20.95,0.896,4,0.073,0.042,2986,2990,1276
$GC,12297,0.60,409.6,213.8,15.6,1196,12304,0.15,2.28,0.00,0.000,6,0.148,0.038,2940,1522,1274
$GC,12624,0.73,409.6,175.0,11.1,1257,12630,0.12,2.03,0.00,0.000,4,0.071,0.051,3000,220,1271
$GC,12693,0.64,409.6,163.6,18.4,1270,12700,0.15,1.98,0.00,0.000,6,0.139,0.035,2952,1524,1270
$GC,13020,0.79,420.6,130.4,9.6,1331,13035,0.15,2.10,10.15,0.754,4,0.061,0.051,3029,208,1231
$GC,13055,0.73,420.6,125.8,14.0,1337,13062,0.15,2.00,0.00,0.000,6,0.130,0.036,2979,1519,1231
$GC,13382,0.86,420.6,89.0,11.5,1398,13388,0.12,2.03,0.00,0.000,4,0.067,0.049,3051,211,1229
$GC,13425,0.79,420.6,82.6,15.7,1406,13431,0.15,1.95,0.00,0.000,6,0.124,0.035,3000,1502,1229
$GC,13752,1.15,517.2,51.3,6.7,1467,13841,0.30,2.35,81.22,0.755,4,0.042,0.038,3138,2992,837
$GC,13862,1.02,517.2,33.0,17.0,1485,13868,0.25,2.28,0.00,0.000,6,0.147,0.037,3070,1514,834
$STATE,14096,end climb,SURFACE_DEPTH_REACHED
$STATE,14096,begin surface coast
$FINISH,-0.2,0.999768
$STATE,14117,end surface coast,CONTROL_FINISHED_OK
$STATE,14117,begin surface
$SM_CCo,14191,0.00,0.000,0,0,829,519.55
$SM_GC,0.53,7.68,0.00,0.00,0.038,0.000,0.000,112,1465,829,-8.15,-0.17,519.55
$IRIDIUM_FIX,2418.11,12242.98,280898,141422
$TT8_MAMPS,0.049088
$HUMID,1505
$INTERNAL_PRESSURE,8.99695
$TCM_TEMP,26.30
$XPDR_PINGS,14
$ALTIM_BOTTOM_PING,775.2,110.8
$24V_AH,23.8,22.074
$10V_AH,10.7,13.475
$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,24.475,124.025,599.525,0.000,0.000,29.362,35.037,199.721,10.000,0.000,0.000,14.880,0.000,9861.913,718.972,3466.298,485.197,0.000,2010.718,0.000,2941.479,0.000,46.800,0.000
$DEVICE_MAMPS,230.100,162.604,1326.910,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1036.648,1073.587,1794.285,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85434,1533
$CAP_FILE_SIZE,159311,0
$CFSIZE,260165632,250433536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.396,  2.4,1
$GPS,030609,214136,2432.863,12241.192,27,0.8,27,-3.5