version: 66.04
glider: 165
mission: 2
dive: 94
start: 6 3 109 20 3 19
data:
$ID,165
$MISSION,2
$DIVE,94
$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,-118789.73
$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,43
$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
$GPS1,195701,2515.640,12253.351,35,1.6,35,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-67.5
$GPS2,200314,2515.737,12253.271,14,1.1,14,-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,186.6,11823,-18.3,-12.000
$D_GRID,1415
$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,-194.7,0.0,0.0,0,64,0.00,0.00,-50.72,0.000,2,0.000,0.000,159,2096,2077
$GC,66,-0.96,-194.7,3.1,-4.6,8,123,9.05,2.25,-42.10,0.000,4,0.235,0.058,2503,660,3554
$GC,219,-0.06,-194.7,47.9,-40.1,35,226,0.95,2.20,0.00,0.000,6,0.174,0.041,2792,2058,3554
$GC,545,-1.04,-194.7,80.2,-8.7,96,552,0.82,2.22,0.00,0.000,4,0.061,0.055,2474,3485,3557
$GC,593,-0.33,-194.7,88.8,-24.7,105,600,0.73,2.17,0.00,0.000,6,0.153,0.040,2707,2076,3557
$GC,920,-0.66,-194.7,123.9,-9.2,166,928,0.28,2.20,0.00,0.000,4,0.047,0.049,2574,666,3558
$GC,1018,-0.41,-194.7,142.9,-21.0,184,1025,0.32,2.20,0.00,0.000,6,0.136,0.044,2685,2070,3558
$GC,1345,-0.75,-194.7,179.1,-6.3,245,1351,0.28,2.25,0.00,0.000,4,0.044,0.058,2549,3476,3560
$GC,1398,-0.50,-194.7,186.7,-17.2,255,1405,0.30,2.12,0.00,0.000,6,0.132,0.039,2652,2083,3560
$GC,1724,-0.72,-194.7,211.3,-7.5,316,1731,0.17,2.22,0.00,0.000,4,0.058,0.058,2561,3473,3560
$GC,1751,-0.67,-194.7,214.3,-12.7,321,1758,0.10,2.10,0.00,0.000,6,0.134,0.036,2596,2086,3560
$GC,2077,-0.67,-194.7,263.5,-17.4,382,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2596,2084,3560
$GC,2400,-0.67,-194.7,311.0,-14.2,436,2405,0.00,2.22,0.00,0.000,4,0.000,0.059,2589,3473,3560
$GC,2448,-0.83,-194.7,316.9,-12.2,440,2456,0.08,2.08,0.00,0.000,6,0.057,0.037,2533,2109,3560
$GC,2765,-0.60,-194.7,373.0,-16.6,471,2766,0.30,0.00,0.00,0.000,6,0.139,0.000,2628,2106,3560
$GC,3076,-0.89,-194.7,398.3,-7.7,501,3079,0.25,2.17,0.00,0.000,4,0.050,0.061,2508,3473,3560
$GC,3149,-0.70,-194.7,409.2,-16.4,508,3154,0.22,2.12,0.00,0.000,6,0.133,0.039,2586,2089,3559
$GC,3470,-0.83,-194.7,443.7,-10.4,539,3474,0.00,2.25,0.00,0.000,4,0.000,0.064,2586,3475,3558
$GC,3523,-1.03,-194.7,449.0,-9.0,544,3527,0.22,2.12,0.00,0.000,6,0.043,0.039,2467,2092,3557
$GC,3853,-0.64,-194.7,513.1,-19.6,573,3858,0.45,2.22,0.00,0.000,4,0.149,0.063,2601,3471,3555
$GC,3944,-0.94,-194.7,522.5,-8.8,577,3948,0.20,2.10,0.00,0.000,6,0.044,0.039,2494,2103,3554
$GC,4266,-0.70,-194.7,576.3,-16.8,593,4268,0.32,0.00,0.00,0.000,6,0.141,0.000,2594,2099,3553
$GC,4570,-0.95,-194.7,601.7,-7.2,608,4574,0.22,2.22,0.00,0.000,4,0.055,0.065,2491,3476,3551
$GC,4644,-0.84,-194.7,611.2,-13.6,611,4649,0.15,2.10,0.00,0.000,6,0.136,0.041,2544,2121,3549
$GC,4960,-0.84,-194.7,642.6,-9.6,627,4964,0.00,2.30,0.00,0.000,4,0.000,0.058,2545,673,3547
$GC,4997,-0.91,-194.7,646.3,-9.5,628,5004,0.00,2.30,0.00,0.000,6,0.000,0.048,2536,2131,3547
$GC,5307,-0.91,-194.7,678.8,-10.9,644,5312,0.00,2.35,0.00,0.000,4,0.000,0.056,2536,663,3544
$GC,5350,-0.91,-194.7,683.7,-11.2,646,5354,0.00,2.30,0.00,0.000,6,0.000,0.049,2536,2116,3544
$GC,5676,-0.91,-194.7,719.3,-10.7,662,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2116,3542
$GC,5982,-0.91,-194.7,750.6,-9.9,677,5986,0.00,2.33,0.00,0.000,4,0.000,0.058,2535,665,3539
$GC,6002,-0.91,-194.7,752.9,-10.6,678,6007,0.00,2.33,0.00,0.000,6,0.000,0.050,2535,2129,3539
$GC,6329,-0.91,-194.7,784.2,-9.7,694,6333,0.00,2.17,0.00,0.000,4,0.000,0.068,2536,3471,3537
$GC,6366,-0.99,-194.7,788.0,-10.1,695,6373,0.08,2.10,0.00,0.000,6,0.064,0.042,2485,2123,3537
$GC,6676,-0.83,-194.7,830.7,-13.8,711,6681,0.22,2.30,0.00,0.000,4,0.148,0.060,2552,676,3534
$GC,6698,-0.83,-194.7,833.2,-12.6,712,6701,0.00,2.30,0.00,0.000,6,0.000,0.051,2550,2117,3534
$GC,7024,-0.94,-194.7,864.2,-9.7,728,7028,0.00,2.22,0.00,0.000,4,0.000,0.069,2550,3484,3533
$GC,7082,-1.11,-194.7,869.9,-9.8,730,7090,0.20,2.10,0.00,0.000,6,0.050,0.043,2453,2133,3532
$GC,7392,-0.83,-194.7,921.7,-17.2,746,7397,0.32,2.33,0.00,0.000,4,0.156,0.059,2551,673,3531
$GC,7419,-0.83,-194.7,925.5,-14.5,747,7423,0.00,2.30,0.00,0.000,6,0.000,0.052,2550,2135,3530
$GC,7740,-0.96,-194.7,957.5,-9.7,763,7744,0.12,2.15,0.00,0.000,4,0.077,0.068,2482,3479,3528
$GC,7792,-0.85,-194.7,964.3,-13.5,765,7797,0.17,2.10,0.00,0.000,6,0.142,0.044,2541,2130,3527
$STATE,8046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8046,begin apogee
$GC,8050,-0.20,0.0,991.1,10.7,778,8210,0.65,0.00,155.98,1.377,6,0.129,0.000,2754,2524,2759
$STATE,8210,end apogee,CONTROL_FINISHED_OK
$STATE,8210,begin climb
$GC,8211,0.96,194.7,999.8,0.0,786,8384,1.02,2.10,164.62,1.335,4,0.046,0.070,3144,3693,1964
$GC,8622,0.20,194.7,920.9,27.4,805,8627,0.90,1.90,0.00,0.000,6,0.182,0.044,2891,2526,1957
$GC,8944,0.55,284.5,891.5,8.3,821,9029,0.30,2.42,76.78,1.275,4,0.058,0.056,3023,1117,1598
$GC,9082,0.47,284.5,869.8,17.5,827,9086,0.12,2.35,0.00,0.000,6,0.148,0.053,2974,2505,1593
$GC,9397,0.47,284.5,824.2,13.8,843,9401,0.00,1.95,0.00,0.000,4,0.000,0.067,2973,3687,1591
$GC,9450,0.47,284.5,816.6,13.9,845,9455,0.00,1.90,0.00,0.000,6,0.000,0.044,2981,2498,1590
$GC,9765,0.47,284.5,771.1,14.2,861,9770,0.00,1.98,0.00,0.000,4,0.000,0.066,2981,3693,1589
$GC,9792,0.47,284.5,767.0,15.5,862,9796,0.00,1.88,0.00,0.000,6,0.000,0.043,2989,2507,1589
$GC,10113,0.47,284.5,717.3,15.5,878,10117,0.00,2.22,0.00,0.000,4,0.000,0.054,3000,1119,1588
$GC,10177,0.47,284.5,707.5,15.2,881,10181,0.00,2.25,0.00,0.000,6,0.000,0.051,2999,2511,1587
$GC,10503,0.41,284.5,655.0,15.7,897,10505,0.17,0.00,0.00,0.000,6,0.152,0.000,2950,2511,1587
$GC,10809,0.58,295.5,619.2,11.5,912,10823,0.17,2.28,9.02,1.046,4,0.067,0.055,3035,1120,1553
$GC,10921,0.49,295.5,601.6,16.0,917,10924,0.15,2.22,0.00,0.000,6,0.139,0.051,2975,2495,1551
$GC,11241,0.56,295.5,561.9,12.1,933,11245,0.00,2.20,0.00,0.000,4,0.000,0.054,2984,1129,1550
$GC,11272,0.66,295.5,557.9,12.7,934,11277,0.10,2.17,0.00,0.000,6,0.066,0.049,3038,2487,1550
$GC,11588,0.48,295.5,500.0,18.6,950,11593,0.22,1.92,0.00,0.000,4,0.151,0.065,2972,3681,1550
$GC,11685,0.54,295.5,486.3,12.8,959,11688,0.00,1.83,0.00,0.000,6,0.000,0.044,2980,2508,1550
$GC,12006,0.61,295.5,444.9,13.0,990,12009,0.12,1.88,0.00,0.000,4,0.079,0.065,3033,3684,1550
$GC,12145,0.39,295.5,418.7,19.5,1003,12148,0.25,1.80,0.00,0.000,6,0.144,0.044,2942,2525,1550
$GC,12464,0.79,389.0,388.8,8.1,1034,12549,0.35,2.33,79.38,0.963,4,0.051,0.052,3099,1124,1171
$GC,12622,0.57,389.0,356.4,20.1,1048,12627,0.30,2.28,0.00,0.000,6,0.160,0.049,3008,2498,1167
$GC,12944,0.65,389.0,308.7,13.9,1079,12947,0.00,1.92,0.00,0.000,4,0.000,0.063,3008,3681,1165
$GC,12975,0.73,389.0,304.0,15.6,1082,12979,0.08,1.83,0.00,0.000,6,0.064,0.041,3061,2517,1165
$GC,13300,0.65,389.0,242.0,18.0,1140,13307,0.12,2.22,0.00,0.000,4,0.160,0.051,3038,1126,1164
$GC,13413,0.72,389.0,224.5,16.0,1161,13419,0.00,2.20,0.00,0.000,6,0.000,0.048,3038,2501,1163
$GC,13739,0.82,389.0,175.4,16.4,1222,13747,0.12,2.20,0.00,0.000,4,0.074,0.051,3106,1123,1162
$GC,13788,0.70,389.0,166.1,19.1,1231,13795,0.17,2.15,0.00,0.000,6,0.146,0.047,3049,2477,1163
$GC,14116,0.89,424.7,119.5,10.5,1292,14148,0.15,2.22,28.77,0.731,4,0.066,0.050,3128,1118,1026
$GC,14223,0.81,424.7,103.8,15.0,1311,14229,0.12,2.15,0.00,0.000,6,0.136,0.044,3086,2465,1024
$GC,14549,1.01,451.7,66.0,10.9,1372,14576,0.17,2.20,22.92,0.673,4,0.060,0.048,3175,1117,917
$GC,14623,0.90,451.7,53.6,17.9,1385,14630,0.20,2.12,0.00,0.000,6,0.135,0.043,3109,2447,914
$GC,14950,1.10,456.2,11.4,11.8,1446,14958,0.17,0.00,4.80,0.478,6,0.059,0.000,3190,2446,899
$STATE,14998,end climb,SURFACE_DEPTH_REACHED
$STATE,14999,begin surface coast
$FINISH,1.9,1.021766
$STATE,15009,end surface coast,CONTROL_FINISHED_OK
$STATE,15009,begin surface
$SM_CCo,15082,0.00,0.000,0,0,897,456.75
$SM_GC,2.33,7.72,0.00,0.00,0.037,0.000,0.000,163,2053,897,-8.21,-0.51,456.75
$IRIDIUM_FIX,2507.97,12248.55,280898,151548
$TT8_MAMPS,0.048321
$HUMID,1545
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.30
$XPDR_PINGS,138
$24V_AH,23.6,21.167
$10V_AH,10.7,15.890
$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,30.450,143.900,542.275,0.000,0.000,23.688,38.298,207.818,42.500,0.000,0.000,15.849,0.000,10808.013,682.637,3481.900,454.657,0.000,1988.718,0.000,2932.233,0.000,53.968,0.000
$DEVICE_MAMPS,234.702,69.797,1376.765,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,986.750,1026.442,1613.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,81998,1457
$CAP_FILE_SIZE,167330,0
$CFSIZE,260165632,250667008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.275, 22.4,1
$GPS,040609,001537,2515.262,12253.859,38,1.0,38,-3.7