version: 66.04
glider: 165
mission: 2
dive: 22
start: 5 24 109 22 34 14
data:
$ID,165
$MISSION,2
$DIVE,22
$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,275
$T_MISSION,330
$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,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,435
$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,-116348.6
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2825
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,27.15
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3692
$ROLL_DEG,40
$C_ROLL_DIVE,2071
$C_ROLL_CLIMB,2556
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$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,4
$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
$GPS1,222906,2447.188,12259.024,40,0.9,51,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-71.6
$GPS2,223408,2447.289,12258.989,8,1.6,8,-3.6
$SPEED_LIMITS,0.208,0.315
$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,234.3,53053,-18.3,-12.000
$D_GRID,1548
$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,-0.92,-194.7,0.0,0.0,0,59,0.00,0.00,-46.08,0.000,2,0.000,0.000,168,2072,2142
$GC,61,-0.92,-194.7,3.2,-4.7,7,112,9.52,2.33,-37.75,0.000,4,0.250,0.067,2512,3483,3555
$GC,319,-0.19,-194.7,86.5,-34.6,54,326,0.77,2.22,0.00,0.000,6,0.156,0.039,2757,2061,3558
$GC,646,-1.03,-194.7,116.2,-9.7,115,654,0.70,2.25,0.00,0.000,4,0.065,0.056,2487,3483,3560
$GC,684,-0.75,-194.7,121.3,-15.2,122,691,0.28,2.15,0.00,0.000,6,0.151,0.038,2576,2082,3560
$GC,1011,-0.56,-194.7,188.8,-18.8,183,1018,0.22,2.20,0.00,0.000,4,0.142,0.051,2648,676,3561
$GC,1130,-0.86,-194.7,201.6,-9.1,205,1135,0.28,2.12,0.00,0.000,6,0.049,0.042,2518,2064,3562
$GC,1455,-0.49,-194.7,272.3,-22.2,266,1461,0.47,2.22,0.00,0.000,4,0.152,0.059,2658,3465,3562
$GC,1482,-0.57,-194.7,276.1,-13.2,271,1488,0.00,2.12,0.00,0.000,6,0.000,0.037,2658,2077,3562
$GC,1807,-0.95,-194.7,297.0,-6.0,332,1814,0.38,0.00,0.00,0.000,6,0.044,0.000,2487,2073,3562
$GC,2124,-0.55,-194.7,360.5,-20.2,365,2128,0.50,2.17,0.00,0.000,4,0.154,0.053,2642,660,3563
$GC,2177,-0.91,-194.7,366.1,-7.4,370,2182,0.25,2.20,0.00,0.000,6,0.041,0.043,2508,2075,3562
$GC,2498,-0.65,-194.7,419.0,-16.8,401,2502,0.35,2.20,0.00,0.000,4,0.150,0.053,2617,675,3562
$GC,2541,-0.87,-194.7,423.9,-8.5,405,2545,0.15,2.15,0.00,0.000,6,0.037,0.044,2518,2056,3562
$GC,2861,-0.70,-194.7,473.2,-16.8,436,2866,0.28,2.17,0.00,0.000,4,0.146,0.054,2603,677,3561
$GC,2919,-0.91,-194.7,480.0,-10.3,441,2926,0.17,2.12,0.00,0.000,6,0.048,0.044,2509,2042,3561
$GC,3233,-0.74,-194.7,524.2,-14.0,464,3237,0.25,2.15,0.00,0.000,4,0.145,0.054,2585,676,3559
$GC,3259,-0.80,-194.7,527.0,-10.9,465,3263,0.00,2.12,0.00,0.000,6,0.000,0.046,2585,2039,3559
$GC,3580,-1.00,-194.7,549.2,-6.6,481,3584,0.22,2.25,0.00,0.000,4,0.056,0.064,2481,3470,3557
$GC,3627,-0.78,-194.7,554.7,-12.9,483,3632,0.25,2.17,0.00,0.000,6,0.147,0.041,2564,2055,3556
$GC,3950,-0.90,-194.7,581.1,-8.0,499,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2564,2054,3554
$GC,4254,-1.02,-194.7,605.4,-8.2,514,4255,0.20,0.00,0.00,0.000,6,0.066,0.000,2477,2054,3552
$GC,4560,-0.79,-194.7,650.7,-15.5,529,4564,0.28,2.28,0.00,0.000,4,0.156,0.068,2563,3469,3550
$GC,4601,-0.97,-194.7,655.4,-9.3,531,4606,0.10,2.17,0.00,0.000,6,0.061,0.043,2503,2063,3549
$GC,4924,-0.87,-194.7,692.7,-11.3,547,4927,0.15,2.17,0.00,0.000,4,0.153,0.058,2546,673,3547
$GC,5008,-0.95,-194.7,701.1,-9.1,551,5012,0.00,2.17,0.00,0.000,6,0.000,0.051,2546,2046,3547
$GC,5329,-1.05,-194.7,730.3,-9.3,567,5333,0.17,2.28,0.00,0.000,4,0.066,0.069,2466,3474,3544
$GC,5376,-0.85,-194.7,736.5,-13.9,569,5381,0.22,2.20,0.00,0.000,6,0.149,0.044,2541,2061,3543
$GC,5698,-0.93,-194.7,770.1,-10.8,585,5699,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2058,3541
$GC,6004,-1.00,-194.7,801.7,-10.3,600,6005,0.12,0.00,0.00,0.000,6,0.081,0.000,2486,2058,3539
$GC,6308,-0.86,-194.7,844.0,-13.9,615,6312,0.20,2.22,0.00,0.000,4,0.158,0.061,2544,663,3537
$GC,6333,-0.86,-194.7,847.2,-12.4,616,6338,0.00,2.22,0.00,0.000,6,0.000,0.051,2539,2064,3537
$GC,6655,-0.94,-194.7,879.4,-9.6,632,6659,0.00,2.30,0.00,0.000,4,0.000,0.071,2537,3473,3536
$GC,6697,-1.08,-194.7,883.3,-9.0,634,6702,0.12,2.17,0.00,0.000,6,0.061,0.046,2470,2079,3535
$GC,7025,-0.88,-194.7,927.1,-13.8,650,7026,0.25,0.00,0.00,0.000,6,0.158,0.000,2543,2075,3533
$GC,7329,-1.00,-194.7,955.7,-9.0,665,7331,0.12,0.00,0.00,0.000,6,0.081,0.000,2488,2075,3532
$STATE,7613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7613,begin apogee
$GC,7617,-0.18,0.0,991.8,13.0,679,7777,0.88,0.00,155.88,1.360,6,0.148,0.000,2766,2562,2759
$STATE,7777,end apogee,CONTROL_FINISHED_OK
$STATE,7777,begin climb
$GC,7778,0.92,194.7,998.5,0.0,687,7951,0.95,2.47,163.88,1.319,4,0.047,0.059,3137,1145,1963
$GC,8019,0.35,194.7,966.2,21.9,698,8023,0.70,2.42,0.00,0.000,6,0.185,0.057,2940,2560,1958
$GC,8340,0.38,220.7,928.8,10.9,714,8364,0.00,0.00,22.67,1.245,6,0.000,0.000,2940,2560,1858
$GC,8665,0.45,220.7,890.0,12.4,730,8669,0.00,2.33,0.00,0.000,4,0.000,0.057,2950,1148,1853
$GC,8691,0.55,221.9,886.8,12.0,731,8696,0.10,2.33,0.00,0.000,6,0.066,0.054,3002,2558,1852
$GC,9013,0.38,221.9,833.5,17.0,747,9017,0.20,1.85,0.00,0.000,4,0.164,0.071,2948,3689,1851
$GC,9081,0.38,221.9,822.9,14.9,750,9086,0.00,1.80,0.00,0.000,6,0.000,0.045,2955,2548,1851
$GC,9402,0.38,221.9,781.3,12.8,766,9407,0.00,2.22,0.00,0.000,4,0.000,0.056,2965,1162,1850
$GC,9450,0.44,221.9,775.3,12.2,768,9455,0.00,2.25,0.00,0.000,6,0.000,0.054,2965,2549,1849
$GC,9771,0.44,221.9,734.8,12.3,784,9776,0.00,1.85,0.00,0.000,4,0.000,0.071,2965,3686,1849
$GC,9836,0.38,221.9,726.6,13.4,787,9840,0.00,1.75,0.00,0.000,6,0.000,0.046,2973,2560,1849
$GC,10162,0.38,221.9,686.7,12.1,803,10166,0.00,2.25,0.00,0.000,4,0.000,0.056,2983,1152,1849
$GC,10231,0.41,247.6,678.9,10.9,806,10257,0.00,2.28,22.48,1.171,6,0.000,0.054,2982,2559,1748
$GC,10573,0.41,247.6,637.1,12.2,823,10574,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2559,1744
$GC,10878,0.41,247.6,598.4,12.7,838,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2559,1743
$GC,11184,0.41,247.6,558.6,12.7,853,11188,0.00,1.83,0.00,0.000,4,0.000,0.071,2983,3680,1743
$GC,11247,0.35,247.6,549.7,14.6,856,11252,0.15,1.77,0.00,0.000,6,0.155,0.046,2942,2549,1743
$GC,11574,0.61,320.6,517.5,9.0,872,11641,0.22,2.38,61.42,1.051,4,0.066,0.058,3042,1153,1451
$GC,11789,0.56,320.6,484.6,17.2,886,11793,0.10,2.28,0.00,0.000,6,0.153,0.053,3009,2522,1444
$GC,12110,0.56,320.6,435.3,15.0,917,12114,0.00,1.92,0.00,0.000,4,0.000,0.067,3009,3691,1443
$GC,12163,0.51,320.6,426.7,16.1,922,12167,0.00,1.85,0.00,0.000,6,0.000,0.044,3017,2520,1443
$GC,12485,0.51,320.6,377.1,16.0,953,12485,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2519,1443
$GC,12795,0.51,320.6,331.3,13.6,983,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2519,1443
$GC,13106,0.51,320.6,288.8,14.7,1020,13107,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2519,1443
$GC,13428,0.56,320.6,244.5,12.5,1080,13435,0.00,1.90,0.00,0.000,4,0.000,0.064,3017,3693,1443
$GC,13492,0.56,320.6,235.2,14.3,1092,13501,0.00,1.83,0.00,0.000,6,0.000,0.041,3024,2519,1443
$GC,13821,0.64,320.6,195.0,12.6,1153,13827,0.00,2.15,0.00,0.000,4,0.000,0.052,3034,1152,1443
$GC,13928,0.75,320.6,181.3,12.5,1173,13934,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2513,1443
$GC,14254,0.93,365.8,144.5,10.1,1234,14299,0.25,1.92,36.10,0.732,4,0.061,0.061,3139,3691,1266
$GC,14368,0.63,365.8,121.9,22.3,1254,14374,0.38,1.83,0.00,0.000,6,0.155,0.040,3030,2522,1265
$GC,14695,1.10,498.2,86.4,6.5,1315,14810,0.40,2.25,106.05,0.667,4,0.048,0.049,3208,1145,726
$GC,14830,0.91,498.2,59.8,23.6,1337,14837,0.28,2.22,0.00,0.000,6,0.150,0.044,3114,2496,724
$GC,15156,1.12,498.2,12.6,12.8,1398,15163,0.20,2.15,0.00,0.000,4,0.058,0.050,3214,1148,722
$STATE,15214,end climb,SURFACE_DEPTH_REACHED
$STATE,15214,begin surface coast
$FINISH,1.5,1.008703
$STATE,15230,end surface coast,CONTROL_FINISHED_OK
$STATE,15230,begin surface
$SM_CCo,15304,0.00,0.000,0,0,721,500.17
$SM_GC,2.33,7.88,0.00,0.00,0.040,0.000,0.000,160,2092,721,-8.24,0.59,500.17
$IRIDIUM_FIX,2439.44,12238.83,180898,191900
$TT8_MAMPS,0.048321
$HUMID,1541
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,25.50
$XPDR_PINGS,67
$24V_AH,23.6,8.604
$10V_AH,10.7,7.533
$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,29.675,120.100,568.475,0.000,0.000,29.806,28.732,163.336,24.750,0.000,0.000,10.724,0.000,11241.635,675.861,3268.350,401.476,0.000,1906.125,0.000,2767.962,0.000,53.972,0.000
$DEVICE_MAMPS,250.042,71.331,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,955.993,962.639,1611.589,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82149,1412
$CAP_FILE_SIZE,155696,0
$CFSIZE,260165632,256028672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223, 27.7,1
$GPS,250509,025007,2447.404,12257.698,31,1.3,31,-3.6