version: 66.04
glider: 165
mission: 2
dive: 87
start: 6 2 109 15 1 18
data:
$ID,165
$MISSION,2
$DIVE,87
$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,-118580.5
$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,47
$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,25
$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
$GPS1,145507,2520.493,12242.953,29,0.9,29,-3.7
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.9
$GPS2,150113,2520.654,12243.123,7,1.2,12,-3.7
$SPEED_LIMITS,0.208,0.315
$TGT_NAME,OFF_3
$TGT_LATLONG,2511.000,12258.000
$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,158.9,30681,-18.3,-12.000
$D_GRID,836
$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,-194.7,0.0,0.0,0,59,0.00,0.00,-45.53,0.000,2,0.000,0.000,162,2085,2107
$GC,61,-0.96,-194.7,3.2,-4.1,7,118,9.00,2.22,-41.40,0.000,4,0.232,0.066,2498,3482,3554
$GC,132,-0.11,-194.7,15.9,-33.9,19,139,0.88,2.20,0.00,0.000,6,0.153,0.037,2773,2073,3555
$GC,459,-0.60,-194.7,45.1,-6.0,80,467,0.40,2.28,0.00,0.000,4,0.039,0.059,2579,3470,3558
$GC,514,-0.27,-194.7,54.5,-21.3,90,521,0.40,2.15,0.00,0.000,6,0.130,0.038,2718,2075,3558
$GC,841,-0.55,-194.7,92.1,-9.1,151,847,0.20,2.20,0.00,0.000,4,0.053,0.052,2617,678,3559
$GC,862,-0.63,-194.7,94.8,-13.1,155,869,0.00,2.20,0.00,0.000,6,0.000,0.044,2616,2088,3559
$GC,1188,-0.54,-194.7,146.6,-14.4,216,1196,0.00,2.20,0.00,0.000,4,0.000,0.058,2616,3470,3561
$GC,1254,-0.64,-194.7,154.0,-11.0,228,1262,0.00,2.10,0.00,0.000,6,0.000,0.035,2615,2091,3561
$GC,1581,-0.64,-194.7,197.4,-12.1,289,1588,0.00,2.20,0.00,0.000,4,0.000,0.050,2616,679,3562
$GC,1656,-0.81,-194.7,206.0,-11.1,303,1662,0.12,2.20,0.00,0.000,6,0.047,0.041,2537,2092,3563
$GC,1982,-0.55,-194.7,265.2,-18.8,364,1990,0.32,2.20,0.00,0.000,4,0.137,0.058,2630,3480,3563
$GC,2102,-0.90,-194.7,276.5,-7.8,386,2108,0.22,2.08,0.00,0.000,6,0.039,0.037,2507,2115,3563
$GC,2421,-0.56,-194.7,337.2,-17.9,429,2425,0.40,2.15,0.00,0.000,4,0.140,0.060,2630,3473,3563
$GC,2442,-0.56,-194.7,339.9,-12.8,431,2446,0.00,2.05,0.00,0.000,6,0.000,0.036,2630,2127,3563
$GC,2764,-0.89,-194.7,360.2,-6.5,462,2767,0.25,2.12,0.00,0.000,4,0.049,0.059,2508,3473,3562
$GC,2795,-0.73,-194.7,363.4,-12.7,465,2799,0.20,2.05,0.00,0.000,6,0.133,0.037,2577,2125,3562
$GC,3115,-0.78,-194.7,399.5,-11.5,496,3120,0.00,2.17,0.00,0.000,4,0.000,0.061,2576,3473,3562
$GC,3169,-0.94,-194.7,405.4,-10.6,501,3173,0.12,2.05,0.00,0.000,6,0.051,0.037,2499,2129,3561
$GC,3489,-0.65,-194.7,461.2,-16.5,532,3494,0.35,2.28,0.00,0.000,4,0.140,0.053,2609,674,3560
$GC,3591,-0.98,-194.7,471.1,-8.2,541,3597,0.25,2.28,0.00,0.000,6,0.041,0.044,2480,2129,3559
$GC,3916,-0.68,-194.7,526.3,-17.4,566,3917,0.38,0.00,0.00,0.000,6,0.142,0.000,2597,2129,3557
$GC,4220,-0.95,-194.7,549.5,-6.9,581,4224,0.22,2.15,0.00,0.000,4,0.054,0.064,2494,3468,3555
$GC,4251,-0.82,-194.7,553.3,-13.0,582,4256,0.15,2.08,0.00,0.000,6,0.136,0.039,2546,2114,3554
$GC,4567,-0.82,-194.7,585.6,-9.6,598,4568,0.00,0.00,0.00,0.000,6,0.000,0.000,2546,2111,3552
$GC,4872,-0.87,-194.7,614.3,-9.8,613,4876,0.00,2.28,0.00,0.000,4,0.000,0.057,2547,678,3550
$GC,4952,-0.92,-194.7,622.4,-10.6,616,4959,0.00,2.22,0.00,0.000,6,0.000,0.048,2547,2088,3550
$GC,5263,-0.98,-194.7,652.2,-11.1,632,5266,0.12,2.22,0.00,0.000,4,0.074,0.067,2482,3488,3547
$GC,5305,-0.78,-194.7,657.9,-15.0,634,5309,0.25,2.15,0.00,0.000,6,0.140,0.041,2565,2096,3546
$GC,5632,-0.93,-194.7,691.2,-11.0,650,5635,0.15,2.22,0.00,0.000,4,0.069,0.067,2494,3480,3544
$GC,5684,-0.76,-194.7,698.3,-14.4,652,5689,0.22,2.12,0.00,0.000,6,0.133,0.042,2572,2114,3544
$GC,6000,-0.91,-194.7,730.0,-10.3,668,6001,0.15,0.00,0.00,0.000,6,0.071,0.000,2505,2109,3542
$GC,6304,-0.78,-194.7,773.3,-14.7,683,6306,0.20,0.00,0.00,0.000,6,0.146,0.000,2565,2108,3539
$GC,6611,-0.94,-194.7,801.9,-9.5,698,6614,0.15,2.22,0.00,0.000,4,0.071,0.070,2494,3485,3538
$GC,6631,-0.94,-194.7,804.2,-11.3,699,6635,0.00,2.15,0.00,0.000,6,0.000,0.043,2494,2104,3537
$STATE,6874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6874,begin apogee
$GC,6878,-0.20,0.0,837.4,13.6,711,7038,0.80,0.00,154.02,1.268,6,0.140,0.000,2754,2531,2758
$STATE,7038,end apogee,CONTROL_FINISHED_OK
$STATE,7038,begin climb
$GC,7040,0.96,194.7,843.8,0.0,719,7211,1.00,2.05,160.05,1.226,4,0.041,0.067,3142,3684,1963
$GC,7317,0.22,194.7,797.9,28.1,732,7321,0.88,1.88,0.00,0.000,6,0.182,0.043,2899,2531,1959
$GC,7643,0.47,195.6,759.3,12.0,748,7647,0.20,2.30,0.00,0.000,4,0.061,0.054,2999,1117,1956
$GC,7685,0.38,195.6,753.3,15.1,750,7690,0.15,2.28,0.00,0.000,6,0.145,0.050,2950,2512,1955
$GC,8012,0.40,205.4,711.6,11.6,766,8026,0.00,1.92,9.18,1.042,4,0.000,0.065,2950,3683,1920
$GC,8075,0.40,205.4,704.4,12.7,769,8079,0.00,1.83,0.00,0.000,6,0.000,0.041,2958,2516,1919
$GC,8401,0.47,268.2,670.7,9.4,785,8458,0.00,2.00,53.65,1.147,4,0.000,0.064,2958,3697,1664
$GC,8494,0.49,283.4,660.9,11.4,788,8512,0.00,1.90,14.30,1.055,6,0.000,0.040,2966,2522,1603
$GC,8823,0.63,324.8,627.1,10.3,805,8865,0.17,2.38,36.70,1.108,4,0.070,0.054,3047,1126,1432
$GC,8890,0.47,324.8,616.7,18.4,808,8894,0.22,2.35,0.00,0.000,6,0.150,0.048,2978,2533,1430
$GC,9211,0.55,324.8,574.2,12.5,824,9215,0.00,2.28,0.00,0.000,4,0.000,0.051,2987,1131,1428
$GC,9243,0.68,324.8,570.1,13.7,825,9247,0.10,2.28,0.00,0.000,6,0.065,0.047,3044,2531,1427
$GC,9558,0.47,324.8,507.0,21.0,841,9562,0.25,1.88,0.00,0.000,4,0.151,0.064,2972,3689,1425
$GC,9638,0.57,324.8,494.6,13.5,846,9645,0.00,1.80,0.00,0.000,6,0.000,0.040,2979,2539,1425
$GC,9955,0.69,324.8,455.7,13.5,877,9958,0.17,2.22,0.00,0.000,4,0.071,0.052,3061,1117,1425
$GC,9996,0.56,324.8,448.5,18.4,880,10005,0.17,2.30,0.00,0.000,6,0.155,0.048,3005,2548,1424
$GC,10311,0.56,324.8,398.8,15.5,911,10312,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2548,1424
$GC,10622,0.56,324.8,355.4,13.1,941,10626,0.00,1.83,0.00,0.000,4,0.000,0.063,3005,3686,1424
$GC,10750,0.56,324.8,336.5,16.3,953,10754,0.00,1.75,0.00,0.000,6,0.000,0.041,3012,2547,1424
$GC,11068,0.56,324.8,288.5,12.2,991,11075,0.00,2.25,0.00,0.000,4,0.000,0.050,3023,1127,1424
$GC,11110,0.56,324.8,283.2,13.2,999,11117,0.00,2.28,0.00,0.000,6,0.000,0.047,3023,2557,1422
$GC,11436,0.56,324.8,237.4,14.4,1060,11444,0.00,2.28,0.00,0.000,4,0.000,0.049,3033,1126,1422
$GC,11486,0.56,324.8,230.1,15.2,1069,11492,0.08,2.25,0.00,0.000,6,0.141,0.045,3005,2545,1422
$GC,11813,0.74,338.5,187.1,11.4,1130,11832,0.15,2.28,10.90,0.762,4,0.071,0.050,3084,1127,1377
$GC,11896,0.63,338.5,172.8,18.2,1145,11902,0.17,2.22,0.00,0.000,6,0.148,0.044,3027,2531,1376
$GC,12222,0.74,338.5,133.5,13.5,1206,12227,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2531,1376
$GC,12547,1.08,427.4,97.6,8.3,1267,12624,0.38,1.92,72.35,0.714,4,0.045,0.057,3190,3687,1015
$GC,12772,0.78,427.4,50.1,23.0,1307,12779,0.40,1.83,0.00,0.000,6,0.147,0.037,3073,2519,1014
$GC,13099,1.21,514.9,17.2,8.4,1368,13176,0.38,1.98,71.25,0.630,4,0.041,0.055,3236,3691,656
$STATE,13179,end climb,SURFACE_DEPTH_REACHED
$STATE,13179,begin surface coast
$FINISH,1.6,1.021003
$STATE,13191,end surface coast,CONTROL_FINISHED_OK
$STATE,13191,begin surface
$SM_CCo,13266,0.00,0.000,0,0,650,517.34
$SM_GC,2.36,8.07,0.00,0.00,0.039,0.000,0.000,170,2069,650,-8.20,-0.06,517.34
$IRIDIUM_FIX,2512.73,12208.16,270898,111158
$TT8_MAMPS,0.048321
$HUMID,1552
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.00
$XPDR_PINGS,124
$ALTIM_BOTTOM_PING,826.3,76.5
$24V_AH,23.9,19.712
$10V_AH,10.7,14.986
$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,28.875,125.000,582.400,0.000,0.000,31.685,35.570,208.459,37.750,0.000,0.000,14.702,0.000,9278.056,709.592,3166.974,456.506,0.000,1905.147,0.000,2683.627,0.000,47.735,0.000
$DEVICE_MAMPS,231.634,69.797,1267.851,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,934.780,998.173,1589.344,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78916,1383
$CAP_FILE_SIZE,149473,0
$CFSIZE,260165632,251297792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.209, 37.7,1
$GPS,020609,184307,2519.996,12245.150,25,1.0,25,-3.7