version: 66.04
glider: 165
mission: 2
dive: 95
start: 6 4 109 0 28 36
data:
$ID,165
$MISSION,2
$DIVE,95
$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,-118806.48
$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,53
$R_STBD_OVSHOOT,31
$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
$GPS1,001537,2515.262,12253.859,38,1.0,38,-3.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-70.5
$GPS2,002831,2515.641,12253.808,7,1.0,13,-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,189.4,11102,-18.3,-12.000
$D_GRID,1419
$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,-194.7,0.0,0.0,0,69,0.00,0.00,-55.67,0.000,2,0.000,0.000,161,2052,2289
$GC,71,-0.96,-194.7,3.4,-5.9,8,117,8.90,2.22,-32.45,0.000,4,0.227,0.061,2508,673,3554
$GC,169,-0.12,-194.7,29.8,-37.0,25,176,0.90,2.22,0.00,0.000,6,0.169,0.042,2771,2077,3555
$GC,496,-0.64,-194.7,62.0,-6.0,86,504,0.43,2.22,0.00,0.000,4,0.038,0.056,2569,3474,3557
$GC,540,-0.26,-194.7,69.8,-22.4,94,549,0.47,2.12,0.00,0.000,6,0.140,0.036,2727,2087,3557
$GC,868,-0.66,-194.7,98.4,-6.0,155,875,0.32,2.22,0.00,0.000,4,0.041,0.058,2569,3478,3558
$GC,885,-0.85,-194.7,99.9,-8.3,158,892,0.00,2.10,0.00,0.000,6,0.000,0.035,2569,2100,3558
$GC,1212,-0.53,-194.7,171.1,-18.1,219,1219,0.25,2.22,0.00,0.000,4,0.147,0.054,2647,674,3559
$GC,1320,-0.78,-194.7,181.5,-7.2,239,1327,0.17,2.20,0.00,0.000,6,0.041,0.048,2547,2091,3559
$GC,1646,-0.41,-194.7,240.2,-21.1,300,1653,0.43,2.20,0.00,0.000,4,0.144,0.058,2673,3480,3559
$GC,1673,-0.49,-194.7,244.1,-13.5,305,1679,0.00,2.12,0.00,0.000,6,0.000,0.036,2673,2083,3559
$GC,1999,-0.91,-194.7,268.6,-7.8,366,2007,0.38,2.22,0.00,0.000,4,0.041,0.058,2494,3476,3559
$GC,2064,-0.54,-194.7,280.4,-20.8,378,2073,0.43,2.10,0.00,0.000,6,0.138,0.037,2637,2096,3559
$GC,2387,-0.78,-194.7,312.8,-9.0,426,2392,0.20,2.20,0.00,0.000,4,0.054,0.060,2537,3473,3559
$GC,2414,-0.72,-194.7,316.1,-14.1,428,2421,0.12,2.08,0.00,0.000,6,0.132,0.037,2581,2105,3559
$GC,2730,-0.72,-194.7,354.8,-9.8,459,2733,0.00,2.20,0.00,0.000,4,0.000,0.060,2576,3473,3559
$GC,2761,-0.72,-194.7,358.0,-9.8,462,2765,0.00,2.08,0.00,0.000,6,0.000,0.038,2576,2108,3559
$GC,3082,-0.72,-194.7,391.7,-10.7,493,3086,0.00,2.20,0.00,0.000,4,0.000,0.061,2576,3473,3558
$GC,3108,-0.72,-194.7,394.7,-11.4,495,3115,0.00,2.08,0.00,0.000,6,0.000,0.038,2576,2117,3558
$GC,3424,-0.77,-194.7,429.6,-10.5,526,3428,0.00,2.20,0.00,0.000,4,0.000,0.062,2576,3477,3557
$GC,3493,-0.90,-194.7,436.5,-9.9,532,3500,0.10,2.08,0.00,0.000,6,0.054,0.038,2511,2125,3556
$GC,3809,-0.70,-194.7,485.6,-14.6,563,3813,0.28,2.15,0.00,0.000,4,0.138,0.062,2589,3479,3554
$GC,3905,-0.93,-194.7,493.5,-6.7,572,3909,0.15,2.05,0.00,0.000,6,0.047,0.039,2504,2140,3553
$GC,4232,-0.71,-194.7,540.5,-14.6,591,4236,0.28,2.28,0.00,0.000,4,0.137,0.055,2589,669,3551
$GC,4284,-0.91,-194.7,545.8,-8.0,593,4289,0.15,2.28,0.00,0.000,6,0.048,0.047,2507,2119,3551
$GC,4600,-0.76,-194.7,586.3,-12.2,609,4604,0.22,2.25,0.00,0.000,4,0.141,0.054,2575,676,3548
$GC,4647,-0.92,-194.7,590.6,-7.4,611,4652,0.12,2.25,0.00,0.000,6,0.054,0.047,2505,2107,3548
$GC,4970,-0.78,-194.7,626.9,-12.4,627,4971,0.20,0.00,0.00,0.000,6,0.143,0.000,2564,2107,3545
$GC,5274,-0.91,-194.7,654.3,-8.9,642,5275,0.12,0.00,0.00,0.000,6,0.075,0.000,2505,2108,3544
$GC,5579,-0.79,-194.7,695.5,-14.0,657,5580,0.20,0.00,0.00,0.000,6,0.144,0.000,2565,2108,3541
$GC,5885,-0.93,-194.7,725.9,-9.6,672,5889,0.15,2.20,0.00,0.000,4,0.071,0.070,2494,3485,3538
$GC,5921,-0.81,-194.7,730.4,-13.3,673,5928,0.15,2.15,0.00,0.000,6,0.137,0.044,2547,2103,3537
$GC,6231,-0.89,-194.7,764.8,-11.0,689,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,2547,2102,3536
$GC,6537,-0.96,-194.7,796.4,-10.2,704,6541,0.12,2.25,0.00,0.000,4,0.077,0.070,2489,3473,3533
$GC,6569,-0.83,-194.7,800.4,-13.9,705,6573,0.17,2.10,0.00,0.000,6,0.139,0.044,2548,2124,3532
$GC,6885,-0.92,-194.7,834.4,-10.5,721,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2549,2122,3531
$GC,7190,-1.01,-194.7,865.9,-10.2,736,7194,0.15,2.20,0.00,0.000,4,0.073,0.071,2482,3482,3529
$GC,7226,-0.86,-194.7,870.9,-14.2,737,7233,0.15,2.10,0.00,0.000,6,0.143,0.044,2532,2131,3528
$GC,7536,-0.86,-194.7,905.3,-10.9,753,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2130,3527
$GC,7842,-0.86,-194.7,938.0,-11.2,768,7843,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2127,3525
$GC,8147,-0.86,-194.7,971.2,-10.4,783,8148,0.00,0.00,0.00,0.000,6,0.000,0.000,2533,2127,3524
$STATE,8329,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8329,begin apogee
$GC,8333,-0.20,0.0,991.0,10.6,792,8493,0.68,0.00,155.18,1.382,6,0.128,0.000,2757,2519,2758
$STATE,8493,end apogee,CONTROL_FINISHED_OK
$STATE,8493,begin climb
$GC,8495,0.96,194.7,998.4,0.0,800,8667,1.00,2.47,164.45,1.338,4,0.044,0.060,3150,1130,1964
$GC,8709,0.36,194.7,972.2,23.1,810,8714,0.75,2.40,0.00,0.000,6,0.183,0.055,2941,2522,1960
$GC,9031,0.44,220.8,935.5,10.9,826,9065,0.00,2.35,24.75,1.175,4,0.000,0.058,2951,1134,1858
$GC,9087,0.58,266.1,929.4,10.1,828,9136,0.12,2.33,40.67,1.270,6,0.057,0.052,3012,2518,1673
$GC,9440,0.44,266.1,870.5,17.0,846,9443,0.17,1.90,0.00,0.000,4,0.152,0.067,2965,3693,1667
$GC,9518,0.44,266.1,858.4,15.0,849,9526,0.00,1.88,0.00,0.000,6,0.000,0.044,2972,2519,1665
$GC,9829,0.44,266.1,816.2,13.0,865,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2518,1664
$GC,10135,0.44,266.1,775.7,12.8,880,10138,0.00,2.25,0.00,0.000,4,0.000,0.055,2982,1125,1664
$GC,10182,0.50,266.1,769.5,13.0,882,10186,0.00,2.28,0.00,0.000,6,0.000,0.051,2982,2533,1662
$GC,10503,0.50,266.1,723.6,14.5,898,10507,0.00,1.88,0.00,0.000,4,0.000,0.066,2982,3689,1662
$GC,10545,0.44,266.1,716.8,16.4,900,10550,0.00,1.80,0.00,0.000,6,0.000,0.043,2990,2528,1662
$GC,10873,0.44,266.1,666.9,15.5,916,10876,0.00,2.20,0.00,0.000,4,0.000,0.054,3000,1129,1662
$GC,10903,0.44,266.1,662.1,15.9,917,10908,0.10,2.28,0.00,0.000,6,0.143,0.050,2967,2543,1660
$GC,11219,0.51,266.1,619.1,13.4,933,11223,0.00,2.28,0.00,0.000,4,0.000,0.054,2976,1129,1661
$GC,11283,0.63,266.1,610.5,14.4,936,11287,0.10,2.25,0.00,0.000,6,0.064,0.050,3030,2532,1660
$GC,11610,0.43,266.1,548.2,19.7,952,11614,0.25,1.85,0.00,0.000,4,0.153,0.066,2956,3683,1660
$GC,11657,0.52,266.1,540.7,14.0,954,11661,0.00,1.83,0.00,0.000,6,0.000,0.043,2964,2517,1660
$GC,11979,0.66,300.4,502.3,10.6,970,12013,0.20,2.30,28.33,1.058,4,0.067,0.054,3056,1126,1532
$GC,12049,0.52,300.4,492.1,14.5,975,12057,0.20,2.30,0.00,0.000,6,0.154,0.051,2994,2526,1530
$GC,12364,0.52,300.4,454.8,12.2,1006,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2526,1528
$GC,12675,0.57,300.4,417.6,12.1,1036,12679,0.00,1.88,0.00,0.000,4,0.000,0.065,2994,3682,1528
$GC,12771,0.57,300.4,404.8,14.3,1045,12775,0.00,1.83,0.00,0.000,6,0.000,0.043,3001,2510,1529
$GC,13091,0.57,300.4,359.7,15.6,1076,13096,0.00,2.20,0.00,0.000,4,0.000,0.052,3012,1127,1529
$GC,13177,0.65,300.4,346.2,14.5,1084,13181,0.00,2.20,0.00,0.000,6,0.000,0.049,3011,2502,1527
$GC,13493,0.65,300.4,298.5,13.5,1115,13500,0.00,1.90,0.00,0.000,4,0.000,0.064,3012,3684,1527
$GC,13557,0.65,300.4,289.6,13.9,1127,13565,0.00,1.80,0.00,0.000,6,0.000,0.041,3020,2517,1527
$GC,13884,0.65,300.6,245.9,12.0,1188,13891,0.00,2.20,0.00,0.000,4,0.000,0.051,3031,1125,1527
$GC,13948,0.70,300.6,237.5,12.2,1200,13955,0.00,2.20,0.00,0.000,6,0.000,0.048,3031,2510,1527
$GC,14275,0.70,300.6,193.3,14.0,1261,14281,0.00,2.20,0.00,0.000,4,0.000,0.050,3040,1122,1527
$GC,14333,0.70,300.6,185.8,12.6,1272,14340,0.00,2.17,0.00,0.000,6,0.000,0.046,3039,2496,1527
$GC,14660,0.73,322.1,144.8,11.1,1333,14686,0.00,1.92,18.62,0.745,4,0.000,0.061,3040,3687,1444
$GC,14701,0.73,322.1,139.7,13.0,1340,14708,0.00,1.83,0.00,0.000,6,0.000,0.039,3048,2504,1444
$GC,15027,0.88,355.9,102.1,10.6,1401,15061,0.15,2.22,28.27,0.711,4,0.064,0.048,3129,1128,1306
$GC,15252,0.82,355.9,66.3,14.2,1442,15259,0.12,2.17,0.00,0.000,6,0.134,0.044,3087,2495,1303
$GC,15579,1.02,414.5,31.3,9.6,1503,15631,0.17,2.25,47.22,0.645,4,0.063,0.047,3177,1126,1068
$GC,15753,0.94,414.5,4.5,16.7,1534,15760,0.15,2.12,0.00,0.000,6,0.135,0.042,3126,2464,1064
$STATE,15762,end climb,SURFACE_DEPTH_REACHED
$STATE,15762,begin surface coast
$FINISH,1.6,1.014191
$STATE,15779,end surface coast,CONTROL_FINISHED_OK
$STATE,15779,begin surface
$SM_CCo,15792,15.90,0.594,0,0,984,435.16
$SM_GC,2.36,0.00,0.00,15.90,0.000,0.000,0.594,173,2057,984,-8.27,-0.40,435.16
$IRIDIUM_FIX,2503.20,12253.84,290898,000033
$TT8_MAMPS,0.049088
$HUMID,1548
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,25.30
$XPDR_PINGS,168
$24V_AH,23.6,21.375
$10V_AH,10.7,16.030
$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,27.500,142.750,507.500,15.900,0.000,79.378,112.674,332.503,50.000,0.000,0.000,16.116,0.000,11602.121,703.518,3502.382,747.973,0.000,2008.700,0.000,2946.643,0.000,53.967,0.000
$DEVICE_MAMPS,227.032,70.564,1382.134,594.425,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,1042.346,1066.965,1677.160,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,88417,1539
$CAP_FILE_SIZE,172713,0
$CFSIZE,260165632,250560512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.234, 38.2,1
$GPS,040609,045301,2514.726,12254.743,37,1.2,37,-3.7