version: 66.04
glider: 165
mission: 2
dive: 93
start: 6 3 109 15 43 41
data:
$ID,165
$MISSION,2
$DIVE,93
$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,-118773.26
$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,40
$R_STBD_OVSHOOT,29
$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
$GPS1,153137,2515.894,12251.682,29,1.4,29,-3.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-69.3
$GPS2,154336,2516.078,12251.689,99,1.8,111,-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,169.4,14153,-18.3,-12.000
$D_GRID,1352
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.96,-194.7,0.0,0.0,0,67,0.00,0.00,-52.90,0.000,2,0.000,0.000,160,2049,2100
$GC,69,-0.96,-194.7,3.1,-4.4,8,126,8.90,2.17,-42.05,0.000,4,0.230,0.060,2504,657,3554
$GC,258,-0.14,-194.7,61.7,-37.5,42,266,0.88,2.25,0.00,0.000,6,0.163,0.047,2765,2077,3555
$GC,586,-1.03,-194.7,90.6,-6.3,103,594,0.77,2.20,0.00,0.000,4,0.074,0.060,2477,3486,3557
$GC,667,-0.34,-194.7,108.5,-29.3,118,674,0.68,2.15,0.00,0.000,6,0.143,0.038,2699,2086,3557
$GC,994,-0.66,-194.7,139.7,-6.8,179,1002,0.25,2.20,0.00,0.000,4,0.048,0.051,2575,678,3558
$GC,1016,-0.66,-194.7,142.3,-11.7,183,1025,0.08,2.20,0.00,0.000,6,0.141,0.045,2600,2081,3558
$GC,1344,-0.56,-194.7,192.2,-15.3,244,1351,0.12,2.20,0.00,0.000,4,0.150,0.061,2630,3469,3559
$GC,1441,-0.77,-194.7,203.2,-10.5,262,1447,0.12,2.08,0.00,0.000,6,0.046,0.041,2548,2105,3559
$GC,1767,-0.49,-194.7,265.5,-17.4,323,1774,0.32,0.00,0.00,0.000,6,0.161,0.000,2656,2100,3559
$GC,2093,-0.83,-194.7,287.5,-4.9,384,2100,0.28,2.20,0.00,0.000,4,0.048,0.060,2523,3477,3559
$GC,2168,-0.62,-194.7,297.3,-14.8,398,2175,0.25,2.08,0.00,0.000,6,0.131,0.038,2610,2120,3559
$GC,2491,-0.77,-194.7,328.4,-9.3,431,2494,0.12,2.15,0.00,0.000,4,0.069,0.061,2546,3475,3559
$GC,2543,-0.69,-194.7,335.1,-13.1,436,2547,0.12,2.05,0.00,0.000,6,0.128,0.038,2590,2133,3559
$GC,2864,-0.77,-194.7,371.3,-10.2,467,2868,0.00,2.28,0.00,0.000,4,0.000,0.053,2591,678,3558
$GC,2895,-0.86,-194.7,374.6,-10.5,470,2900,0.10,2.25,0.00,0.000,6,0.055,0.044,2525,2116,3558
$GC,3217,-0.68,-194.7,422.1,-14.8,501,3221,0.25,2.17,0.00,0.000,4,0.136,0.062,2602,3477,3556
$GC,3281,-0.94,-194.7,428.4,-8.0,507,3285,0.20,2.05,0.00,0.000,6,0.042,0.038,2494,2134,3555
$GC,3601,-0.67,-194.7,479.6,-15.7,538,3602,0.35,0.00,0.00,0.000,6,0.140,0.000,2603,2130,3553
$GC,3922,-0.93,-194.7,505.1,-7.6,566,3925,0.22,2.15,0.00,0.000,4,0.054,0.064,2495,3493,3551
$GC,4011,-0.75,-194.7,517.9,-14.8,570,4016,0.22,2.08,0.00,0.000,6,0.133,0.041,2572,2148,3549
$GC,4335,-0.87,-194.7,550.0,-9.1,586,4338,0.00,2.15,0.00,0.000,4,0.000,0.065,2572,3490,3548
$GC,4376,-1.05,-194.7,553.7,-8.4,588,4380,0.20,2.05,0.00,0.000,6,0.045,0.040,2467,2154,3547
$GC,4703,-0.73,-194.7,611.6,-17.9,604,4707,0.35,2.33,0.00,0.000,4,0.145,0.056,2580,667,3545
$GC,4793,-0.94,-194.7,621.8,-10.1,608,4797,0.15,2.33,0.00,0.000,6,0.051,0.048,2498,2139,3545
$GC,5108,-0.79,-194.7,666.1,-14.4,624,5110,0.22,0.00,0.00,0.000,6,0.143,0.000,2566,2139,3541
$GC,5414,-0.94,-194.7,695.2,-9.2,639,5418,0.15,2.17,0.00,0.000,4,0.068,0.068,2494,3479,3540
$GC,5445,-0.84,-194.7,699.0,-12.5,640,5450,0.15,2.10,0.00,0.000,6,0.135,0.043,2546,2129,3540
$GC,5762,-0.90,-194.7,731.6,-9.9,656,5765,0.00,2.28,0.00,0.000,4,0.000,0.058,2546,678,3537
$GC,5804,-0.97,-194.7,736.1,-10.8,658,5808,0.08,2.30,0.00,0.000,6,0.066,0.051,2498,2120,3536
$GC,6131,-0.84,-194.7,777.2,-13.1,674,6132,0.17,0.00,0.00,0.000,6,0.147,0.000,2550,2120,3533
$GC,6435,-0.94,-194.7,805.7,-9.0,689,6439,0.00,2.22,0.00,0.000,4,0.000,0.071,2550,3485,3532
$GC,6461,-1.07,-194.7,808.1,-9.3,690,6466,0.17,2.12,0.00,0.000,6,0.049,0.044,2460,2123,3531
$GC,6783,-0.80,-194.7,858.2,-16.3,706,6787,0.32,2.28,0.00,0.000,4,0.150,0.060,2559,677,3529
$GC,6847,-0.95,-194.7,865.4,-9.7,709,6851,0.15,2.28,0.00,0.000,6,0.071,0.051,2492,2123,3529
$GC,7173,-0.82,-194.7,908.9,-13.7,725,7175,0.20,0.00,0.00,0.000,6,0.147,0.000,2551,2123,3527
$GC,7478,-0.95,-194.7,938.3,-9.6,740,7482,0.12,2.20,0.00,0.000,4,0.078,0.071,2492,3473,3526
$GC,7541,-0.88,-194.7,946.1,-13.0,743,7546,0.10,2.10,0.00,0.000,6,0.146,0.044,2528,2125,3525
$GC,7868,-0.88,-194.7,981.7,-10.6,759,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2124,3524
$STATE,7948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7948,begin apogee
$GC,7951,-0.20,0.0,990.1,10.2,763,8111,0.68,0.00,155.23,1.376,6,0.127,0.000,2750,2535,2759
$STATE,8111,end apogee,CONTROL_FINISHED_OK
$STATE,8112,begin climb
$GC,8113,0.96,194.7,996.9,0.0,771,8286,1.02,2.03,164.68,1.335,4,0.048,0.069,3138,3693,1964
$GC,8524,0.23,194.7,917.9,26.3,790,8529,0.85,1.90,0.00,0.000,6,0.178,0.044,2898,2528,1957
$GC,8846,0.57,291.5,888.5,8.0,806,8935,0.28,2.42,83.20,1.272,4,0.056,0.056,3026,1118,1569
$GC,8973,0.49,291.5,868.9,16.6,812,8977,0.17,2.33,0.00,0.000,6,0.150,0.052,2979,2510,1565
$GC,9298,0.49,291.5,822.7,13.8,828,9303,0.00,1.95,0.00,0.000,4,0.000,0.067,2979,3687,1562
$GC,9330,0.49,291.5,817.9,15.5,829,9335,0.00,1.90,0.00,0.000,6,0.000,0.043,2986,2498,1562
$GC,9646,0.49,291.5,771.9,14.5,845,9651,0.00,2.22,0.00,0.000,4,0.000,0.054,2997,1118,1560
$GC,9694,0.54,291.5,765.1,14.0,847,9698,0.00,2.25,0.00,0.000,6,0.000,0.051,2997,2504,1559
$GC,10015,0.54,291.5,715.3,16.1,863,10019,0.00,2.25,0.00,0.000,4,0.000,0.056,3007,1122,1558
$GC,10046,0.54,291.5,710.4,15.6,864,10051,0.00,2.20,0.00,0.000,6,0.000,0.050,3007,2491,1557
$GC,10363,0.47,291.5,659.4,15.8,880,10367,0.12,1.92,0.00,0.000,4,0.156,0.066,2973,3681,1558
$GC,10383,0.47,291.5,656.0,16.3,881,10387,0.00,1.88,0.00,0.000,6,0.000,0.044,2981,2488,1557
$GC,10710,0.52,291.5,612.3,12.9,897,10714,0.00,2.17,0.00,0.000,4,0.000,0.054,2990,1127,1557
$GC,10805,0.62,302.3,600.9,11.6,901,10818,0.00,2.15,8.48,1.020,6,0.000,0.050,2990,2470,1525
$GC,11121,0.62,302.3,559.0,13.8,917,11125,0.00,1.95,0.00,0.000,4,0.000,0.065,2991,3675,1525
$GC,11152,0.62,302.3,554.3,15.3,918,11157,0.00,1.90,0.00,0.000,6,0.000,0.043,2999,2466,1525
$GC,11468,0.62,302.3,509.3,14.2,934,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2462,1524
$GC,11777,0.62,302.3,464.7,13.2,960,11781,0.00,1.98,0.00,0.000,4,0.000,0.064,2999,3680,1524
$GC,11943,0.62,302.3,439.2,15.4,975,11950,0.00,1.85,0.00,0.000,6,0.000,0.044,3008,2487,1524
$GC,12259,0.62,302.3,390.9,13.8,1006,12263,0.00,1.95,0.00,0.000,4,0.000,0.064,3008,3687,1524
$GC,12327,0.57,302.3,380.1,16.0,1012,12334,0.00,1.85,0.00,0.000,6,0.000,0.042,3017,2485,1524
$GC,12644,0.57,302.3,331.7,15.0,1043,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2480,1524
$GC,12956,0.57,302.3,286.5,13.7,1082,12963,0.00,1.92,0.00,0.000,4,0.000,0.062,3017,3678,1524
$GC,13026,0.51,302.3,276.1,15.6,1095,13033,0.10,1.83,0.00,0.000,6,0.146,0.042,2990,2494,1524
$GC,13353,0.72,339.0,238.5,10.5,1156,13390,0.17,2.17,31.52,0.840,4,0.063,0.051,3082,1126,1376
$GC,13405,0.57,339.0,230.5,17.0,1165,13411,0.25,2.20,0.00,0.000,6,0.152,0.047,3004,2490,1374
$GC,13731,0.82,380.3,194.2,10.3,1226,13772,0.22,2.28,34.65,0.790,4,0.058,0.050,3115,1120,1208
$GC,13824,0.72,380.3,177.5,19.8,1242,13831,0.20,2.20,0.00,0.000,6,0.141,0.045,3051,2479,1205
$GC,14151,0.92,431.8,130.3,9.9,1303,14202,0.17,2.25,42.90,0.732,4,0.061,0.049,3138,1118,997
$GC,14271,0.85,431.8,109.3,16.3,1324,14278,0.12,2.17,0.00,0.000,6,0.134,0.044,3097,2465,995
$GC,14597,1.03,469.7,69.8,10.4,1385,14635,0.15,2.20,31.23,0.672,4,0.064,0.049,3175,1124,843
$GC,14715,0.98,469.7,50.4,17.5,1406,14721,0.10,2.15,0.00,0.000,6,0.140,0.043,3131,2471,842
$GC,15041,1.16,469.7,4.4,13.0,1467,15049,0.17,2.12,0.00,0.000,4,0.058,0.046,3221,1126,840
$STATE,15051,end climb,SURFACE_DEPTH_REACHED
$STATE,15051,begin surface coast
$FINISH,1.5,1.021894
$STATE,15073,end surface coast,CONTROL_FINISHED_OK
$STATE,15073,begin surface
$SM_CCo,15147,0.00,0.000,0,0,839,470.98
$SM_GC,2.28,7.82,0.00,0.00,0.038,0.000,0.000,161,2096,839,-8.21,0.71,470.98
$IRIDIUM_FIX,2510.35,12255.14,280898,151502
$TT8_MAMPS,0.048321
$HUMID,1534
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.50
$XPDR_PINGS,124
$24V_AH,23.6,20.961
$10V_AH,10.7,15.758
$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,29.425,136.550,551.875,0.000,0.000,53.374,77.311,322.085,39.000,0.000,0.000,113.909,0.000,10944.027,693.834,3552.138,651.021,0.000,1994.709,0.000,2911.162,0.000,53.977,0.000
$DEVICE_MAMPS,230.100,71.331,1375.998,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,996.748,1014.729,1596.429,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85260,1473
$CAP_FILE_SIZE,167779,0
$CFSIZE,260165632,250753024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.270, 25.6,1
$GPS,030609,195701,2515.640,12253.351,35,1.6,35,-3.7