version: 66.04
glider: 165
mission: 2
dive: 36
start: 5 27 109 9 27 13
data:
$ID,165
$MISSION,2
$DIVE,36
$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,-116570.77
$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,25.5
$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,2525
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,36
$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
$GPS1,092101,2448.529,12247.462,40,1.6,40,-3.5
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-69.9
$GPS2,092708,2448.634,12247.442,9,1.6,9,-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,232.6,34944,-18.3,-12.000
$D_GRID,1241
$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,-0.96,-194.7,0.0,0.0,0,60,0.00,0.00,-46.72,0.000,2,0.000,0.000,163,2085,2139
$GC,62,-0.96,-194.7,3.2,-3.7,7,119,9.38,2.25,-40.38,0.000,4,0.247,0.067,2495,3468,3555
$GC,348,-0.27,-194.7,95.5,-31.4,59,355,0.70,2.17,0.00,0.000,6,0.143,0.039,2724,2071,3557
$GC,674,-0.73,-194.7,116.0,-3.9,120,681,0.38,2.25,0.00,0.000,4,0.042,0.056,2551,3471,3559
$GC,723,-0.37,-194.7,123.1,-19.0,129,731,0.43,2.12,0.00,0.000,6,0.141,0.036,2692,2083,3559
$GC,1051,-0.73,-194.7,152.5,-8.5,190,1057,0.30,2.20,0.00,0.000,4,0.047,0.051,2552,667,3560
$GC,1093,-0.48,-194.7,160.1,-20.1,198,1100,0.32,2.20,0.00,0.000,6,0.133,0.043,2659,2077,3560
$GC,1420,-0.74,-194.7,200.0,-10.8,259,1428,0.22,2.20,0.00,0.000,4,0.052,0.058,2550,3471,3561
$GC,1459,-0.63,-194.7,205.7,-16.0,266,1466,0.17,2.10,0.00,0.000,6,0.127,0.036,2611,2089,3561
$GC,1785,-0.69,-194.7,238.7,-9.1,327,1791,0.00,2.20,0.00,0.000,4,0.000,0.051,2612,677,3561
$GC,1817,-0.80,-194.7,241.5,-9.3,333,1825,0.12,2.20,0.00,0.000,6,0.048,0.042,2536,2095,3561
$GC,2144,-0.58,-194.7,296.6,-18.2,394,2151,0.30,2.17,0.00,0.000,4,0.140,0.060,2631,3470,3561
$GC,2213,-0.92,-194.7,305.0,-10.2,402,2221,0.25,2.08,0.00,0.000,6,0.039,0.036,2502,2104,3561
$GC,2529,-0.57,-194.7,365.5,-18.4,433,2534,0.43,2.20,0.00,0.000,4,0.143,0.052,2636,666,3561
$GC,2550,-0.48,-194.7,368.5,-14.3,435,2554,0.00,2.20,0.00,0.000,6,0.000,0.043,2635,2086,3561
$GC,2872,-0.80,-194.7,382.6,-5.8,466,2876,0.20,2.17,0.00,0.000,4,0.054,0.059,2537,3486,3561
$GC,2924,-0.75,-194.7,389.2,-14.5,471,2929,0.10,2.12,0.00,0.000,6,0.136,0.038,2573,2090,3561
$GC,3245,-0.80,-194.7,430.9,-12.9,502,3249,0.00,2.20,0.00,0.000,4,0.000,0.052,2573,679,3560
$GC,3277,-0.89,-194.7,435.0,-12.6,505,3281,0.08,2.20,0.00,0.000,6,0.064,0.044,2521,2090,3560
$GC,3598,-0.72,-194.7,479.6,-14.5,536,3602,0.20,2.22,0.00,0.000,4,0.146,0.052,2581,677,3558
$GC,3731,-0.89,-194.7,493.4,-9.8,548,3738,0.10,2.17,0.00,0.000,6,0.058,0.044,2519,2073,3557
$GC,4053,-0.78,-194.7,539.6,-14.3,567,4054,0.15,0.00,0.00,0.000,6,0.146,0.000,2562,2074,3555
$GC,4358,-0.88,-194.7,570.7,-8.1,582,4362,0.00,2.25,0.00,0.000,4,0.000,0.064,2563,3473,3554
$GC,4384,-1.01,-194.7,572.5,-7.3,583,4388,0.15,2.12,0.00,0.000,6,0.051,0.039,2479,2083,3553
$GC,4706,-0.76,-194.7,614.4,-14.0,599,4709,0.30,2.20,0.00,0.000,4,0.146,0.056,2570,660,3551
$GC,4779,-0.93,-194.7,620.5,-6.9,602,4784,0.10,2.20,0.00,0.000,6,0.060,0.046,2509,2066,3551
$GC,5095,-0.83,-194.7,655.4,-12.3,618,5096,0.15,0.00,0.00,0.000,6,0.150,0.000,2553,2067,3549
$GC,5400,-0.92,-194.7,684.7,-10.0,633,5404,0.00,2.22,0.00,0.000,4,0.000,0.056,2553,668,3546
$GC,5427,-1.02,-194.7,687.5,-11.9,634,5431,0.12,2.17,0.00,0.000,6,0.059,0.048,2481,2054,3545
$GC,5749,-0.82,-194.7,735.3,-15.5,650,5752,0.25,2.25,0.00,0.000,4,0.151,0.064,2549,3479,3544
$GC,5785,-0.93,-194.7,739.8,-10.6,651,5792,0.00,2.17,0.00,0.000,6,0.000,0.042,2550,2071,3543
$GC,6097,-1.03,-194.7,775.4,-11.7,667,6098,0.17,0.00,0.00,0.000,6,0.067,0.000,2471,2069,3541
$GC,6401,-0.79,-194.7,826.0,-16.1,682,6403,0.30,0.00,0.00,0.000,6,0.151,0.000,2562,2068,3539
$GC,6706,-0.97,-194.7,857.4,-10.5,697,6707,0.15,0.00,0.00,0.000,6,0.074,0.000,2494,2067,3537
$GC,7011,-0.83,-194.7,905.8,-15.8,712,7015,0.20,2.30,0.00,0.000,4,0.150,0.069,2550,3478,3535
$GC,7048,-0.99,-194.7,910.7,-12.6,713,7056,0.12,2.20,0.00,0.000,6,0.058,0.044,2479,2063,3535
$GC,7358,-0.80,-194.7,965.0,-18.5,729,7362,0.28,2.20,0.00,0.000,4,0.147,0.060,2564,675,3534
$GC,7465,-1.00,-194.7,978.6,-12.3,734,7469,0.15,2.17,0.00,0.000,6,0.059,0.050,2487,2047,3533
$STATE,7545,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7545,begin apogee
$GC,7549,-0.20,0.0,990.4,15.0,738,7712,0.82,0.00,156.38,1.369,6,0.143,0.000,2752,2539,2758
$STATE,7712,end apogee,CONTROL_FINISHED_OK
$STATE,7712,begin climb
$GC,7714,0.96,194.7,1000.0,0.0,746,7886,1.02,2.50,163.73,1.329,4,0.045,0.057,3152,1126,1964
$GC,7966,0.36,194.7,963.1,23.8,758,7971,0.75,2.38,0.00,0.000,6,0.183,0.052,2941,2528,1958
$GC,8293,0.41,194.7,921.8,12.3,774,8297,0.00,2.30,0.00,0.000,4,0.000,0.053,2950,1125,1956
$GC,8345,0.49,194.7,915.3,12.1,776,8350,0.00,2.28,0.00,0.000,6,0.000,0.051,2950,2515,1956
$GC,8661,0.49,194.7,874.3,12.9,792,8665,0.00,1.92,0.00,0.000,4,0.000,0.066,2951,3693,1954
$GC,8693,0.42,194.7,870.1,14.1,793,8697,0.00,1.88,0.00,0.000,6,0.000,0.040,2959,2491,1954
$GC,9008,0.42,194.7,829.6,13.4,809,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2485,1953
$GC,9313,0.42,194.7,785.2,14.7,824,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2485,1953
$GC,9619,0.42,194.7,740.0,14.4,839,9620,0.00,0.00,0.00,0.000,6,0.000,0.000,2958,2485,1952
$GC,9924,0.42,194.7,695.7,14.1,854,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2485,1951
$GC,10229,0.42,194.7,655.6,12.2,869,10234,0.00,2.15,0.00,0.000,4,0.000,0.053,2969,1129,1951
$GC,10272,0.42,194.7,650.3,12.0,871,10276,0.00,2.22,0.00,0.000,6,0.000,0.049,2969,2520,1950
$GC,10598,0.49,248.9,613.3,9.8,887,10646,0.00,1.92,43.83,1.134,4,0.000,0.065,2969,3689,1744
$GC,10698,0.52,273.3,603.4,11.0,892,10724,0.00,1.88,22.02,1.084,6,0.000,0.042,2977,2509,1644
$GC,11040,0.57,317.4,570.1,10.2,909,11084,0.00,2.30,38.10,1.086,4,0.000,0.053,2987,1123,1464
$GC,11205,0.74,354.6,552.6,10.5,916,11243,0.15,2.28,33.03,1.062,6,0.061,0.048,3059,2502,1312
$GC,11551,0.51,354.6,476.1,25.9,937,11554,0.28,1.92,0.00,0.000,4,0.150,0.064,2979,3682,1306
$GC,11758,0.66,354.6,442.1,12.7,956,11766,0.12,1.85,0.00,0.000,6,0.080,0.043,3045,2519,1305
$GC,12074,0.54,354.6,385.0,17.6,987,12078,0.17,1.90,0.00,0.000,4,0.150,0.062,2994,3685,1305
$GC,12105,0.54,354.6,380.2,14.9,990,12110,0.00,1.83,0.00,0.000,6,0.000,0.041,3001,2517,1304
$GC,12427,0.64,354.6,335.9,15.3,1021,12430,0.00,2.22,0.00,0.000,4,0.000,0.052,3012,1125,1302
$GC,12474,0.81,354.6,328.5,15.8,1025,12482,0.15,2.22,0.00,0.000,6,0.057,0.048,3088,2513,1301
$GC,12796,0.59,354.6,260.3,18.6,1074,12803,0.28,1.88,0.00,0.000,4,0.155,0.061,3008,3688,1301
$GC,12817,0.50,354.6,256.9,14.9,1078,12825,0.08,1.83,0.00,0.000,6,0.143,0.040,2987,2504,1301
$GC,13144,0.81,374.8,226.0,11.2,1139,13165,0.25,2.22,16.02,0.815,4,0.057,0.050,3108,1124,1230
$GC,13255,0.67,374.8,207.4,16.8,1159,13261,0.25,2.17,0.00,0.000,6,0.153,0.046,3036,2509,1229
$GC,13581,0.75,374.8,164.2,14.2,1220,13587,0.00,1.88,0.00,0.000,4,0.000,0.059,3035,3687,1229
$GC,13650,0.83,374.8,152.7,16.9,1233,13658,0.08,1.85,0.00,0.000,6,0.066,0.038,3092,2480,1229
$GC,13978,0.78,374.8,94.7,15.9,1294,13984,0.00,2.12,0.00,0.000,4,0.000,0.048,3102,1126,1229
$GC,13994,0.73,374.8,92.2,15.6,1297,14002,0.12,2.12,0.00,0.000,6,0.138,0.043,3059,2487,1229
$GC,14322,1.06,465.1,54.1,8.3,1358,14399,0.28,1.98,72.38,0.672,4,0.054,0.056,3181,3678,861
$GC,14463,0.89,465.1,26.0,22.1,1382,14469,0.22,1.90,0.00,0.000,6,0.148,0.038,3105,2473,861
$STATE,14627,end climb,SURFACE_DEPTH_REACHED
$STATE,14627,begin surface coast
$FINISH,1.7,1.013448
$STATE,14659,end surface coast,CONTROL_FINISHED_OK
$STATE,14659,begin surface
$SM_CCo,14732,0.00,0.000,0,0,855,467.05
$SM_GC,2.49,7.65,0.00,0.00,0.043,0.000,0.000,161,2050,855,-8.23,-0.57,467.05
$IRIDIUM_FIX,2441.81,12249.39,210898,050555
$TT8_MAMPS,0.047554
$HUMID,1540
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.00
$XPDR_PINGS,70
$24V_AH,23.6,11.400
$10V_AH,10.7,9.288
$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,28.950,129.450,545.475,0.000,0.000,30.278,40.072,206.712,25.500,0.000,0.000,11.473,0.000,10629.646,687.040,3298.204,458.264,0.000,1930.632,0.000,2786.099,0.000,54.850,0.000
$DEVICE_MAMPS,246.974,69.030,1369.095,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,960.781,987.849,1546.688,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82218,1419
$CAP_FILE_SIZE,160153,0
$CFSIZE,260165632,254836736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.361, 29.7,1
$GPS,270509,133337,2449.607,12247.166,34,0.9,34,-3.5