version: 66.04
glider: 165
mission: 2
dive: 26
start: 5 25 109 15 10 37
data:
$ID,165
$MISSION,2
$DIVE,26
$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,-116403.44
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,180
$PITCH_MAX,3922
$C_PITCH,2819
$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,51
$R_STBD_OVSHOOT,22
$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
$GPS1,150455,2448.010,12253.893,36,1.5,36,-3.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-71.4
$GPS2,151032,2448.094,12253.885,10,1.8,10,-3.5
$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,214.0,44991,-18.3,-12.000
$D_GRID,1396
$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,-194.7,0.0,0.0,0,64,0.00,0.00,-50.38,0.000,2,0.000,0.000,163,2053,2241
$GC,66,-0.92,-194.7,3.3,-4.6,8,117,9.38,2.20,-33.70,0.000,4,0.243,0.061,2522,678,3556
$GC,201,-0.25,-194.7,41.5,-33.4,32,208,0.68,2.22,0.00,0.000,6,0.163,0.042,2736,2085,3557
$GC,528,-0.61,-194.7,80.3,-9.1,93,533,0.30,0.00,0.00,0.000,6,0.044,0.000,2593,2085,3558
$GC,853,-0.28,-194.7,161.5,-23.8,154,861,0.43,2.22,0.00,0.000,4,0.141,0.053,2728,679,3560
$GC,935,-0.88,-194.7,170.0,-6.7,169,941,0.45,2.17,0.00,0.000,6,0.037,0.040,2517,2080,3561
$GC,1261,-0.37,-194.7,240.0,-23.7,230,1269,0.57,2.20,0.00,0.000,4,0.147,0.057,2688,3468,3561
$GC,1300,-0.71,-194.7,245.1,-8.0,237,1306,0.22,2.15,0.00,0.000,6,0.038,0.037,2555,2062,3562
$GC,1626,-0.49,-194.7,303.0,-19.6,297,1630,0.32,2.15,0.00,0.000,4,0.137,0.053,2659,663,3562
$GC,1716,-0.91,-194.7,314.2,-10.2,305,1723,0.30,2.10,0.00,0.000,6,0.036,0.041,2501,2020,3562
$GC,2032,-0.51,-194.7,376.5,-18.5,336,2036,0.47,2.28,0.00,0.000,4,0.146,0.060,2644,3468,3562
$GC,2058,-0.58,-194.7,379.4,-10.8,338,2067,0.00,2.22,0.00,0.000,6,0.000,0.038,2644,2015,3562
$GC,2374,-0.96,-194.7,397.9,-7.4,369,2378,0.32,2.33,0.00,0.000,4,0.044,0.060,2485,3479,3562
$GC,2421,-0.69,-194.7,405.5,-18.6,373,2426,0.30,2.20,0.00,0.000,6,0.142,0.040,2595,2039,3562
$GC,2742,-0.85,-194.7,442.5,-10.4,404,2743,0.15,0.00,0.00,0.000,6,0.065,0.000,2523,2036,3562
$GC,3052,-0.65,-194.7,484.5,-13.1,434,3057,0.28,2.30,0.00,0.000,4,0.142,0.063,2602,3465,3560
$GC,3084,-0.82,-194.7,487.3,-7.6,437,3088,0.10,2.17,0.00,0.000,6,0.051,0.040,2535,2056,3560
$GC,3414,-0.74,-194.7,525.5,-12.9,459,3417,0.15,2.17,0.00,0.000,4,0.143,0.054,2579,657,3558
$GC,3465,-0.91,-194.7,531.2,-9.9,461,3472,0.10,2.15,0.00,0.000,6,0.057,0.044,2513,2029,3558
$GC,3776,-0.77,-194.7,574.8,-15.3,477,3781,0.20,2.33,0.00,0.000,4,0.149,0.064,2572,3498,3556
$GC,3823,-0.96,-194.7,580.7,-10.9,479,3828,0.15,2.28,0.00,0.000,6,0.050,0.041,2487,2022,3555
$GC,4146,-0.71,-194.7,638.0,-17.7,495,4149,0.30,2.12,0.00,0.000,4,0.148,0.056,2585,658,3553
$GC,4170,-0.71,-194.7,641.7,-13.0,496,4175,0.00,2.15,0.00,0.000,6,0.000,0.047,2583,2022,3553
$GC,4486,-0.92,-194.7,667.9,-8.1,512,4491,0.17,2.33,0.00,0.000,4,0.063,0.066,2494,3471,3551
$GC,4587,-0.79,-194.7,680.6,-12.6,516,4595,0.17,2.22,0.00,0.000,6,0.139,0.043,2555,2034,3550
$GC,4898,-0.90,-194.7,712.1,-10.3,532,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2556,2031,3548
$GC,5204,-1.01,-194.7,743.0,-9.8,547,5208,0.17,2.35,0.00,0.000,4,0.067,0.069,2478,3475,3545
$GC,5277,-0.86,-194.7,753.1,-15.0,550,5282,0.17,2.22,0.00,0.000,6,0.144,0.044,2536,2044,3544
$GC,5593,-0.86,-194.7,786.5,-10.0,566,5597,0.00,2.35,0.00,0.000,4,0.000,0.069,2534,3474,3542
$GC,5630,-0.93,-194.7,790.2,-9.8,567,5637,0.00,2.20,0.00,0.000,6,0.000,0.044,2534,2060,3542
$GC,5941,-0.93,-194.7,819.3,-9.3,583,5942,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2058,3540
$GC,6246,-0.93,-194.7,848.8,-9.8,598,6250,0.00,2.33,0.00,0.000,4,0.000,0.070,2534,3471,3538
$GC,6288,-1.04,-194.7,852.9,-9.7,600,6293,0.10,2.20,0.00,0.000,6,0.061,0.044,2474,2062,3537
$GC,6614,-0.83,-194.7,898.6,-14.3,616,6619,0.25,2.22,0.00,0.000,4,0.154,0.061,2548,661,3535
$GC,6657,-0.94,-194.7,903.5,-10.0,618,6661,0.00,2.22,0.00,0.000,6,0.000,0.051,2548,2061,3536
$GC,6983,-1.05,-194.7,931.0,-8.1,634,6988,0.20,2.30,0.00,0.000,4,0.064,0.071,2455,3473,3533
$GC,7026,-0.83,-194.7,936.1,-12.9,636,7030,0.28,2.20,0.00,0.000,6,0.145,0.046,2546,2066,3533
$GC,7353,-0.94,-194.7,962.0,-7.3,652,7356,0.00,2.30,0.00,0.000,4,0.000,0.071,2546,3479,3532
$GC,7384,-1.11,-194.7,964.3,-6.6,653,7388,0.20,2.20,0.00,0.000,6,0.052,0.045,2452,2074,3531
$STATE,7577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7577,begin apogee
$GC,7581,-0.18,0.0,990.4,14.6,663,7741,0.98,0.00,156.15,1.361,6,0.158,0.000,2758,2558,2759
$STATE,7741,end apogee,CONTROL_FINISHED_OK
$STATE,7741,begin climb
$GC,7743,0.92,194.7,994.9,0.0,671,7914,0.95,2.03,164.02,1.315,4,0.044,0.071,3125,3684,1964
$GC,8137,0.21,194.7,916.1,28.3,689,8141,0.80,1.83,0.00,0.000,6,0.181,0.047,2891,2554,1958
$GC,8453,0.51,249.2,881.4,9.7,705,8505,0.25,2.40,46.60,1.257,4,0.062,0.058,3003,1150,1740
$GC,8570,0.45,249.2,863.4,16.0,710,8574,0.10,2.35,0.00,0.000,6,0.153,0.054,2972,2542,1736
$GC,8885,0.45,249.2,819.3,13.0,726,8889,0.00,2.30,0.00,0.000,4,0.000,0.056,2981,1149,1734
$GC,8911,0.45,249.2,816.1,12.4,727,8916,0.00,2.28,0.00,0.000,6,0.000,0.052,2981,2537,1733
$GC,9233,0.41,249.5,775.8,12.0,743,9237,0.00,1.90,0.00,0.000,4,0.000,0.069,2981,3693,1732
$GC,9259,0.32,249.5,772.3,13.1,744,9264,0.20,1.85,0.00,0.000,6,0.146,0.044,2924,2527,1732
$GC,9580,0.62,331.1,744.7,8.6,760,9655,0.28,2.33,69.97,1.193,4,0.060,0.057,3044,1150,1408
$GC,9697,0.50,331.1,722.4,20.8,765,9704,0.17,2.33,0.00,0.000,6,0.151,0.052,2991,2521,1404
$GC,10008,0.50,331.1,660.1,19.9,781,10012,0.00,1.95,0.00,0.000,4,0.000,0.069,2990,3697,1402
$GC,10050,0.50,331.1,651.4,21.1,783,10054,0.00,1.88,0.00,0.000,6,0.000,0.045,2998,2522,1400
$GC,10376,0.50,331.1,593.3,16.4,799,10380,0.00,2.22,0.00,0.000,4,0.000,0.056,3008,1150,1400
$GC,10413,0.50,331.1,587.8,14.5,800,10420,0.00,2.22,0.00,0.000,6,0.000,0.051,3008,2521,1398
$GC,10723,0.46,331.1,543.9,14.2,816,10728,0.15,1.90,0.00,0.000,4,0.155,0.067,2967,3688,1398
$GC,10788,0.60,333.9,535.8,11.9,819,10792,0.08,1.77,0.00,0.000,6,0.069,0.044,3017,2545,1398
$GC,11105,0.54,333.9,487.0,17.5,838,11109,0.00,2.22,0.00,0.000,4,0.000,0.055,3027,1160,1397
$GC,11126,0.50,333.9,483.2,18.6,840,11130,0.12,2.25,0.00,0.000,6,0.142,0.051,2985,2558,1397
$GC,11447,0.62,333.9,437.8,12.2,871,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2558,1397
$GC,11758,0.77,348.9,400.8,11.4,901,11781,0.22,2.28,14.48,0.933,4,0.066,0.056,3088,1166,1336
$GC,11876,0.60,348.9,379.7,18.2,912,11880,0.20,2.25,0.00,0.000,6,0.164,0.051,3017,2555,1333
$GC,12197,0.60,348.9,330.9,16.6,943,12201,0.00,2.25,0.00,0.000,4,0.000,0.053,3026,1157,1333
$GC,12217,0.60,348.9,327.5,16.1,945,12222,0.00,2.22,0.00,0.000,6,0.000,0.048,3026,2542,1333
$GC,12539,0.60,348.9,271.5,15.6,991,12545,0.00,1.85,0.00,0.000,4,0.000,0.064,3026,3694,1333
$GC,12618,0.60,348.9,258.6,17.0,1006,12626,0.00,1.73,0.00,0.000,6,0.000,0.041,3033,2580,1333
$GC,12946,0.60,348.9,210.4,14.4,1067,12952,0.00,2.25,0.00,0.000,4,0.000,0.052,3044,1153,1333
$GC,13042,0.67,348.9,197.0,14.8,1085,13048,0.00,2.25,0.00,0.000,6,0.000,0.048,3044,2568,1333
$GC,13368,0.73,348.9,151.3,12.7,1146,13376,0.00,2.25,0.00,0.000,4,0.000,0.051,3054,1150,1333
$GC,13428,0.88,384.2,144.3,10.5,1157,13468,0.10,2.20,29.80,0.739,6,0.059,0.046,3111,2542,1190
$GC,13789,0.77,384.2,81.9,17.1,1223,13794,0.15,2.20,0.00,0.000,4,0.152,0.049,3080,1147,1189
$GC,13825,0.87,384.2,76.4,13.4,1230,13833,0.00,2.20,0.00,0.000,6,0.000,0.044,3080,2532,1187
$GC,14153,1.06,388.2,33.2,11.8,1291,14166,0.22,2.22,4.38,0.471,4,0.058,0.048,3190,1147,1175
$GC,14240,0.90,388.2,18.5,18.6,1307,14247,0.25,2.17,0.00,0.000,6,0.148,0.044,3109,2525,1174
$STATE,14356,end climb,SURFACE_DEPTH_REACHED
$STATE,14356,begin surface coast
$FINISH,1.6,1.010790
$STATE,14383,end surface coast,CONTROL_FINISHED_OK
$STATE,14383,begin surface
$SM_CCo,14396,36.70,0.612,0,0,984,435.16
$SM_GC,2.67,0.00,0.00,36.70,0.000,0.000,0.612,165,2075,984,-8.29,0.11,435.16
$IRIDIUM_FIX,2439.44,12252.67,190898,101007
$TT8_MAMPS,0.049088
$HUMID,1545
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.00
$XPDR_PINGS,83
$24V_AH,23.6,9.382
$10V_AH,10.7,8.026
$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,29.600,145.650,485.400,36.700,0.000,29.856,33.329,182.744,28.750,0.000,0.000,12.556,0.000,10428.859,687.886,3214.609,414.606,0.000,1898.870,0.000,2700.670,0.000,54.757,0.000
$DEVICE_MAMPS,243.139,71.331,1360.658,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,903.620,910.887,1527.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75909,1334
$CAP_FILE_SIZE,159675,0
$CFSIZE,260165632,255705088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.161, 29.5,1
$GPS,250509,191206,2447.224,12253.101,37,1.0,37,-3.5