version: 66.04
glider: 165
mission: 2
dive: 23
start: 5 25 109 2 56 6
data:
$ID,165
$MISSION,2
$DIVE,23
$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,-116361.41
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,025007,2447.404,12257.698,31,1.3,31,-3.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-67.1
$GPS2,025601,2447.473,12257.697,10,1.3,10,-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,228.8,50985,-18.3,-12.000
$D_GRID,1529
$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,-194.7,0.0,0.0,0,71,0.00,0.00,-57.33,0.000,2,0.000,0.000,160,2093,2155
$GC,73,-0.92,-194.7,3.3,-5.0,9,130,9.48,2.30,-39.12,0.000,4,0.249,0.060,2526,657,3555
$GC,289,-0.24,-194.7,67.3,-37.6,48,296,0.73,2.22,0.00,0.000,6,0.174,0.042,2738,2066,3556
$GC,615,-0.71,-194.7,100.4,-5.9,109,621,0.38,0.00,0.00,0.000,6,0.041,0.000,2560,2067,3558
$GC,941,-0.34,-194.7,174.5,-21.8,170,948,0.47,2.25,0.00,0.000,4,0.146,0.061,2699,3474,3559
$GC,1005,-0.90,-194.7,180.5,-4.7,182,1012,0.38,2.15,0.00,0.000,6,0.035,0.036,2507,2067,3560
$GC,1332,-0.42,-194.7,252.7,-22.9,243,1339,0.55,2.15,0.00,0.000,4,0.152,0.051,2683,674,3560
$GC,1483,-0.91,-194.7,265.8,-7.4,271,1490,0.40,2.08,0.00,0.000,6,0.040,0.041,2493,2037,3561
$GC,1805,-0.47,-194.7,335.6,-22.2,317,1809,0.57,2.25,0.00,0.000,4,0.153,0.060,2670,3471,3561
$GC,1869,-1.03,-194.7,341.7,-5.2,323,1873,0.43,2.17,0.00,0.000,6,0.035,0.037,2457,2039,3561
$GC,2189,-0.52,-194.7,408.0,-20.7,354,2193,0.62,2.12,0.00,0.000,4,0.154,0.054,2655,678,3561
$GC,2274,-0.99,-194.7,414.0,-4.7,362,2279,0.35,2.08,0.00,0.000,6,0.036,0.042,2477,2017,3561
$GC,2595,-0.61,-194.7,470.0,-19.7,393,2600,0.47,2.28,0.00,0.000,4,0.150,0.061,2615,3470,3560
$GC,2621,-0.61,-194.7,473.7,-13.2,395,2629,0.00,2.20,0.00,0.000,6,0.000,0.038,2615,2031,3560
$GC,2937,-0.92,-194.7,496.7,-7.3,426,2941,0.22,2.30,0.00,0.000,4,0.054,0.061,2510,3467,3558
$GC,2979,-0.81,-194.7,501.9,-13.9,430,2984,0.15,2.20,0.00,0.000,6,0.139,0.040,2561,2032,3558
$GC,3306,-0.86,-194.7,538.2,-10.7,446,3310,0.00,2.30,0.00,0.000,4,0.000,0.063,2561,3477,3556
$GC,3332,-0.96,-194.7,541.1,-10.7,447,3337,0.10,2.20,0.00,0.000,6,0.059,0.039,2501,2046,3555
$GC,3654,-0.77,-194.7,592.1,-16.6,463,3658,0.25,2.12,0.00,0.000,4,0.148,0.056,2576,669,3553
$GC,3706,-0.93,-194.7,598.7,-10.8,465,3711,0.10,2.15,0.00,0.000,6,0.060,0.047,2516,2040,3553
$GC,4023,-0.84,-194.7,639.3,-12.5,481,4027,0.15,2.28,0.00,0.000,4,0.153,0.066,2558,3474,3551
$GC,4053,-0.95,-194.7,642.6,-9.9,482,4061,0.08,2.22,0.00,0.000,6,0.066,0.041,2507,2034,3550
$GC,4364,-0.84,-194.7,685.0,-14.4,498,4365,0.15,0.00,0.00,0.000,6,0.151,0.000,2551,2030,3548
$GC,4670,-0.93,-194.7,721.6,-11.6,513,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2551,2030,3546
$GC,4974,-1.04,-194.7,754.7,-10.3,528,4979,0.17,2.35,0.00,0.000,4,0.068,0.068,2468,3474,3542
$GC,5001,-0.89,-194.7,758.2,-15.0,529,5005,0.20,2.22,0.00,0.000,6,0.150,0.044,2534,2040,3542
$GC,5323,-0.94,-194.7,794.0,-9.9,545,5326,0.00,2.33,0.00,0.000,4,0.000,0.068,2534,3484,3541
$GC,5386,-1.03,-194.7,799.8,-9.0,548,5391,0.08,2.22,0.00,0.000,6,0.069,0.044,2485,2057,3540
$GC,5713,-0.87,-194.7,837.2,-11.2,564,5716,0.20,2.17,0.00,0.000,4,0.153,0.061,2544,663,3538
$GC,5760,-0.97,-194.7,841.8,-8.7,566,5764,0.00,2.17,0.00,0.000,6,0.000,0.050,2543,2039,3537
$GC,6081,-1.07,-194.7,869.8,-9.5,582,6085,0.17,2.33,0.00,0.000,4,0.069,0.070,2466,3472,3535
$GC,6149,-0.88,-194.7,879.2,-14.7,585,6154,0.20,2.20,0.00,0.000,6,0.150,0.044,2533,2058,3534
$GC,6472,-0.94,-194.7,913.0,-10.2,601,6475,0.00,2.30,0.00,0.000,4,0.000,0.069,2533,3480,3533
$GC,6508,-1.04,-194.7,916.8,-9.7,602,6515,0.10,2.20,0.00,0.000,6,0.064,0.044,2476,2071,3532
$GC,6818,-0.86,-194.7,960.8,-14.1,618,6823,0.25,2.22,0.00,0.000,4,0.156,0.061,2550,667,3530
$GC,6844,-0.86,-194.7,963.8,-11.5,619,6849,0.00,2.22,0.00,0.000,6,0.000,0.051,2550,2068,3531
$GC,7166,-1.01,-194.7,989.2,-7.6,635,7170,0.15,2.28,0.00,0.000,4,0.074,0.071,2481,3488,3529
$STATE,7174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7174,begin apogee
$GC,7179,-0.18,0.0,990.2,7.6,635,7337,0.82,0.00,155.18,1.361,6,0.142,0.000,2756,2531,2759
$STATE,7337,end apogee,CONTROL_FINISHED_OK
$STATE,7337,begin climb
$GC,7338,0.92,194.7,995.1,0.0,643,7510,1.00,2.35,162.95,1.318,4,0.051,0.059,3141,1168,1965
$GC,7556,0.33,194.7,966.3,23.1,653,7562,0.73,2.38,0.00,0.000,6,0.184,0.055,2938,2554,1961
$GC,7878,0.38,235.1,929.4,10.3,669,7921,0.00,2.38,34.83,1.268,4,0.000,0.058,2948,1171,1798
$GC,7957,0.55,267.6,921.1,10.7,672,7992,0.12,2.33,29.25,1.235,6,0.063,0.054,3007,2547,1667
$GC,8309,0.40,267.6,863.2,17.0,690,8313,0.17,1.88,0.00,0.000,4,0.160,0.070,2960,3684,1661
$GC,8361,0.40,267.6,854.9,15.1,692,8366,0.00,1.80,0.00,0.000,6,0.000,0.045,2967,2558,1661
$GC,8677,0.40,267.6,809.6,15.2,708,8681,0.00,2.28,0.00,0.000,4,0.000,0.057,2978,1153,1659
$GC,8773,0.48,267.6,794.8,15.4,712,8777,0.00,2.28,0.00,0.000,6,0.000,0.053,2977,2548,1657
$GC,9088,0.48,267.6,744.8,15.5,728,9093,0.00,1.88,0.00,0.000,4,0.000,0.070,2977,3694,1657
$GC,9109,0.48,267.6,741.3,16.7,729,9114,0.00,1.80,0.00,0.000,6,0.000,0.045,2985,2539,1657
$GC,9436,0.48,267.6,691.3,14.6,745,9440,0.00,2.22,0.00,0.000,4,0.000,0.056,2995,1153,1656
$GC,9504,0.48,267.6,681.2,14.2,748,9509,0.00,2.22,0.00,0.000,6,0.000,0.053,2995,2529,1655
$GC,9826,0.43,267.6,630.7,15.7,764,9830,0.00,2.22,0.00,0.000,4,0.000,0.056,3005,1150,1655
$GC,9847,0.43,267.6,627.6,14.8,765,9851,0.10,2.20,0.00,0.000,6,0.153,0.053,2972,2513,1654
$GC,10174,0.50,267.6,586.3,12.3,781,10178,0.00,2.17,0.00,0.000,4,0.000,0.056,2980,1159,1654
$GC,10189,0.56,267.6,584.3,13.1,781,10196,0.00,2.17,0.00,0.000,6,0.000,0.052,2980,2511,1654
$GC,10499,0.56,267.6,544.7,12.5,797,10503,0.00,1.90,0.00,0.000,4,0.000,0.068,2980,3684,1654
$GC,10530,0.56,267.6,540.4,13.0,798,10535,0.00,1.88,0.00,0.000,6,0.000,0.045,2988,2487,1654
$GC,10846,0.56,267.6,497.3,14.0,814,10851,0.00,1.98,0.00,0.000,4,0.000,0.067,2988,3692,1654
$GC,10883,0.56,267.6,491.9,15.5,817,10890,0.00,1.85,0.00,0.000,6,0.000,0.044,2996,2512,1654
$GC,11200,0.56,267.6,448.3,12.4,848,11203,0.00,2.17,0.00,0.000,4,0.000,0.055,3007,1147,1654
$GC,11247,0.59,293.6,442.7,10.9,852,11275,0.00,2.17,20.98,0.985,6,0.000,0.051,3007,2509,1561
$GC,11584,0.59,293.6,396.1,15.1,885,11588,0.00,1.92,0.00,0.000,4,0.000,0.066,3007,3691,1558
$GC,11642,0.59,293.6,386.9,14.9,890,11649,0.00,1.88,0.00,0.000,6,0.000,0.043,3015,2503,1558
$GC,11959,0.59,293.6,340.0,15.4,921,11962,0.00,2.12,0.00,0.000,4,0.000,0.054,3026,1149,1558
$GC,11989,0.59,293.6,335.3,15.2,924,11994,0.00,2.17,0.00,0.000,6,0.000,0.049,3026,2507,1557
$GC,12309,0.55,293.6,278.5,18.8,965,12315,0.00,1.90,0.00,0.000,4,0.000,0.064,3026,3690,1557
$GC,12351,0.47,293.6,271.2,17.2,973,12358,0.15,1.88,0.00,0.000,6,0.143,0.042,2983,2481,1557
$GC,12677,0.81,402.7,236.7,7.5,1034,12769,0.28,0.00,88.90,0.818,6,0.060,0.000,3098,2474,1116
$GC,13089,0.69,402.7,161.5,16.8,1109,13096,0.17,1.98,0.00,0.000,4,0.152,0.061,3049,3688,1111
$GC,13158,0.78,402.7,150.4,13.3,1122,13165,0.00,1.92,0.00,0.000,6,0.000,0.041,3057,2461,1111
$GC,13485,0.91,402.7,105.9,16.1,1183,13493,0.17,2.08,0.00,0.000,4,0.064,0.052,3142,1142,1110
$GC,13507,0.91,402.7,101.3,20.5,1187,13515,0.00,2.08,0.00,0.000,6,0.000,0.046,3141,2450,1110
$GC,13835,0.81,402.7,41.5,17.7,1248,13842,0.20,2.05,0.00,0.000,4,0.144,0.050,3091,1151,1110
$GC,13873,0.98,402.7,36.1,12.2,1255,13881,0.10,2.05,0.00,0.000,6,0.061,0.044,3151,2451,1110
$STATE,14087,end climb,SURFACE_DEPTH_REACHED
$STATE,14087,begin surface coast
$FINISH,1.6,1.010117
$STATE,14103,end surface coast,CONTROL_FINISHED_OK
$STATE,14103,begin surface
$SM_CCo,14116,24.33,0.611,0,0,984,435.16
$SM_GC,2.28,0.00,0.00,24.33,0.000,0.000,0.611,170,2051,984,-8.30,-0.57,435.16
$IRIDIUM_FIX,2437.06,12257.95,180898,222220
$TT8_MAMPS,0.047554
$HUMID,1539
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.00
$XPDR_PINGS,168
$24V_AH,23.6,8.798
$10V_AH,10.7,7.654
$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,29.250,145.875,492.075,24.325,0.000,27.249,39.272,196.251,50.000,0.000,0.000,12.178,0.000,10264.212,688.941,3091.772,425.662,0.000,1863.946,0.000,2593.575,0.000,54.006,0.000
$DEVICE_MAMPS,248.508,70.564,1361.425,611.299,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,878.183,881.916,1479.964,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,76066,1298
$CAP_FILE_SIZE,154915,0
$CFSIZE,260165632,255959040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126, 46.2,1
$GPS,250509,065237,2446.492,12256.719,31,1.0,31,-3.5