version: 66.04
glider: 165
mission: 2
dive: 89
start: 6 2 109 22 52 2
data:
$ID,165
$MISSION,2
$DIVE,89
$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,-118610.12
$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,40
$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
$GPS1,224607,2519.751,12246.627,27,1.2,27,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-68.8
$GPS2,225156,2519.993,12246.706,12,1.2,12,-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,180.0,25212,-18.3,-12.000
$D_GRID,997
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.96,-194.7,0.0,0.0,0,74,0.00,0.00,-60.80,0.000,2,0.000,0.000,160,2095,2145
$GC,75,-0.96,-194.7,3.3,-4.8,9,127,8.90,2.25,-38.28,0.000,4,0.227,0.064,2494,3474,3555
$GC,153,-0.05,-194.7,20.0,-38.2,22,160,0.95,2.20,0.00,0.000,6,0.155,0.037,2791,2068,3556
$GC,479,-1.00,-194.7,53.2,-11.5,83,486,0.77,2.20,0.00,0.000,4,0.052,0.052,2485,3471,3558
$GC,538,-0.31,-194.7,65.6,-28.1,94,545,0.70,2.12,0.00,0.000,6,0.146,0.038,2712,2083,3559
$GC,865,-0.62,-194.7,104.7,-9.0,155,872,0.25,2.20,0.00,0.000,4,0.048,0.056,2587,3461,3560
$GC,886,-0.68,-194.7,107.5,-13.0,159,893,0.00,2.10,0.00,0.000,6,0.000,0.037,2586,2087,3560
$GC,1213,-0.49,-194.7,163.8,-17.6,220,1221,0.22,2.20,0.00,0.000,4,0.137,0.056,2658,3464,3561
$GC,1263,-0.82,-194.7,169.6,-9.0,229,1269,0.22,2.10,0.00,0.000,6,0.038,0.041,2532,2084,3562
$GC,1589,-0.55,-194.7,225.1,-15.8,290,1596,0.35,2.20,0.00,0.000,4,0.136,0.050,2644,671,3563
$GC,1627,-0.77,-194.7,229.4,-9.4,297,1633,0.15,2.17,0.00,0.000,6,0.044,0.041,2549,2072,3563
$GC,1952,-0.56,-194.7,276.7,-15.6,358,1960,0.28,2.22,0.00,0.000,4,0.137,0.051,2636,672,3563
$GC,1991,-0.77,-194.7,281.0,-9.4,365,1997,0.12,2.17,0.00,0.000,6,0.047,0.041,2551,2069,3563
$GC,2316,-0.63,-194.7,325.5,-13.9,410,2320,0.20,2.20,0.00,0.000,4,0.137,0.058,2602,3477,3563
$GC,2401,-0.85,-194.7,334.1,-8.6,418,2405,0.12,2.15,0.00,0.000,6,0.048,0.037,2524,2073,3563
$GC,2722,-0.66,-194.7,386.8,-15.8,449,2726,0.28,2.22,0.00,0.000,4,0.136,0.061,2602,3473,3562
$GC,2851,-0.93,-194.7,398.7,-8.0,461,2854,0.22,2.08,0.00,0.000,6,0.052,0.038,2493,2097,3561
$GC,3171,-0.66,-194.7,450.9,-16.1,492,3172,0.35,0.00,0.00,0.000,6,0.140,0.000,2602,2093,3560
$GC,3481,-0.92,-194.7,476.7,-8.1,522,3485,0.22,2.20,0.00,0.000,4,0.056,0.064,2495,3473,3559
$GC,3513,-0.80,-194.7,480.7,-14.1,525,3517,0.17,2.10,0.00,0.000,6,0.130,0.041,2557,2107,3557
$GC,3832,-0.85,-194.7,515.4,-10.8,549,3835,0.00,2.20,0.00,0.000,4,0.000,0.065,2550,3477,3556
$GC,3873,-0.93,-194.7,520.1,-11.1,551,3878,0.00,2.10,0.00,0.000,6,0.000,0.041,2550,2115,3555
$GC,4199,-0.93,-194.7,557.7,-11.2,567,4204,0.00,2.22,0.00,0.000,4,0.000,0.065,2550,3476,3553
$GC,4253,-1.04,-194.7,563.4,-10.5,569,4257,0.15,2.08,0.00,0.000,6,0.051,0.041,2467,2133,3552
$GC,4568,-0.76,-194.7,614.3,-15.5,585,4573,0.35,2.30,0.00,0.000,4,0.146,0.057,2574,676,3550
$GC,4632,-0.94,-194.7,620.7,-9.2,588,4637,0.12,2.30,0.00,0.000,6,0.054,0.049,2505,2131,3549
$GC,4960,-0.84,-194.7,664.0,-13.9,604,4963,0.15,2.15,0.00,0.000,4,0.148,0.069,2547,3474,3546
$GC,5006,-0.96,-194.7,669.5,-10.5,606,5011,0.08,2.08,0.00,0.000,6,0.062,0.042,2494,2134,3546
$GC,5328,-0.82,-194.7,715.0,-13.9,622,5332,0.20,2.30,0.00,0.000,4,0.144,0.058,2555,663,3544
$GC,5370,-0.96,-194.7,719.8,-10.6,624,5374,0.08,2.33,0.00,0.000,6,0.065,0.050,2500,2125,3544
$GC,5691,-0.86,-194.7,759.1,-12.4,640,5692,0.15,0.00,0.00,0.000,6,0.148,0.000,2543,2125,3541
$GC,5997,-0.94,-194.7,788.1,-9.5,655,6000,0.00,2.17,0.00,0.000,4,0.000,0.070,2536,3479,3540
$GC,6086,-1.04,-194.7,797.2,-10.5,659,6091,0.12,2.08,0.00,0.000,6,0.057,0.044,2467,2150,3539
$GC,6408,-0.81,-194.7,846.1,-15.7,675,6409,0.30,0.00,0.00,0.000,6,0.149,0.000,2558,2145,3537
$GC,6713,-0.97,-194.7,873.9,-9.2,690,6717,0.15,2.17,0.00,0.000,4,0.071,0.071,2482,3470,3535
$GC,6744,-0.86,-194.7,877.7,-13.3,691,6749,0.15,2.05,0.00,0.000,6,0.142,0.045,2534,2159,3534
$GC,7061,-0.92,-194.7,909.1,-9.8,707,7064,0.00,2.38,0.00,0.000,4,0.000,0.062,2534,663,3533
$GC,7134,-1.00,-194.7,916.9,-10.2,710,7139,0.08,2.38,0.00,0.000,6,0.068,0.054,2488,2145,3532
$GC,7450,-0.86,-194.7,958.8,-13.0,726,7451,0.17,0.00,0.00,0.000,6,0.156,0.000,2538,2145,3530
$STATE,7469,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7469,begin apogee
$GC,7473,-0.20,0.0,961.0,12.3,727,7633,0.65,0.00,155.95,1.360,6,0.126,0.000,2753,2518,2759
$STATE,7633,end apogee,CONTROL_FINISHED_OK
$STATE,7633,begin climb
$GC,7635,0.96,194.7,966.6,0.0,735,7807,1.02,2.05,163.77,1.317,4,0.051,0.070,3136,3687,1964
$GC,7885,0.23,194.7,928.0,27.5,746,7892,0.85,1.90,0.00,0.000,6,0.179,0.046,2902,2538,1959
$GC,8196,0.53,278.7,899.1,8.5,762,8274,0.25,2.45,72.30,1.270,4,0.059,0.058,3019,1120,1621
$GC,8366,0.45,278.7,872.7,16.5,770,8370,0.15,2.33,0.00,0.000,6,0.145,0.053,2972,2505,1616
$GC,8692,0.45,278.7,827.5,13.5,786,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2505,1614
$GC,8997,0.45,278.7,787.4,12.8,801,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2505,1612
$GC,9302,0.45,278.7,747.7,13.1,816,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2505,1610
$GC,9607,0.45,278.7,706.6,13.5,831,9612,0.00,2.25,0.00,0.000,4,0.000,0.055,2981,1116,1610
$GC,9644,0.52,278.7,701.7,13.6,832,9653,0.00,2.25,0.00,0.000,6,0.000,0.051,2981,2508,1609
$GC,9955,0.52,278.7,656.4,14.8,848,9959,0.00,1.92,0.00,0.000,4,0.000,0.067,2981,3689,1609
$GC,9981,0.52,278.7,652.2,15.8,849,9986,0.00,1.90,0.00,0.000,6,0.000,0.044,2989,2481,1609
$GC,10303,0.52,278.7,601.8,15.2,865,10307,0.00,2.17,0.00,0.000,4,0.000,0.056,2999,1127,1609
$GC,10345,0.52,278.7,595.3,15.6,867,10349,0.00,2.20,0.00,0.000,6,0.000,0.051,3000,2496,1607
$GC,10672,0.46,278.7,545.7,15.2,883,10675,0.00,1.92,0.00,0.000,4,0.000,0.067,2999,3681,1607
$GC,10736,0.37,278.7,535.6,15.5,886,10740,0.20,1.83,0.00,0.000,6,0.139,0.045,2941,2518,1607
$GC,11062,0.59,298.3,499.4,11.2,902,11084,0.20,2.28,15.73,1.039,4,0.064,0.056,3038,1119,1541
$GC,11141,0.49,298.3,486.6,16.3,909,11148,0.17,2.25,0.00,0.000,6,0.146,0.051,2981,2505,1539
$GC,11457,0.57,298.3,445.5,12.2,940,11461,0.00,2.22,0.00,0.000,4,0.000,0.054,2989,1126,1539
$GC,11494,0.68,298.3,441.1,12.1,943,11501,0.10,2.22,0.00,0.000,6,0.065,0.050,3045,2508,1538
$GC,11809,0.50,298.3,387.0,18.2,974,11814,0.22,1.90,0.00,0.000,4,0.150,0.065,2978,3687,1538
$GC,11863,0.57,298.3,379.4,12.3,979,11867,0.00,1.83,0.00,0.000,6,0.000,0.044,2985,2517,1538
$GC,12183,0.67,298.3,337.9,13.3,1010,12185,0.15,0.00,0.00,0.000,6,0.070,0.000,3052,2512,1537
$GC,12497,0.51,298.3,281.6,17.6,1050,12505,0.25,2.20,0.00,0.000,4,0.150,0.052,2988,1126,1538
$GC,12519,0.51,298.3,278.3,14.8,1054,12526,0.00,2.20,0.00,0.000,6,0.000,0.048,2987,2507,1538
$GC,12847,0.72,354.8,240.8,9.7,1115,12901,0.17,2.30,47.20,0.855,4,0.066,0.052,3074,1122,1311
$GC,12996,0.60,354.8,216.7,17.3,1142,13003,0.17,2.22,0.00,0.000,6,0.149,0.047,3020,2489,1307
$GC,13323,0.70,354.8,174.6,14.6,1203,13324,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2489,1306
$GC,13643,0.92,376.4,136.3,11.1,1263,13670,0.25,1.95,18.33,0.739,4,0.053,0.060,3128,3683,1223
$GC,13776,0.63,376.4,109.9,22.9,1287,13783,0.35,1.85,0.00,0.000,6,0.143,0.041,3025,2504,1222
$GC,14103,1.20,526.6,82.2,5.8,1348,14236,0.47,1.98,125.18,0.690,4,0.041,0.057,3226,3687,607
$STATE,14442,end climb,SURFACE_DEPTH_REACHED
$STATE,14442,begin surface coast
$FINISH,1.7,1.021603
$STATE,14453,end surface coast,CONTROL_FINISHED_OK
$STATE,14453,begin surface
$SM_CCo,14529,0.00,0.000,0,0,595,530.83
$SM_GC,2.32,7.90,0.00,0.00,0.036,0.000,0.000,168,2067,595,-8.20,-0.11,530.83
$IRIDIUM_FIX,2512.73,12245.83,270898,181832
$TT8_MAMPS,0.047554
$HUMID,1577
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,24.70
$XPDR_PINGS,122
$ALTIM_BOTTOM_PING,901.1,84.2
$24V_AH,23.6,20.121
$10V_AH,10.7,15.246
$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,30.300,130.150,598.450,0.000,0.000,27.438,30.828,192.684,38.000,0.000,0.000,14.642,0.000,10426.763,720.293,3277.545,426.921,0.000,1967.995,0.000,2759.260,0.000,52.680,0.000
$DEVICE_MAMPS,227.032,70.564,1359.891,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,953.895,979.862,1542.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82137,1410
$CAP_FILE_SIZE,158506,0
$CFSIZE,260165632,251105280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198, 59.3,1
$GPS,030609,025507,2518.476,12248.133,38,1.4,38,-3.7