version: 66.04
glider: 165
mission: 2
dive: 7
start: 5 22 109 19 47 6
data:
$ID,165
$MISSION,2
$DIVE,7
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0273
$MASS,52067
$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,519.11206
$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,-115975.17
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2881
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,2141
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3959
$C_VBD,2759
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.66094
$PRESSURE_SLOPE,0.000116182
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043383995
$SEABIRD_T_H,0.00062454981
$SEABIRD_T_I,2.3067754e-05
$SEABIRD_T_J,2.3616824e-06
$SEABIRD_C_G,-9.9113674
$SEABIRD_C_H,1.100266
$SEABIRD_C_I,0.0005534364
$SEABIRD_C_J,6.0498875e-05
$GPS1,193655,2442.954,12259.384,38,0.9,38,-3.5
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.3
$GPS2,194701,2443.119,12259.507,14,1.0,14,-3.5
$SPEED_LIMITS,0.173,0.279
$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,226.3,53053,-16.8,-10.000
$D_GRID,1473
$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,-0.81,-170.3,0.0,0.0,0,77,0.00,0.00,-62.25,0.000,2,0.000,0.000,168,1930,2060
$GC,78,-0.81,-170.3,3.0,-5.2,10,141,10.07,2.12,-44.62,0.000,4,0.255,0.067,2616,616,3455
$GC,177,-0.81,-170.3,16.9,-26.1,27,184,0.00,2.25,0.00,0.000,6,0.000,0.044,2606,2023,3456
$GC,504,-0.81,-170.3,99.0,-20.4,88,511,0.00,2.25,0.00,0.000,4,0.000,0.061,2596,3428,3457
$GC,515,-0.81,-170.3,101.5,-20.3,90,522,0.00,2.20,0.00,0.000,6,0.000,0.043,2596,2013,3457
$GC,841,-0.81,-170.3,166.2,-17.5,151,848,0.00,2.20,0.00,0.000,4,0.000,0.054,2596,623,3458
$GC,959,-0.81,-170.3,183.5,-14.2,173,966,0.00,2.20,0.00,0.000,6,0.000,0.044,2589,2021,3459
$GC,1285,-0.81,-170.3,232.4,-14.7,234,1292,0.10,2.22,0.00,0.000,4,0.168,0.059,2617,623,3459
$GC,1306,-0.81,-170.3,235.6,-15.4,238,1314,0.00,2.20,0.00,0.000,6,0.000,0.044,2616,2028,3459
$GC,1633,-0.81,-170.3,273.0,-10.5,299,1640,0.00,2.25,0.00,0.000,4,0.000,0.061,2615,3440,3459
$GC,1729,-0.81,-170.3,282.4,-9.1,317,1735,0.00,2.17,0.00,0.000,6,0.000,0.040,2616,2027,3459
$GC,2051,-0.81,-170.3,311.6,-10.6,367,2055,0.00,2.28,0.00,0.000,4,0.000,0.062,2615,3438,3459
$GC,2077,-0.81,-170.3,314.4,-11.1,369,2084,0.00,2.17,0.00,0.000,6,0.000,0.041,2615,2025,3459
$GC,2393,-0.81,-170.3,348.1,-10.1,400,2397,0.00,2.20,0.00,0.000,4,0.000,0.056,2615,630,3458
$GC,2440,-0.81,-170.3,352.7,-10.0,404,2449,0.00,2.17,0.00,0.000,6,0.000,0.045,2616,2026,3458
$GC,2757,-0.81,-170.3,380.4,-9.0,435,2760,0.00,2.25,0.00,0.000,4,0.000,0.064,2615,3429,3456
$GC,2825,-0.81,-170.3,386.5,-8.3,441,2832,0.00,2.17,0.00,0.000,6,0.000,0.041,2615,2014,3456
$GC,3140,-0.81,-170.3,412.5,-7.0,472,3145,0.00,2.30,0.00,0.000,4,0.000,0.064,2615,3436,3454
$GC,3177,-0.81,-170.3,414.9,-6.5,475,3184,0.00,2.17,0.00,0.000,6,0.000,0.041,2615,2025,3454
$GC,3494,-0.81,-170.3,441.5,-9.5,506,3497,0.00,2.28,0.00,0.000,4,0.000,0.064,2615,3433,3453
$GC,3578,-0.81,-170.3,449.3,-8.6,514,3582,0.00,2.17,0.00,0.000,6,0.000,0.042,2615,2022,3452
$GC,3899,-0.81,-170.3,480.8,-8.2,545,3903,0.00,2.20,0.00,0.000,4,0.000,0.058,2615,630,3450
$GC,3920,-0.81,-170.3,482.8,-9.4,547,3924,0.00,2.17,0.00,0.000,6,0.000,0.047,2616,2024,3450
$GC,4251,-0.81,-170.3,506.1,-6.9,575,4254,0.00,2.25,0.00,0.000,4,0.000,0.067,2615,3443,3448
$GC,4314,-0.81,-170.3,510.5,-6.9,578,4318,0.00,2.20,0.00,0.000,6,0.000,0.043,2616,2016,3448
$GC,4640,-0.81,-170.3,536.7,-8.7,594,4644,0.00,2.30,0.00,0.000,4,0.000,0.066,2615,3435,3445
$GC,4693,-0.81,-170.3,540.8,-7.6,596,4697,0.00,2.17,0.00,0.000,6,0.000,0.043,2615,2028,3445
$GC,5008,-0.81,-170.3,567.7,-9.0,612,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,2615,2025,3444
$GC,5314,-0.81,-170.3,594.1,-8.1,627,5318,0.00,2.28,0.00,0.000,4,0.000,0.067,2615,3425,3443
$GC,5345,-0.81,-170.3,596.6,-7.5,628,5350,0.00,2.17,0.00,0.000,6,0.000,0.044,2616,2025,3442
$GC,5661,-0.81,-170.3,618.5,-6.0,644,5666,0.00,2.28,0.00,0.000,4,0.000,0.067,2615,3425,3440
$GC,5773,-0.81,-170.3,624.6,-5.0,649,5778,0.00,2.17,0.00,0.000,6,0.000,0.044,2615,2021,3440
$GC,6095,-0.81,-170.3,642.8,-6.4,665,6099,0.00,2.30,0.00,0.000,4,0.000,0.068,2615,3431,3438
$GC,6180,-0.81,-170.3,648.2,-6.8,669,6184,0.00,2.20,0.00,0.000,6,0.000,0.046,2615,2019,3437
$GC,6506,-0.81,-170.3,670.6,-7.3,685,6510,0.00,2.30,0.00,0.000,4,0.000,0.069,2615,3426,3436
$GC,6607,-0.81,-170.3,677.6,-6.6,689,6614,0.00,2.17,0.00,0.000,6,0.000,0.046,2615,2028,3435
$GC,6918,-0.81,-170.3,698.3,-6.5,705,6922,0.00,2.30,0.00,0.000,4,0.000,0.069,2615,3432,3433
$GC,7003,-0.81,-170.3,703.5,-6.3,709,7007,0.00,2.20,0.00,0.000,6,0.000,0.047,2615,2019,3433
$GC,7329,-0.81,-170.3,724.0,-6.3,725,7333,0.00,2.22,0.00,0.000,4,0.000,0.064,2615,630,3431
$GC,7376,-0.81,-170.3,727.1,-6.9,727,7381,0.00,2.20,0.00,0.000,6,0.000,0.051,2615,2020,3431
$GC,7698,-0.81,-170.3,746.1,-5.8,743,7702,0.00,2.30,0.00,0.000,4,0.000,0.071,2615,3433,3429
$GC,7761,-0.81,-170.3,749.8,-6.2,746,7766,0.00,2.20,0.00,0.000,6,0.000,0.048,2615,2025,3429
$GC,8088,-0.81,-170.3,768.6,-5.8,762,8092,0.00,2.25,0.00,0.000,4,0.000,0.064,2616,626,3428
$GC,8119,-0.81,-170.3,770.6,-6.3,763,8124,0.00,2.20,0.00,0.000,6,0.000,0.051,2616,2020,3427
$GC,8435,-0.81,-170.3,790.3,-6.4,779,8439,0.00,2.30,0.00,0.000,4,0.000,0.071,2616,3431,3426
$GC,8504,-0.81,-170.3,794.6,-6.4,782,8509,0.00,2.20,0.00,0.000,6,0.000,0.048,2615,2028,3425
$GC,8825,-0.81,-170.3,813.2,-5.5,798,8829,0.00,2.25,0.00,0.000,4,0.000,0.064,2615,627,3425
$GC,8867,-0.81,-170.3,815.6,-5.8,800,8872,0.00,2.22,0.00,0.000,6,0.000,0.052,2616,2026,3424
$GC,9194,-0.81,-170.3,834.9,-6.4,816,9198,0.00,2.30,0.00,0.000,4,0.000,0.071,2616,3438,3422
$GC,9258,-0.81,-170.3,838.9,-6.0,819,9262,0.00,2.22,0.00,0.000,6,0.000,0.048,2615,2016,3422
$GC,9584,-0.81,-170.3,860.9,-6.4,835,9588,0.00,2.22,0.00,0.000,4,0.000,0.064,2615,629,3421
$GC,9627,-0.81,-170.3,863.7,-6.6,837,9631,0.00,2.22,0.00,0.000,6,0.000,0.053,2615,2031,3421
$GC,9954,-0.81,-170.3,883.1,-5.7,853,9957,0.00,2.28,0.00,0.000,4,0.000,0.072,2616,3445,3420
$GC,10006,-0.81,-170.3,885.9,-5.7,855,10010,0.00,2.22,0.00,0.000,6,0.000,0.048,2615,2028,3420
$GC,10322,-0.81,-170.3,902.3,-5.0,871,10326,0.00,2.28,0.00,0.000,4,0.000,0.065,2616,617,3420
$GC,10390,-0.81,-170.3,906.0,-5.1,874,10395,0.00,2.25,0.00,0.000,6,0.000,0.053,2616,2030,3419
$GC,10712,-0.81,-170.3,922.7,-5.4,890,10716,0.00,2.28,0.00,0.000,4,0.000,0.072,2616,3426,3418
$GC,10770,-0.81,-170.3,926.0,-5.4,892,10780,0.00,2.20,0.00,0.000,6,0.000,0.049,2616,2024,3418
$GC,11080,-0.81,-170.3,944.4,-6.0,908,11085,0.00,2.25,0.00,0.000,4,0.000,0.065,2615,629,3418
$GC,11145,-0.81,-170.3,948.5,-6.4,911,11149,0.00,2.22,0.00,0.000,6,0.000,0.053,2615,2026,3417
$GC,11471,-0.81,-170.3,968.1,-6.2,927,11475,0.00,2.30,0.00,0.000,4,0.000,0.072,2615,3434,3416
$GC,11529,-0.81,-170.3,971.6,-6.0,929,11536,0.00,2.22,0.00,0.000,6,0.000,0.050,2615,2014,3416
$STATE,11838,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11838,begin apogee
$GC,11842,-0.18,0.0,991.2,6.4,945,11981,0.60,0.00,134.95,1.368,6,0.099,0.000,2828,2150,2758
$STATE,11982,end apogee,CONTROL_FINISHED_OK
$STATE,11982,begin climb
$GC,11983,0.81,170.3,998.2,0.0,952,12136,0.88,2.55,145.82,1.330,4,0.056,0.067,3158,747,2063
$GC,12279,0.81,170.3,959.2,21.2,965,12286,0.00,2.33,0.00,0.000,6,0.000,0.054,3158,2130,2055
$GC,12590,0.81,170.3,895.1,20.1,981,12594,0.00,2.40,0.00,0.000,4,0.000,0.070,3158,3556,2053
$GC,12834,0.81,170.3,840.1,21.6,992,12839,0.00,2.28,0.00,0.000,6,0.000,0.052,3169,2157,2052
$GC,13150,0.81,170.3,774.2,21.5,1008,13155,0.00,2.33,0.00,0.000,4,0.000,0.069,3168,3550,2051
$GC,13332,0.82,178.0,740.3,9.7,1016,13346,0.10,2.28,5.60,0.961,6,0.229,0.051,3154,2131,2034
$GC,13647,0.82,178.0,703.0,13.0,1032,13652,0.00,2.28,0.00,0.000,4,0.000,0.066,3163,745,2033
$GC,13893,0.82,178.0,670.5,13.9,1043,13897,0.00,2.28,0.00,0.000,6,0.000,0.054,3162,2148,2032
$GC,14209,0.82,178.0,629.1,13.5,1059,14213,0.00,2.33,0.00,0.000,4,0.000,0.064,3172,731,2032
$GC,14320,0.82,178.0,613.0,12.8,1064,14325,0.00,2.28,0.00,0.000,6,0.000,0.053,3173,2145,2031
$GC,14641,0.82,178.0,565.3,15.9,1080,14642,0.00,0.00,0.00,0.000,6,0.000,0.000,3173,2145,2031
$GC,14947,0.82,178.0,520.6,14.5,1095,14951,0.00,2.30,0.00,0.000,4,0.000,0.064,3182,734,2031
$GC,15192,0.82,178.0,483.4,14.9,1111,15197,0.10,2.25,0.00,0.000,6,0.207,0.053,3154,2139,2030
$GC,15513,0.82,178.0,434.5,15.1,1142,15518,0.00,2.28,0.00,0.000,4,0.000,0.063,3163,739,2030
$GC,15555,0.82,178.0,427.9,15.0,1146,15560,0.00,2.22,0.00,0.000,6,0.000,0.051,3164,2139,2030
$GC,15877,0.82,178.0,376.0,15.7,1177,15881,0.00,2.25,0.00,0.000,4,0.000,0.066,3163,3554,2030
$GC,16048,0.82,178.0,347.7,16.7,1193,16052,0.00,2.22,0.00,0.000,6,0.000,0.050,3174,2149,2030
$GC,16368,0.82,178.0,304.6,13.2,1224,16372,0.00,2.28,0.00,0.000,4,0.000,0.064,3174,3547,2030
$GC,16587,0.82,178.0,272.9,16.3,1261,16594,0.12,2.22,0.00,0.000,6,0.209,0.047,3150,2131,2030
$GC,16913,0.82,178.0,234.9,10.9,1322,16914,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2128,2031
$GC,17234,0.82,178.0,200.6,10.0,1382,17241,0.00,2.30,0.00,0.000,4,0.000,0.061,3149,3559,2032
$GC,17293,0.82,178.0,193.9,11.1,1393,17300,0.00,2.22,0.00,0.000,6,0.000,0.045,3158,2136,2033
$GC,17619,0.88,225.9,158.1,8.1,1454,17664,0.00,2.25,39.25,0.740,4,0.000,0.059,3169,733,1835
$GC,17749,0.88,225.9,145.1,13.2,1477,17756,0.00,2.25,0.00,0.000,6,0.000,0.046,3170,2141,1832
$GC,18075,0.88,225.9,109.1,11.7,1538,18082,0.00,2.28,0.00,0.000,4,0.000,0.059,3170,3553,1831
$GC,18321,0.88,225.9,80.4,10.8,1584,18329,0.00,2.22,0.00,0.000,6,0.000,0.042,3179,2134,1831
$GC,18648,0.95,281.5,54.8,7.8,1645,18699,0.00,2.30,43.33,0.638,4,0.000,0.057,3179,3549,1609
$GC,18938,0.95,281.5,21.3,11.5,1698,18945,0.00,2.22,0.00,0.000,6,0.000,0.041,3189,2131,1606
$STATE,19071,end climb,SURFACE_DEPTH_REACHED
$STATE,19071,begin surface coast
$FINISH,1.4,1.012427
$STATE,19087,end surface coast,CONTROL_FINISHED_OK
$STATE,19087,begin surface
$SM_CCo,19100,153.80,0.581,0,0,641,519.30
$SM_GC,2.09,0.00,0.00,153.80,0.000,0.000,0.581,163,2004,641,-8.50,-0.59,519.30
$IRIDIUM_FIX,2437.06,12256.66,160898,191923
$TT8_MAMPS,0.047554
$HUMID,1500
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,25.70
$XPDR_PINGS,93
$24V_AH,23.5,6.188
$10V_AH,10.7,5.904
$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,19.725,193.475,368.950,153.800,0.000,49.924,75.471,312.421,31.250,0.000,0.000,16.228,0.000,14103.678,790.705,4292.123,645.626,0.000,2379.320,0.000,3658.663,0.000,53.977,0.000
$DEVICE_MAMPS,254.644,75.933,1368.328,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1171.330,1156.268,1939.604,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,101075,1726
$CAP_FILE_SIZE,190544,0
$CFSIZE,260165632,256978944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.250, 27.5,1
$GPS,230509,010901,2444.334,12259.626,41,1.0,41,-3.5