version: 66.04
glider: 165
mission: 2
dive: 90
start: 6 3 109 3 1 0
data:
$ID,165
$MISSION,2
$DIVE,90
$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,-118625.87
$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,33
$R_STBD_OVSHOOT,30
$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
$GPS1,025507,2518.476,12248.133,38,1.4,38,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-70.3
$GPS2,030055,2518.648,12248.301,13,1.7,13,-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,171.3,21561,-18.3,-12.000
$D_GRID,1118
$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,-194.7,0.0,0.0,0,73,0.00,0.00,-59.03,0.000,2,0.000,0.000,168,2068,2016
$GC,74,-0.96,-194.7,3.1,-3.7,9,139,9.02,2.30,-45.47,0.000,4,0.233,0.067,2497,3473,3555
$GC,213,-0.16,-194.7,38.9,-36.8,33,219,0.80,2.20,0.00,0.000,6,0.153,0.044,2763,2072,3557
$GC,539,-0.66,-194.7,71.8,-6.8,94,546,0.43,0.00,0.00,0.000,6,0.039,0.000,2566,2067,3559
$GC,866,-0.27,-194.7,155.9,-22.3,155,872,0.50,0.00,0.00,0.000,6,0.139,0.000,2725,2067,3560
$GC,1192,-1.25,-194.7,184.0,-10.1,216,1198,0.82,2.22,0.00,0.000,4,0.054,0.057,2398,3483,3562
$GC,1304,-0.46,-194.7,212.7,-33.1,237,1311,0.85,2.15,0.00,0.000,6,0.156,0.039,2664,2073,3562
$GC,1630,-0.82,-194.7,242.1,-4.8,298,1639,0.30,2.25,0.00,0.000,4,0.046,0.059,2520,3476,3563
$GC,1691,-0.57,-194.7,251.1,-17.9,309,1697,0.32,2.12,0.00,0.000,6,0.130,0.038,2633,2084,3563
$GC,2017,-0.81,-194.7,279.5,-8.1,370,2024,0.20,2.22,0.00,0.000,4,0.054,0.060,2535,3471,3563
$GC,2060,-0.69,-194.7,284.6,-12.9,378,2069,0.15,2.08,0.00,0.000,6,0.125,0.038,2588,2106,3563
$GC,2382,-0.69,-194.7,323.4,-12.0,421,2386,0.00,2.22,0.00,0.000,4,0.000,0.053,2589,679,3562
$GC,2414,-0.80,-194.7,327.3,-12.5,424,2418,0.00,2.22,0.00,0.000,6,0.000,0.044,2589,2105,3562
$GC,2736,-0.88,-194.7,367.2,-12.3,455,2739,0.15,2.15,0.00,0.000,4,0.064,0.061,2510,3475,3562
$GC,2879,-0.67,-194.7,391.3,-17.9,468,2886,0.25,2.08,0.00,0.000,6,0.130,0.040,2596,2122,3562
$GC,3195,-0.85,-194.7,422.4,-8.5,499,3198,0.15,2.17,0.00,0.000,4,0.064,0.064,2521,3471,3561
$GC,3258,-0.76,-194.7,430.4,-13.1,505,3262,0.12,2.05,0.00,0.000,6,0.131,0.040,2566,2132,3560
$GC,3579,-0.84,-194.7,465.7,-10.7,536,3583,0.00,2.17,0.00,0.000,4,0.000,0.064,2563,3472,3559
$GC,3605,-0.95,-194.7,468.6,-11.3,538,3614,0.10,2.08,0.00,0.000,6,0.056,0.040,2498,2124,3558
$GC,3930,-0.71,-194.7,523.4,-18.2,564,3933,0.30,2.25,0.00,0.000,4,0.142,0.056,2591,676,3557
$GC,3982,-0.94,-194.7,529.9,-10.3,566,3987,0.17,2.28,0.00,0.000,6,0.048,0.047,2498,2118,3556
$GC,4299,-0.74,-194.7,578.1,-15.9,582,4303,0.22,2.17,0.00,0.000,4,0.143,0.066,2572,3478,3554
$GC,4335,-0.91,-194.7,582.4,-9.9,584,4340,0.10,2.08,0.00,0.000,6,0.054,0.041,2508,2138,3553
$GC,4662,-0.79,-194.7,623.8,-11.9,600,4666,0.17,2.17,0.00,0.000,4,0.143,0.067,2560,3495,3551
$GC,4720,-0.96,-194.7,629.6,-8.7,602,4728,0.10,2.10,0.00,0.000,6,0.056,0.041,2496,2145,3550
$GC,5030,-0.80,-194.7,672.2,-14.4,618,5035,0.22,2.33,0.00,0.000,4,0.141,0.058,2564,675,3549
$GC,5073,-0.97,-194.7,677.2,-10.8,620,5077,0.12,2.30,0.00,0.000,6,0.057,0.050,2494,2126,3548
$GC,5399,-0.83,-194.7,721.4,-13.9,636,5403,0.20,2.17,0.00,0.000,4,0.146,0.068,2550,3470,3545
$GC,5420,-0.83,-194.7,723.9,-12.5,637,5424,0.00,2.08,0.00,0.000,6,0.000,0.043,2550,2134,3545
$GC,5746,-0.93,-194.7,756.9,-10.0,653,5747,0.00,0.00,0.00,0.000,6,0.000,0.000,2550,2133,3543
$GC,6052,-1.04,-194.7,786.6,-10.0,668,6056,0.17,2.20,0.00,0.000,4,0.065,0.070,2468,3473,3540
$GC,6095,-0.84,-194.7,792.6,-15.6,670,6099,0.20,2.08,0.00,0.000,6,0.144,0.044,2536,2141,3540
$GC,6422,-0.90,-194.7,828.4,-10.4,686,6425,0.00,2.33,0.00,0.000,4,0.000,0.061,2536,674,3538
$GC,6473,-0.98,-194.7,834.3,-11.4,688,6480,0.00,2.33,0.00,0.000,6,0.000,0.052,2536,2127,3538
$GC,6784,-1.04,-194.7,866.7,-9.5,704,6788,0.15,2.20,0.00,0.000,4,0.072,0.070,2469,3476,3535
$GC,6805,-0.95,-194.7,869.2,-12.3,705,6809,0.12,2.10,0.00,0.000,6,0.155,0.044,2509,2128,3534
$GC,7132,-0.90,-194.7,905.6,-10.8,721,7136,0.00,2.28,0.00,0.000,4,0.000,0.060,2510,681,3533
$GC,7216,-0.90,-194.7,915.8,-11.5,725,7221,0.00,2.30,0.00,0.000,6,0.000,0.052,2508,2119,3533
$GC,7543,-0.85,-194.7,950.0,-9.4,741,7544,0.12,0.00,0.00,0.000,6,0.161,0.000,2543,2119,3532
$GC,7849,-0.96,-194.7,975.0,-9.1,756,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,2120,3529
$STATE,8009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8009,begin apogee
$GC,8013,-0.20,0.0,990.2,9.3,764,8174,0.65,0.00,156.40,1.384,6,0.123,0.000,2758,2525,2758
$STATE,8174,end apogee,CONTROL_FINISHED_OK
$STATE,8174,begin climb
$GC,8176,0.96,194.7,999.0,0.0,772,8348,1.00,2.08,164.48,1.342,4,0.044,0.071,3136,3684,1964
$GC,8443,0.23,194.7,959.1,27.8,784,8450,0.88,1.90,0.00,0.000,6,0.184,0.045,2897,2539,1959
$GC,8754,0.56,288.2,931.5,8.1,800,8840,0.28,2.47,80.68,1.294,4,0.057,0.058,3022,1119,1583
$GC,8919,0.49,288.2,906.1,15.9,807,8928,0.12,2.35,0.00,0.000,6,0.143,0.053,2982,2512,1578
$GC,9230,0.49,288.2,861.7,14.2,823,9233,0.00,2.30,0.00,0.000,4,0.000,0.056,2991,1115,1576
$GC,9282,0.54,288.2,854.2,13.5,825,9287,0.00,2.25,0.00,0.000,6,0.000,0.052,2991,2492,1574
$GC,9598,0.54,288.2,808.9,14.1,841,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2492,1574
$GC,9903,0.54,288.2,765.4,15.2,856,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2492,1572
$GC,10209,0.54,288.2,718.9,15.3,871,10213,0.00,1.95,0.00,0.000,4,0.000,0.068,2991,3687,1572
$GC,10256,0.47,288.2,710.9,17.3,873,10260,0.00,1.90,0.00,0.000,6,0.000,0.044,2999,2473,1572
$GC,10578,0.40,288.2,659.1,16.0,889,10582,0.17,2.17,0.00,0.000,4,0.158,0.057,2960,1112,1572
$GC,10614,0.56,288.2,654.3,12.3,890,10621,0.08,2.20,0.00,0.000,6,0.071,0.051,3005,2484,1570
$GC,10925,0.50,288.2,604.7,16.4,906,10929,0.00,1.95,0.00,0.000,4,0.000,0.067,3005,3686,1571
$GC,11031,0.38,288.2,585.3,17.9,911,11036,0.20,1.90,0.00,0.000,6,0.145,0.045,2947,2471,1570
$GC,11358,0.62,329.7,547.8,10.3,927,11397,0.20,2.20,34.95,1.092,4,0.064,0.056,3043,1116,1413
$GC,11455,0.57,329.7,532.7,16.3,930,11461,0.12,2.22,0.00,0.000,6,0.147,0.051,3003,2467,1409
$GC,11765,0.57,329.7,487.8,14.4,950,11770,0.00,2.00,0.00,0.000,4,0.000,0.065,3002,3687,1407
$GC,11813,0.57,329.7,480.1,15.9,954,11821,0.00,1.92,0.00,0.000,6,0.000,0.044,3010,2469,1407
$GC,12130,0.57,329.7,434.3,14.2,985,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2463,1407
$GC,12440,0.57,329.7,387.6,14.4,1015,12444,0.00,2.15,0.00,0.000,4,0.000,0.054,3021,1124,1407
$GC,12465,0.57,329.7,383.9,15.3,1017,12472,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2468,1405
$GC,12782,0.57,329.7,335.3,16.6,1048,12786,0.00,1.95,0.00,0.000,4,0.000,0.064,3020,3676,1405
$GC,12808,0.52,329.7,330.6,17.9,1050,12815,0.10,1.88,0.00,0.000,6,0.143,0.042,2993,2473,1405
$GC,13126,0.70,366.0,289.8,10.5,1089,13163,0.15,2.17,30.27,0.886,4,0.070,0.053,3072,1111,1264
$GC,13253,0.58,366.0,267.6,18.6,1112,13259,0.20,2.20,0.00,0.000,6,0.150,0.049,3008,2466,1261
$GC,13579,0.73,366.0,223.7,13.7,1173,13585,0.12,1.92,0.00,0.000,4,0.075,0.061,3064,3682,1261
$GC,13605,0.73,366.0,219.3,18.0,1178,13612,0.00,1.92,0.00,0.000,6,0.000,0.041,3073,2452,1261
$GC,13931,0.67,366.0,155.2,17.7,1239,13940,0.15,2.00,0.00,0.000,4,0.159,0.059,3030,3690,1261
$GC,13965,0.75,366.0,150.2,14.6,1245,13972,0.00,1.92,0.00,0.000,6,0.000,0.040,3039,2446,1261
$GC,14291,1.00,431.9,111.6,9.3,1306,14350,0.28,2.20,53.92,0.723,4,0.053,0.050,3167,1108,997
$GC,14392,0.81,431.9,95.2,17.1,1323,14400,0.25,2.17,0.00,0.000,6,0.141,0.044,3088,2451,994
$GC,14719,1.05,453.3,55.2,11.1,1384,14745,0.20,2.15,18.02,0.645,4,0.058,0.049,3189,1106,910
$GC,14814,0.90,453.3,37.6,20.1,1401,14820,0.22,2.12,0.00,0.000,6,0.140,0.044,3116,2436,909
$STATE,15096,end climb,SURFACE_DEPTH_REACHED
$STATE,15096,begin surface coast
$FINISH,1.5,1.020833
$STATE,15128,end surface coast,CONTROL_FINISHED_OK
$STATE,15128,begin surface
$SM_CCo,15201,0.00,0.000,0,0,907,454.30
$SM_GC,2.33,7.57,0.00,0.00,0.041,0.000,0.000,162,2036,907,-8.21,-0.99,454.30
$IRIDIUM_FIX,2510.35,12247.84,270898,222233
$TT8_MAMPS,0.048321
$HUMID,1547
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.50
$XPDR_PINGS,105
$24V_AH,23.6,20.325
$10V_AH,10.7,15.376
$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,29.525,138.400,538.725,0.000,0.000,31.158,33.263,185.233,34.250,0.000,0.000,15.116,0.000,10970.299,714.688,3402.251,435.492,0.000,2000.439,0.000,2864.377,0.000,53.966,0.000
$DEVICE_MAMPS,233.168,70.564,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,988.106,998.437,1565.465,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85181,1460
$CAP_FILE_SIZE,164737,0
$CFSIZE,260165632,251011072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244, 37.1,1
$GPS,030609,071507,2517.721,12249.908,28,1.2,28,-3.7