version: 66.04
glider: 165
mission: 2
dive: 92
start: 6 3 109 11 39 37
data:
$ID,165
$MISSION,2
$DIVE,92
$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,-118658.72
$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,35
$R_STBD_OVSHOOT,28
$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
$GPS1,113337,2517.010,12250.573,32,1.0,32,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.7
$GPS2,113932,2517.072,12250.629,13,1.1,13,-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,175.3,16705,-18.3,-12.000
$D_GRID,1276
$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,-194.7,0.0,0.0,0,70,0.00,0.00,-56.20,0.000,2,0.000,0.000,165,2055,2067
$GC,72,-0.96,-194.7,3.2,-4.2,8,128,8.93,2.17,-41.28,0.000,4,0.229,0.061,2508,661,3553
$GC,303,-0.23,-194.7,74.9,-33.9,50,312,0.77,2.22,0.00,0.000,6,0.168,0.044,2736,2069,3555
$GC,631,-0.67,-194.7,107.0,-4.8,111,638,0.35,2.25,0.00,0.000,4,0.041,0.061,2567,3476,3558
$GC,647,-0.88,-194.7,108.3,-7.3,114,655,0.00,2.17,0.00,0.000,6,0.000,0.036,2567,2057,3558
$GC,975,-0.53,-194.7,179.6,-20.8,175,982,0.25,2.28,0.00,0.000,4,0.146,0.064,2643,3470,3559
$GC,1007,-0.53,-194.7,184.4,-13.5,181,1014,0.00,2.17,0.00,0.000,6,0.000,0.041,2643,2056,3559
$GC,1333,-0.72,-194.7,214.5,-8.3,242,1342,0.15,2.28,0.00,0.000,4,0.061,0.058,2562,3473,3560
$GC,1367,-0.66,-194.7,218.4,-13.2,248,1374,0.12,2.17,0.00,0.000,6,0.126,0.037,2607,2053,3560
$GC,1695,-0.70,-194.7,257.2,-11.3,309,1700,0.00,2.28,0.00,0.000,4,0.000,0.060,2603,3488,3560
$GC,1769,-0.87,-194.7,264.7,-9.5,323,1775,0.15,2.17,0.00,0.000,6,0.044,0.038,2515,2064,3560
$GC,2095,-0.49,-194.7,326.1,-19.6,372,2099,0.45,2.25,0.00,0.000,4,0.142,0.062,2658,3477,3560
$GC,2185,-0.99,-194.7,332.8,-5.1,380,2193,0.38,2.12,0.00,0.000,6,0.035,0.038,2466,2086,3560
$GC,2501,-0.45,-194.7,397.8,-22.6,411,2505,0.65,2.17,0.00,0.000,4,0.149,0.053,2672,670,3560
$GC,2565,-1.02,-194.7,402.7,-4.6,417,2569,0.40,2.20,0.00,0.000,6,0.037,0.043,2466,2087,3560
$GC,2886,-0.62,-194.7,460.4,-17.2,448,2890,0.47,2.20,0.00,0.000,4,0.149,0.053,2613,674,3559
$GC,2928,-0.86,-194.7,464.9,-7.5,452,2933,0.15,2.17,0.00,0.000,6,0.046,0.044,2524,2069,3559
$GC,3259,-0.73,-194.7,506.2,-12.1,482,3263,0.20,2.25,0.00,0.000,4,0.137,0.067,2586,3468,3557
$GC,3295,-0.93,-194.7,510.2,-9.7,483,3303,0.15,2.12,0.00,0.000,6,0.047,0.039,2500,2082,3556
$GC,3606,-0.71,-194.7,554.7,-15.5,499,3610,0.30,2.22,0.00,0.000,4,0.140,0.064,2589,3475,3554
$GC,3675,-0.98,-194.7,561.4,-8.2,502,3679,0.20,2.12,0.00,0.000,6,0.046,0.041,2482,2091,3553
$GC,3997,-0.71,-194.7,616.5,-17.7,518,4001,0.35,2.22,0.00,0.000,4,0.143,0.066,2589,3480,3550
$GC,4049,-1.01,-194.7,622.1,-7.7,520,4054,0.22,2.12,0.00,0.000,6,0.044,0.041,2474,2103,3550
$GC,4365,-0.73,-194.7,670.1,-16.0,536,4369,0.35,2.25,0.00,0.000,4,0.146,0.058,2582,678,3547
$GC,4455,-0.97,-194.7,678.9,-8.4,540,4460,0.17,2.22,0.00,0.000,6,0.051,0.048,2488,2089,3546
$GC,4777,-0.77,-194.7,721.5,-13.4,556,4781,0.28,2.25,0.00,0.000,4,0.143,0.066,2563,3479,3544
$GC,4802,-0.83,-194.7,724.3,-10.1,557,4807,0.00,2.15,0.00,0.000,6,0.000,0.042,2563,2093,3544
$GC,5124,-0.98,-194.7,749.4,-8.1,573,5128,0.17,2.25,0.00,0.000,4,0.065,0.067,2481,3471,3541
$GC,5160,-0.82,-194.7,753.8,-12.3,574,5169,0.20,2.15,0.00,0.000,6,0.135,0.043,2550,2090,3540
$GC,5471,-0.91,-194.7,783.7,-9.0,590,5475,0.00,2.28,0.00,0.000,4,0.000,0.059,2550,667,3538
$GC,5498,-0.98,-194.7,786.3,-10.2,591,5502,0.10,2.25,0.00,0.000,6,0.063,0.050,2492,2086,3538
$GC,5820,-0.83,-194.7,824.9,-11.9,607,5825,0.17,2.25,0.00,0.000,4,0.152,0.058,2550,669,3536
$GC,5871,-0.93,-194.7,830.5,-10.0,609,5876,0.00,2.25,0.00,0.000,6,0.000,0.051,2549,2083,3536
$GC,6188,-1.03,-194.7,860.5,-9.6,625,6192,0.17,2.25,0.00,0.000,4,0.065,0.070,2468,3487,3534
$GC,6230,-0.83,-194.7,866.2,-15.0,627,6234,0.22,2.17,0.00,0.000,6,0.143,0.044,2545,2094,3533
$GC,6557,-0.91,-194.7,899.9,-10.3,643,6564,0.00,2.28,0.00,0.000,4,0.000,0.071,2545,3491,3531
$GC,6595,-1.05,-194.7,903.9,-10.9,644,6602,0.15,2.17,0.00,0.000,6,0.054,0.044,2466,2100,3531
$GC,6905,-0.81,-194.7,954.1,-17.2,660,6910,0.30,2.28,0.00,0.000,4,0.150,0.061,2557,676,3529
$GC,6974,-0.97,-194.7,963.1,-12.4,663,6979,0.10,2.28,0.00,0.000,6,0.064,0.052,2499,2095,3529
$STATE,7172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7172,begin apogee
$GC,7176,-0.20,0.0,992.0,14.8,673,7336,0.80,0.00,156.48,1.381,6,0.140,0.000,2755,2534,2759
$STATE,7336,end apogee,CONTROL_FINISHED_OK
$STATE,7336,begin climb
$GC,7337,0.96,194.7,1002.9,0.0,681,7510,1.00,2.08,164.82,1.337,4,0.045,0.071,3135,3683,1964
$GC,7723,0.24,194.7,938.5,24.6,699,7727,0.80,1.88,0.00,0.000,6,0.182,0.047,2903,2529,1958
$GC,8050,0.61,335.8,914.9,6.2,715,8179,0.32,2.45,122.68,1.282,4,0.054,0.058,3045,1119,1388
$GC,8260,0.47,335.8,880.8,17.7,725,8264,0.22,2.35,0.00,0.000,6,0.152,0.052,2977,2510,1383
$GC,8586,0.53,335.8,840.1,12.7,741,8590,0.00,2.30,0.00,0.000,4,0.000,0.056,2985,1116,1380
$GC,8612,0.61,335.8,836.6,13.5,742,8617,0.00,2.28,0.00,0.000,6,0.000,0.051,2985,2505,1379
$GC,8933,0.61,335.8,789.4,14.6,758,8938,0.00,2.28,0.00,0.000,4,0.000,0.055,2995,1112,1378
$GC,8986,0.69,335.8,781.7,14.4,760,8991,0.10,2.25,0.00,0.000,6,0.066,0.051,3050,2496,1378
$GC,9302,0.42,335.8,713.3,22.1,776,9303,0.32,0.00,0.00,0.000,6,0.157,0.000,2955,2496,1378
$GC,9608,0.61,336.9,674.5,12.0,791,9612,0.17,2.22,0.00,0.000,4,0.065,0.056,3040,1117,1376
$GC,9633,0.61,336.9,670.6,16.0,792,9638,0.00,2.20,0.00,0.000,6,0.000,0.050,3040,2489,1376
$GC,9955,0.41,336.9,603.8,21.2,808,9959,0.30,2.20,0.00,0.000,4,0.153,0.055,2960,1105,1376
$GC,9991,0.61,336.9,598.0,13.6,809,9999,0.12,2.20,0.00,0.000,6,0.058,0.050,3025,2476,1375
$GC,10302,0.52,336.9,539.0,18.7,825,10306,0.12,1.95,0.00,0.000,4,0.157,0.064,2990,3692,1375
$GC,10376,0.52,336.9,526.4,16.6,828,10381,0.00,1.90,0.00,0.000,6,0.000,0.044,2998,2474,1375
$GC,10695,0.52,336.9,475.1,16.0,851,10699,0.00,1.98,0.00,0.000,4,0.000,0.065,2998,3682,1375
$GC,10726,0.52,336.9,469.7,17.6,854,10731,0.00,1.90,0.00,0.000,6,0.000,0.044,3007,2473,1375
$GC,11048,0.52,336.9,416.7,15.1,885,11051,0.00,2.12,0.00,0.000,4,0.000,0.055,3017,1112,1375
$GC,11170,0.57,336.9,398.6,13.9,896,11177,0.00,2.20,0.00,0.000,6,0.000,0.051,3017,2487,1373
$GC,11487,0.57,336.9,353.3,13.4,927,11488,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2488,1373
$GC,11796,0.57,336.9,305.6,16.2,957,11800,0.00,2.20,0.00,0.000,4,0.000,0.053,3027,1112,1373
$GC,11827,0.57,336.9,301.2,12.9,960,11832,0.00,2.15,0.00,0.000,6,0.000,0.048,3027,2466,1373
$GC,12153,0.57,336.9,247.6,17.2,1020,12160,0.00,1.95,0.00,0.000,4,0.000,0.062,3026,3682,1373
$GC,12260,0.57,336.9,227.7,19.5,1040,12268,0.08,1.90,0.00,0.000,6,0.147,0.042,3008,2455,1373
$GC,12587,0.81,405.3,190.9,9.2,1101,12645,0.20,0.00,55.42,0.797,6,0.059,0.000,3102,2449,1106
$GC,12966,0.72,405.3,119.9,17.5,1170,12973,0.17,1.98,0.00,0.000,4,0.145,0.060,3053,3691,1102
$GC,13031,0.85,405.3,109.8,12.8,1182,13038,0.00,1.92,0.00,0.000,6,0.000,0.040,3061,2451,1102
$GC,13358,1.20,481.4,70.9,8.9,1243,13427,0.38,2.20,61.50,0.683,4,0.047,0.051,3230,1111,795
$GC,13511,0.92,481.4,35.9,23.2,1270,13519,0.35,2.17,0.00,0.000,6,0.149,0.044,3120,2462,792
$STATE,13773,end climb,SURFACE_DEPTH_REACHED
$STATE,13773,begin surface coast
$FINISH,1.5,1.010383
$STATE,13800,end surface coast,CONTROL_FINISHED_OK
$STATE,13800,begin surface
$SM_CCo,13873,0.00,0.000,0,0,791,483.00
$SM_GC,2.49,7.62,0.00,0.00,0.041,0.000,0.000,162,2048,791,-8.22,-0.65,483.00
$IRIDIUM_FIX,2507.97,12248.55,280898,070731
$TT8_MAMPS,0.048321
$HUMID,1569
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.00
$XPDR_PINGS,103
$24V_AH,23.6,20.747
$10V_AH,10.7,15.621
$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,30.150,140.675,560.900,0.000,0.000,24.250,38.194,194.020,33.750,0.000,0.000,14.820,0.000,9891.815,700.149,3175.442,434.327,0.000,1919.389,0.000,2671.600,0.000,54.729,0.000
$DEVICE_MAMPS,229.333,71.331,1381.367,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,896.129,907.821,1420.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,75724,1324
$CAP_FILE_SIZE,155059,0
$CFSIZE,260165632,250855424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.176, 39.0,1
$GPS,030609,153137,2515.894,12251.682,29,1.4,29,-3.7