version: 66.04
glider: 164
mission: 3
dive: 122
start: 6 6 109 11 49 19
data:
$ID,164
$MISSION,3
$DIVE,122
$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,-35519.293
$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,36
$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
$GPS1,114236,2502.384,12235.023,36,1.1,41,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-70.8
$GPS2,114914,2502.570,12235.024,12,1.3,12,-3.6
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,IN_2
$TGT_LATLONG,2525.000,12225.000
$TGT_RADIUS,5000.000
$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,306.1,44797,-15.7,-10.000
$D_GRID,1345
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.99,-194.7,0.0,0.0,0,77,0.00,0.00,-62.40,0.000,2,0.000,0.000,113,1486,2793
$GC,79,-0.99,-194.7,3.2,-8.3,10,112,8.50,2.12,-18.92,0.000,4,0.206,0.050,2414,2886,3741
$GC,346,-0.61,-194.7,70.5,-23.1,59,353,0.38,2.15,0.00,0.000,6,0.129,0.032,2540,1459,3744
$GC,672,-0.55,-194.7,119.4,-14.4,120,680,0.00,1.90,0.00,0.000,4,0.000,0.044,2540,220,3745
$GC,812,-0.55,-194.7,138.5,-11.1,146,819,0.00,1.83,0.00,0.000,6,0.000,0.032,2540,1444,3746
$GC,1139,-0.55,-194.7,168.3,-10.7,207,1145,0.00,1.88,0.00,0.000,4,0.000,0.043,2540,217,3747
$GC,1229,-0.55,-194.7,177.6,-10.2,224,1237,0.00,1.83,0.00,0.000,6,0.000,0.033,2540,1436,3747
$GC,1557,-0.61,-194.7,211.2,-10.5,285,1563,0.00,1.85,0.00,0.000,4,0.000,0.043,2540,222,3748
$GC,1583,-0.66,-194.7,214.3,-12.1,290,1590,0.00,1.83,0.00,0.000,6,0.000,0.033,2540,1448,3748
$GC,1910,-0.74,-194.7,248.1,-9.0,351,1916,0.12,2.10,0.00,0.000,4,0.067,0.039,2474,2881,3748
$GC,2000,-0.69,-194.7,258.3,-11.2,368,2008,0.12,2.10,0.00,0.000,6,0.116,0.031,2520,1460,3747
$GC,2328,-0.75,-194.7,285.5,-8.8,429,2334,0.00,2.10,0.00,0.000,4,0.000,0.039,2519,2882,3747
$GC,2359,-0.85,-194.7,288.3,-9.3,435,2365,0.10,2.10,0.00,0.000,6,0.052,0.031,2456,1463,3747
$GC,2677,-0.73,-194.7,333.3,-14.4,474,2681,0.17,1.88,0.00,0.000,4,0.131,0.044,2508,220,3746
$GC,2731,-0.73,-194.7,340.0,-11.7,479,2734,0.00,1.83,0.00,0.000,6,0.000,0.031,2508,1454,3746
$GC,3051,-0.79,-194.7,374.4,-10.9,510,3055,0.00,1.90,0.00,0.000,4,0.000,0.045,2508,215,3745
$GC,3115,-0.79,-194.7,382.1,-11.8,516,3119,0.00,1.83,0.00,0.000,6,0.000,0.032,2509,1442,3745
$GC,3436,-0.85,-194.7,412.1,-8.4,547,3440,0.12,1.88,0.00,0.000,4,0.065,0.045,2447,210,3743
$GC,3548,-0.73,-194.7,426.0,-12.8,557,3554,0.17,1.83,0.00,0.000,6,0.118,0.032,2508,1441,3742
$GC,3863,-0.83,-194.7,451.4,-7.1,588,3867,0.00,2.15,0.00,0.000,4,0.000,0.041,2508,2872,3740
$GC,4019,-0.99,-194.7,461.6,-5.8,602,4025,0.20,2.10,0.00,0.000,6,0.038,0.035,2404,1468,3738
$GC,4344,-0.79,-194.7,503.8,-13.2,633,4348,0.28,1.90,0.00,0.000,4,0.135,0.048,2487,226,3737
$GC,4396,-0.79,-194.7,509.7,-11.2,635,4401,0.00,1.85,0.00,0.000,6,0.000,0.033,2487,1466,3736
$GC,4713,-0.85,-194.7,536.9,-8.0,651,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1468,3733
$GC,5017,-0.89,-194.7,559.7,-7.5,666,5018,0.00,0.00,0.00,0.000,6,0.000,0.000,2487,1467,3731
$GC,5324,-0.95,-194.7,583.4,-7.7,681,5325,0.15,0.00,0.00,0.000,6,0.067,0.000,2418,1467,3729
$GC,5628,-0.83,-194.7,618.6,-12.4,696,5632,0.20,1.92,0.00,0.000,4,0.135,0.051,2477,226,3727
$GC,5675,-0.83,-194.7,623.9,-10.7,698,5680,0.00,1.85,0.00,0.000,6,0.000,0.035,2476,1464,3726
$GC,5997,-0.87,-194.7,653.6,-8.8,714,5998,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1465,3724
$GC,6302,-0.90,-194.7,682.1,-10.5,729,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2476,1465,3722
$GC,6607,-0.94,-194.7,715.2,-11.1,744,6611,0.10,2.12,0.00,0.000,4,0.084,0.046,2428,2865,3720
$GC,6638,-0.90,-194.7,719.0,-13.6,745,6643,0.00,2.15,0.00,0.000,6,0.000,0.039,2428,1452,3719
$GC,6955,-0.80,-194.7,759.4,-11.7,761,6956,0.20,0.00,0.00,0.000,6,0.134,0.000,2488,1452,3717
$GC,7260,-0.89,-194.7,787.0,-8.4,776,7261,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,1452,3715
$GC,7565,-0.98,-194.7,810.6,-7.5,791,7569,0.17,2.15,0.00,0.000,4,0.064,0.047,2411,2872,3713
$GC,7629,-0.91,-194.7,816.8,-10.2,794,7633,0.10,2.15,0.00,0.000,6,0.140,0.041,2445,1464,3712
$GC,7955,-0.91,-194.7,844.0,-8.0,810,7959,0.00,2.17,0.00,0.000,4,0.000,0.048,2445,2870,3711
$GC,7986,-0.91,-194.7,846.5,-7.9,811,7991,0.00,2.15,0.00,0.000,6,0.000,0.041,2445,1461,3711
$GC,8303,-0.91,-194.7,870.6,-7.9,827,8304,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1461,3710
$GC,8607,-0.91,-194.7,895.8,-8.3,842,8608,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1461,3708
$GC,8913,-0.91,-194.7,921.7,-8.4,857,8914,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1461,3707
$GC,9218,-0.91,-194.7,946.9,-8.3,872,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1461,3706
$GC,9523,-0.91,-194.7,972.2,-8.3,887,9524,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,1461,3705
$STATE,9745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9745,begin apogee
$GC,9749,-0.24,0.0,990.9,8.8,898,9912,0.68,0.00,160.40,1.484,6,0.119,0.000,2667,1566,2947
$STATE,9912,end apogee,CONTROL_FINISHED_OK
$STATE,9912,begin climb
$GC,9914,0.99,194.7,995.2,0.0,906,10091,1.15,0.00,172.88,1.440,6,0.069,0.000,3058,1566,2152
$GC,10394,0.52,194.7,919.0,19.2,930,10398,0.50,2.17,0.00,0.000,4,0.177,0.055,2917,214,2145
$GC,10517,0.43,194.7,904.4,11.0,936,10520,0.12,2.12,0.00,0.000,6,0.153,0.041,2884,1593,2144
$GC,10842,0.46,221.9,874.8,9.1,952,10869,0.00,2.25,23.38,1.337,4,0.000,0.058,2884,215,2041
$GC,10923,0.50,221.9,866.7,10.1,955,10930,0.00,2.12,0.00,0.000,6,0.000,0.041,2884,1561,2038
$GC,11234,0.52,239.8,836.1,9.4,971,11256,0.00,2.17,16.30,1.290,4,0.000,0.057,2884,212,1968
$GC,11276,0.57,239.8,832.0,10.4,973,11280,0.10,2.12,0.00,0.000,6,0.066,0.041,2934,1558,1966
$GC,11604,0.45,239.8,793.1,11.9,989,11607,0.17,2.20,0.00,0.000,4,0.153,0.047,2887,2986,1963
$GC,11634,0.47,261.6,789.8,9.2,990,11659,0.00,2.22,20.52,1.296,6,0.000,0.043,2887,1566,1879
$GC,11972,0.56,301.3,759.2,8.6,1007,12019,0.12,2.22,37.92,1.257,4,0.082,0.058,2942,210,1716
$GC,12062,0.46,301.3,748.6,12.7,1011,12066,0.15,2.15,0.00,0.000,6,0.140,0.041,2895,1556,1712
$GC,12377,0.51,346.8,720.3,8.4,1027,12422,0.00,2.30,40.85,1.290,4,0.000,0.058,2895,204,1532
$GC,12469,0.64,383.0,712.3,8.8,1031,12509,0.12,2.15,34.25,1.257,6,0.058,0.041,2956,1550,1384
$GC,12811,0.47,383.0,652.1,19.6,1048,12814,0.20,2.15,0.00,0.000,4,0.156,0.058,2902,201,1373
$GC,12836,0.38,383.0,647.0,18.7,1049,12840,0.10,2.10,0.00,0.000,6,0.146,0.042,2870,1537,1372
$GC,13158,0.68,464.0,617.9,7.2,1065,13243,0.25,2.28,74.70,1.206,4,0.057,0.057,2974,210,1053
$GC,13258,0.46,464.0,600.8,21.0,1069,13264,0.25,2.15,0.00,0.000,6,0.150,0.042,2899,1532,1050
$GC,13569,0.55,464.0,566.0,11.4,1085,13572,0.00,2.28,0.00,0.000,4,0.000,0.049,2899,2991,1043
$GC,13583,0.63,464.0,564.1,11.8,1085,13590,0.10,2.28,0.00,0.000,6,0.063,0.042,2959,1543,1042
$GC,13894,0.49,464.0,500.9,21.3,1101,13899,0.20,2.12,0.00,0.000,4,0.156,0.058,2904,210,1040
$GC,13931,0.55,464.0,494.5,16.0,1103,13937,0.00,2.08,0.00,0.000,6,0.000,0.044,2904,1537,1039
$GC,14248,0.70,464.0,451.6,13.4,1134,14251,0.17,2.10,0.00,0.000,4,0.063,0.057,2985,203,1039
$GC,14273,0.70,464.0,447.2,17.1,1136,14277,0.00,2.05,0.00,0.000,6,0.000,0.043,2985,1523,1039
$GC,14596,0.46,464.0,373.8,23.8,1167,14597,0.32,0.00,0.00,0.000,6,0.158,0.000,2891,1523,1039
$GC,14906,0.85,541.3,344.8,7.3,1197,14979,0.32,2.35,66.22,1.043,4,0.049,0.048,3037,2986,739
$GC,14993,0.51,541.3,324.4,29.7,1205,15000,0.43,2.38,0.00,0.000,6,0.165,0.042,2914,1519,736
$GC,15312,0.91,617.0,293.8,7.4,1244,15370,0.35,2.20,53.38,0.984,4,0.045,0.054,3065,208,488
$GC,15418,0.60,617.0,269.0,28.0,1262,15424,0.38,2.05,0.00,0.000,6,0.150,0.039,2941,1494,485
$GC,15744,0.97,639.3,227.5,9.2,1323,15749,0.32,0.00,0.00,0.000,6,0.045,0.000,3083,1494,479
$GC,16069,0.73,639.3,139.1,26.3,1384,16077,0.35,2.03,0.00,0.000,4,0.146,0.052,2985,211,478
$GC,16124,0.87,639.3,130.4,11.3,1394,16131,0.05,1.95,0.00,0.000,6,0.077,0.039,3028,1481,478
$GC,16451,0.97,639.3,80.7,13.0,1455,16457,0.00,2.00,0.00,0.000,4,0.000,0.052,3029,211,477
$GC,16504,1.14,639.3,74.7,10.5,1465,16510,0.17,1.95,0.00,0.000,6,0.044,0.038,3122,1485,477
$GC,16830,1.03,639.3,14.0,18.0,1526,16836,0.17,0.00,0.00,0.000,6,0.144,0.000,3073,1486,478
$STATE,16908,end climb,SURFACE_DEPTH_REACHED
$STATE,16908,begin surface coast
$FINISH,-0.1,1.021759
$STATE,16930,end surface coast,CONTROL_FINISHED_OK
$STATE,16930,begin surface
$SM_CCo,17003,0.00,0.000,0,0,477,605.89
$SM_GC,0.61,7.55,0.00,0.00,0.034,0.000,0.000,113,1487,477,-8.14,0.45,605.89
$IRIDIUM_FIX,2451.31,12238.12,310898,060603
$TT8_MAMPS,0.049855
$HUMID,1561
$INTERNAL_PRESSURE,8.91882
$TCM_TEMP,25.60
$XPDR_PINGS,15
$24V_AH,23.1,25.647
$10V_AH,10.7,15.778
$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,25.925,124.425,700.800,0.000,0.000,27.790,33.147,223.570,11.750,0.000,0.000,13.911,0.000,12493.354,834.684,3526.108,512.211,0.000,2143.475,0.000,2974.078,0.000,53.949,0.000
$DEVICE_MAMPS,205.556,66.729,1484.145,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1048.620,1028.671,1723.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88453,1545
$CAP_FILE_SIZE,169656,0
$CFSIZE,260165632,248999936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.064,  5.6,1
$GPS,060609,163336,2504.681,12232.468,35,1.1,35,-3.6