version: 66.04
glider: 165
mission: 2
dive: 88
start: 6 2 109 18 48 55
data:
$ID,165
$MISSION,2
$DIVE,88
$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,-118594.84
$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,36
$R_STBD_OVSHOOT,26
$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
$GPS1,184307,2519.996,12245.150,25,1.0,25,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-68.1
$GPS2,184850,2520.149,12245.260,11,1.4,11,-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,173.8,27259,-18.3,-12.000
$D_GRID,949
$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,-194.7,0.0,0.0,0,72,0.00,0.00,-58.40,0.000,2,0.000,0.000,168,2069,2065
$GC,74,-0.96,-194.7,3.2,-4.1,9,131,8.75,2.28,-42.40,0.000,4,0.222,0.068,2494,3481,3553
$GC,140,-0.14,-194.7,13.5,-27.5,20,148,0.85,2.20,0.00,0.000,6,0.151,0.035,2764,2060,3555
$GC,467,-0.61,-194.7,49.0,-6.7,81,474,0.38,2.28,0.00,0.000,4,0.041,0.056,2586,3473,3557
$GC,537,-0.25,-194.7,61.6,-23.1,94,545,0.43,2.12,0.00,0.000,6,0.137,0.036,2729,2089,3557
$GC,865,-0.59,-194.7,95.5,-8.4,155,871,0.28,2.20,0.00,0.000,4,0.047,0.051,2595,678,3558
$GC,908,-0.46,-194.7,102.5,-18.7,163,914,0.20,2.22,0.00,0.000,6,0.127,0.044,2661,2099,3558
$GC,1234,-0.63,-194.7,142.5,-10.9,224,1241,0.12,2.17,0.00,0.000,4,0.067,0.058,2589,3470,3559
$GC,1304,-0.58,-194.7,152.1,-14.3,237,1311,0.10,2.08,0.00,0.000,6,0.128,0.035,2627,2104,3559
$GC,1631,-0.63,-194.7,196.8,-12.1,298,1638,0.00,2.20,0.00,0.000,4,0.000,0.059,2626,3473,3560
$GC,1642,-0.70,-194.7,198.3,-12.2,300,1648,0.00,2.08,0.00,0.000,6,0.000,0.035,2626,2106,3560
$GC,1968,-0.82,-194.7,229.6,-9.4,361,1974,0.20,2.20,0.00,0.000,4,0.054,0.051,2528,673,3560
$GC,2069,-0.64,-194.7,245.6,-16.6,380,2076,0.25,2.25,0.00,0.000,6,0.127,0.044,2609,2108,3560
$GC,2397,-0.73,-194.7,278.5,-10.9,441,2402,0.00,2.22,0.00,0.000,4,0.000,0.049,2610,673,3560
$GC,2422,-0.86,-194.7,281.2,-11.2,446,2431,0.15,2.22,0.00,0.000,6,0.045,0.043,2521,2102,3560
$GC,2743,-0.62,-194.7,334.7,-18.0,487,2747,0.32,2.15,0.00,0.000,4,0.140,0.061,2616,3472,3560
$GC,2780,-0.79,-194.7,339.7,-11.8,490,2789,0.10,2.10,0.00,0.000,6,0.050,0.037,2545,2093,3560
$GC,3096,-0.71,-194.7,385.0,-12.1,521,3100,0.15,2.22,0.00,0.000,4,0.139,0.061,2589,3472,3560
$GC,3132,-0.89,-194.7,388.7,-8.3,524,3140,0.12,2.10,0.00,0.000,6,0.048,0.038,2513,2100,3560
$GC,3448,-0.69,-194.7,433.8,-14.2,555,3452,0.28,2.20,0.00,0.000,4,0.137,0.061,2590,3470,3559
$GC,3512,-0.93,-194.7,439.6,-7.5,561,3516,0.15,2.10,0.00,0.000,6,0.048,0.038,2505,2096,3558
$GC,3832,-0.72,-194.7,484.8,-14.7,592,3834,0.25,0.00,0.00,0.000,6,0.138,0.000,2582,2092,3557
$GC,4142,-0.90,-194.7,509.4,-7.5,616,4146,0.15,2.20,0.00,0.000,4,0.065,0.064,2508,3471,3554
$GC,4173,-0.81,-194.7,512.6,-11.2,617,4177,0.12,2.12,0.00,0.000,6,0.136,0.040,2552,2091,3553
$GC,4488,-0.81,-194.7,545.3,-10.3,633,4492,0.00,2.25,0.00,0.000,4,0.000,0.065,2550,3473,3551
$GC,4515,-0.88,-194.7,547.9,-10.8,634,4519,0.00,2.12,0.00,0.000,6,0.000,0.040,2550,2096,3551
$GC,4836,-0.93,-194.7,578.6,-9.2,650,4840,0.00,2.25,0.00,0.000,4,0.000,0.056,2550,676,3549
$GC,4883,-1.03,-194.7,582.8,-9.2,652,4888,0.15,2.22,0.00,0.000,6,0.052,0.048,2470,2086,3549
$GC,5205,-0.77,-194.7,632.3,-16.0,668,5209,0.32,2.22,0.00,0.000,4,0.147,0.055,2569,667,3546
$GC,5290,-0.93,-194.7,641.9,-10.3,672,5294,0.10,2.22,0.00,0.000,6,0.061,0.048,2508,2076,3545
$GC,5617,-0.84,-194.7,686.7,-14.0,688,5621,0.15,2.25,0.00,0.000,4,0.146,0.067,2550,3488,3542
$GC,5653,-0.96,-194.7,691.3,-11.9,689,5660,0.08,2.20,0.00,0.000,6,0.064,0.041,2498,2073,3542
$GC,5963,-0.82,-194.7,735.8,-14.2,705,5968,0.20,2.22,0.00,0.000,4,0.143,0.058,2558,669,3540
$GC,6000,-0.92,-194.7,740.3,-11.3,706,6008,0.00,2.22,0.00,0.000,6,0.000,0.048,2556,2075,3540
$GC,6311,-1.04,-194.7,771.0,-9.4,722,6315,0.20,2.28,0.00,0.000,4,0.062,0.067,2467,3477,3538
$GC,6343,-0.86,-194.7,775.2,-14.8,723,6347,0.25,2.15,0.00,0.000,6,0.143,0.042,2543,2078,3537
$GC,6660,-0.94,-194.7,806.7,-8.8,739,6663,0.00,2.28,0.00,0.000,4,0.000,0.067,2543,3481,3535
$GC,6717,-1.05,-194.7,811.5,-9.1,742,6721,0.15,2.17,0.00,0.000,6,0.055,0.041,2465,2083,3535
$GC,7043,-0.83,-194.7,857.4,-13.9,758,7048,0.28,2.28,0.00,0.000,4,0.150,0.067,2547,3472,3533
$GC,7107,-0.99,-194.7,862.8,-7.3,761,7111,0.10,2.12,0.00,0.000,6,0.060,0.041,2487,2103,3532
$GC,7433,-0.83,-194.7,900.8,-11.3,777,7437,0.20,2.28,0.00,0.000,4,0.148,0.058,2546,675,3531
$GC,7534,-0.96,-194.7,909.4,-8.2,781,7541,0.08,2.25,0.00,0.000,6,0.069,0.050,2500,2089,3530
$STATE,7558,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7558,begin apogee
$GC,7562,-0.20,0.0,911.7,9.0,783,7722,0.77,0.00,154.73,1.323,6,0.136,0.000,2750,2537,2759
$STATE,7723,end apogee,CONTROL_FINISHED_OK
$STATE,7723,begin climb
$GC,7724,0.96,194.7,916.3,0.0,791,7893,1.05,2.03,161.57,1.285,4,0.042,0.064,3146,3687,1964
$GC,8133,0.18,194.7,830.3,28.0,810,8138,0.90,1.85,0.00,0.000,6,0.181,0.041,2882,2530,1958
$GC,8449,0.59,300.8,801.4,7.6,826,8545,0.35,2.03,90.43,1.219,4,0.053,0.063,3027,3687,1531
$GC,8572,0.36,300.8,780.4,21.5,832,8576,0.30,1.90,0.00,0.000,6,0.148,0.041,2944,2526,1529
$GC,8898,0.56,308.7,739.9,11.7,848,8909,0.15,2.25,6.72,0.975,4,0.069,0.051,3021,1114,1500
$GC,8982,0.56,308.7,726.6,16.9,852,8987,0.00,2.28,0.00,0.000,6,0.000,0.048,3020,2508,1499
$GC,9305,0.43,308.7,670.3,17.5,868,9306,0.22,0.00,0.00,0.000,6,0.150,0.000,2956,2508,1498
$GC,9609,0.58,308.7,633.4,12.1,883,9613,0.15,2.25,0.00,0.000,4,0.071,0.052,3031,1109,1496
$GC,9651,0.50,308.7,626.8,17.6,885,9656,0.15,2.22,0.00,0.000,6,0.146,0.047,2982,2495,1495
$GC,9979,0.55,308.7,582.0,13.0,901,9982,0.00,2.20,0.00,0.000,4,0.000,0.051,2991,1105,1495
$GC,10004,0.61,308.7,578.7,12.6,902,10008,0.00,2.22,0.00,0.000,6,0.000,0.046,2991,2496,1495
$GC,10325,0.61,308.7,532.7,14.6,918,10329,0.00,2.20,0.00,0.000,4,0.000,0.051,3001,1122,1495
$GC,10368,0.66,308.7,526.7,13.7,920,10372,0.00,2.17,0.00,0.000,6,0.000,0.046,3001,2490,1494
$GC,10686,0.66,308.7,479.7,13.7,942,10690,0.00,1.90,0.00,0.000,4,0.000,0.061,3001,3678,1494
$GC,10707,0.66,308.7,476.6,15.5,944,10711,0.00,1.90,0.00,0.000,6,0.000,0.041,3010,2461,1494
$GC,11029,0.66,308.7,429.3,16.0,975,11030,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2458,1494
$GC,11338,0.66,308.7,383.0,14.7,1005,11343,0.00,1.98,0.00,0.000,4,0.000,0.061,3010,3681,1494
$GC,11455,0.60,308.7,365.0,15.4,1016,11460,0.00,1.90,0.00,0.000,6,0.000,0.041,3019,2450,1494
$GC,11778,0.54,308.7,316.8,15.7,1047,11781,0.00,1.95,0.00,0.000,4,0.000,0.060,3019,3681,1494
$GC,11916,0.47,308.7,292.4,16.2,1064,11922,0.15,1.88,0.00,0.000,6,0.136,0.040,2976,2462,1494
$GC,12243,0.68,313.5,256.4,11.8,1125,12256,0.17,2.12,4.78,0.666,4,0.064,0.050,3063,1112,1480
$GC,12319,0.55,313.5,243.2,18.4,1139,12325,0.17,2.15,0.00,0.000,6,0.150,0.045,3005,2473,1479
$GC,12644,0.64,313.5,199.3,14.2,1200,12651,0.00,1.92,0.00,0.000,4,0.000,0.058,3005,3684,1479
$GC,12666,0.69,313.5,196.1,16.0,1204,12673,0.00,1.88,0.00,0.000,6,0.000,0.039,3013,2461,1479
$GC,12993,0.84,324.0,153.8,11.6,1265,13008,0.20,2.15,10.40,0.734,4,0.058,0.048,3116,1108,1438
$GC,13039,0.62,324.0,146.4,16.9,1273,13046,0.30,2.17,0.00,0.000,6,0.153,0.043,3021,2492,1437
$GC,13365,0.95,411.4,111.9,8.4,1334,13443,0.28,1.88,71.62,0.733,4,0.049,0.055,3145,3684,1080
$GC,13682,0.81,411.4,53.0,19.1,1391,13689,0.22,1.85,0.00,0.000,6,0.134,0.038,3080,2498,1078
$GC,14010,1.21,512.3,20.0,7.8,1452,14098,0.35,2.22,81.65,0.631,4,0.045,0.046,3240,1115,666
$STATE,14101,end climb,SURFACE_DEPTH_REACHED
$STATE,14101,begin surface coast
$FINISH,1.6,1.009925
$STATE,14112,end surface coast,CONTROL_FINISHED_OK
$STATE,14112,begin surface
$SM_CCo,14187,0.00,0.000,0,0,662,514.39
$SM_GC,2.29,8.10,0.00,0.00,0.038,0.000,0.000,161,2095,662,-8.22,0.68,514.39
$IRIDIUM_FIX,2515.12,12242.54,270898,151529
$TT8_MAMPS,0.049088
$HUMID,1547
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,25.20
$XPDR_PINGS,131
$ALTIM_BOTTOM_PING,825.6,110.1
$24V_AH,23.8,19.912
$10V_AH,10.7,15.119
$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,29.600,145.675,581.900,0.000,0.000,27.919,30.920,187.605,39.500,0.000,0.000,13.722,0.000,9894.193,748.031,3435.599,426.506,0.000,2035.857,0.000,2900.576,0.000,47.938,0.000
$DEVICE_MAMPS,221.663,68.263,1323.075,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,992.719,1042.182,1657.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85348,1469
$CAP_FILE_SIZE,165452,0
$CFSIZE,260165632,251187200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.256, 25.1,1
$GPS,020609,224607,2519.751,12246.627,27,1.2,27,-3.7