version: 66.04
glider: 165
mission: 2
dive: 98
start: 6 4 109 13 32 56
data:
$ID,165
$MISSION,2
$DIVE,98
$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,-118850.07
$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,47
$R_STBD_OVSHOOT,26
$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
$GPS1,132701,2514.661,12254.877,38,1.9,38,-3.7
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-67.0
$GPS2,133251,2514.737,12254.921,9,2.0,10,-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,184.0,8633,-18.3,-12.000
$D_GRID,1480
$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,-194.7,0.0,0.0,0,58,0.00,0.00,-44.62,0.000,2,0.000,0.000,156,2056,2064
$GC,60,-0.96,-194.7,3.1,-3.6,7,119,9.15,2.17,-43.70,0.000,4,0.235,0.060,2501,664,3553
$GC,257,-0.37,-194.7,56.2,-29.6,42,264,0.62,2.22,0.00,0.000,6,0.154,0.043,2690,2068,3555
$GC,583,-0.50,-194.7,98.7,-11.1,103,591,0.00,2.25,0.00,0.000,4,0.000,0.057,2687,3473,3556
$GC,648,-0.84,-194.7,104.3,-7.5,115,656,0.32,2.12,0.00,0.000,6,0.035,0.035,2524,2082,3557
$GC,976,-0.36,-194.7,180.6,-23.3,176,983,0.55,2.20,0.00,0.000,4,0.149,0.054,2686,3478,3558
$GC,1014,-0.66,-194.7,185.8,-9.7,183,1022,0.17,2.12,0.00,0.000,6,0.040,0.035,2576,2086,3559
$GC,1342,-0.48,-194.7,238.9,-16.5,244,1349,0.28,2.20,0.00,0.000,4,0.133,0.051,2664,674,3559
$GC,1374,-0.67,-194.7,243.1,-11.5,250,1381,0.12,2.22,0.00,0.000,6,0.048,0.042,2578,2099,3559
$GC,1701,-0.57,-194.7,294.9,-15.2,311,1708,0.20,2.20,0.00,0.000,4,0.137,0.063,2631,3480,3560
$GC,1739,-0.78,-194.7,299.5,-10.1,318,1746,0.12,2.10,0.00,0.000,6,0.046,0.037,2548,2105,3559
$GC,2060,-0.57,-194.7,348.4,-14.6,350,2064,0.28,2.22,0.00,0.000,4,0.137,0.051,2635,678,3560
$GC,2102,-0.85,-194.7,352.4,-7.5,354,2107,0.20,2.20,0.00,0.000,6,0.043,0.043,2522,2092,3559
$GC,2424,-0.59,-194.7,407.0,-17.7,385,2428,0.32,2.20,0.00,0.000,4,0.143,0.060,2616,3472,3559
$GC,2455,-0.73,-194.7,411.5,-11.8,388,2459,0.00,2.12,0.00,0.000,6,0.000,0.038,2616,2082,3559
$GC,2776,-0.99,-194.7,441.9,-9.1,419,2781,0.30,2.22,0.00,0.000,4,0.048,0.061,2480,3470,3559
$GC,2862,-0.71,-194.7,456.0,-17.1,427,2866,0.30,2.10,0.00,0.000,6,0.135,0.039,2582,2101,3558
$GC,3182,-0.85,-194.7,483.4,-7.6,458,3183,0.12,0.00,0.00,0.000,6,0.071,0.000,2519,2097,3557
$GC,3490,-0.71,-194.7,521.7,-13.1,480,3494,0.22,2.22,0.00,0.000,4,0.137,0.064,2586,3476,3555
$GC,3559,-0.96,-194.7,528.0,-7.1,483,3563,0.17,2.12,0.00,0.000,6,0.045,0.040,2491,2100,3554
$GC,3882,-0.72,-194.7,577.1,-15.3,499,3886,0.28,2.22,0.00,0.000,4,0.144,0.064,2576,3485,3551
$GC,3976,-0.94,-194.7,586.4,-8.0,503,3985,0.12,2.12,0.00,0.000,6,0.051,0.041,2501,2109,3551
$GC,4287,-0.74,-194.7,631.5,-14.9,519,4291,0.25,2.28,0.00,0.000,4,0.141,0.058,2578,676,3549
$GC,4318,-0.85,-194.7,635.3,-10.3,520,4323,0.00,2.28,0.00,0.000,6,0.000,0.048,2576,2116,3549
$GC,4634,-1.04,-194.7,661.1,-7.8,536,4639,0.25,2.20,0.00,0.000,4,0.055,0.067,2466,3478,3546
$GC,4692,-0.78,-194.7,669.0,-15.1,538,4699,0.28,2.10,0.00,0.000,6,0.140,0.042,2558,2125,3544
$GC,5003,-0.89,-194.7,696.5,-8.3,554,5007,0.00,2.30,0.00,0.000,4,0.000,0.057,2558,678,3543
$GC,5024,-1.00,-194.7,698.4,-9.1,555,5028,0.15,2.30,0.00,0.000,6,0.053,0.048,2481,2129,3543
$GC,5350,-0.78,-194.7,743.9,-14.1,571,5352,0.28,0.00,0.00,0.000,6,0.146,0.000,2564,2129,3540
$GC,5656,-0.93,-194.7,769.6,-8.1,586,5658,0.12,0.00,0.00,0.000,6,0.076,0.000,2505,2129,3538
$GC,5961,-0.82,-194.7,804.8,-11.4,601,5965,0.17,2.33,0.00,0.000,4,0.148,0.060,2557,666,3536
$GC,5987,-0.87,-194.7,807.7,-11.3,602,5991,0.00,2.30,0.00,0.000,6,0.000,0.050,2553,2112,3536
$GC,6308,-0.99,-194.7,834.9,-8.4,618,6313,0.15,2.20,0.00,0.000,4,0.068,0.068,2481,3470,3535
$GC,6339,-0.85,-194.7,838.8,-13.4,619,6344,0.17,2.10,0.00,0.000,6,0.140,0.043,2541,2121,3534
$GC,6656,-0.91,-194.7,870.7,-10.1,635,6659,0.00,2.30,0.00,0.000,4,0.000,0.060,2541,664,3533
$GC,6692,-0.98,-194.7,874.5,-10.5,636,6699,0.00,2.33,0.00,0.000,6,0.000,0.050,2536,2123,3532
$GC,7003,-1.03,-194.7,906.5,-10.1,652,7007,0.15,2.30,0.00,0.000,4,0.070,0.058,2469,671,3531
$GC,7029,-0.86,-194.7,909.9,-14.0,653,7033,0.20,2.30,0.00,0.000,6,0.153,0.052,2534,2108,3531
$GC,7350,-0.86,-194.7,940.1,-8.9,669,7354,0.00,2.22,0.00,0.000,4,0.000,0.070,2534,3471,3528
$GC,7382,-0.94,-194.7,943.0,-10.1,670,7386,0.00,2.12,0.00,0.000,6,0.000,0.043,2534,2106,3528
$GC,7698,-0.99,-194.7,970.5,-8.5,686,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2106,3527
$STATE,7940,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7940,begin apogee
$GC,7943,-0.20,0.0,991.8,8.8,698,8104,0.68,0.00,155.80,1.384,6,0.128,0.000,2758,2532,2759
$STATE,8104,end apogee,CONTROL_FINISHED_OK
$STATE,8104,begin climb
$GC,8106,0.96,194.7,996.4,0.0,706,8279,1.00,2.53,164.88,1.338,4,0.047,0.058,3146,1129,1964
$GC,8336,0.37,194.7,963.6,24.0,716,8343,0.73,2.40,0.00,0.000,6,0.181,0.053,2944,2520,1960
$GC,8646,0.44,211.0,925.8,11.3,732,8668,0.00,1.98,14.48,1.215,4,0.000,0.069,2943,3687,1897
$GC,8698,0.44,211.0,919.7,12.6,734,8703,0.00,1.88,0.00,0.000,6,0.000,0.042,2951,2527,1896
$GC,9015,0.50,257.0,885.8,10.1,750,9060,0.00,2.40,40.55,1.276,4,0.000,0.056,2961,1127,1710
$GC,9139,0.64,268.5,872.5,11.5,755,9156,0.15,2.33,11.12,1.147,6,0.058,0.051,3032,2515,1663
$GC,9473,0.44,268.5,815.6,17.5,772,9474,0.25,0.00,0.00,0.000,6,0.153,0.000,2961,2516,1660
$GC,9777,0.52,268.5,777.4,12.5,787,9781,0.00,1.92,0.00,0.000,4,0.000,0.067,2961,3695,1659
$GC,9808,0.57,268.5,773.0,14.6,788,9813,0.08,1.88,0.00,0.000,6,0.067,0.043,3012,2509,1659
$GC,10124,0.46,268.5,721.1,16.7,804,10126,0.17,0.00,0.00,0.000,6,0.153,0.000,2963,2504,1658
$GC,10429,0.54,268.5,681.5,12.5,819,10434,0.00,2.22,0.00,0.000,4,0.000,0.054,2972,1125,1657
$GC,10461,0.64,268.5,677.6,12.6,820,10466,0.12,2.25,0.00,0.000,6,0.061,0.050,3036,2517,1656
$GC,10777,0.43,268.5,622.5,17.9,836,10778,0.28,0.00,0.00,0.000,6,0.155,0.000,2956,2518,1656
$GC,11082,0.60,304.1,589.1,10.5,851,11115,0.17,0.00,31.05,1.118,6,0.067,0.000,3031,2518,1518
$GC,11407,0.46,304.1,535.0,16.2,867,11412,0.22,1.92,0.00,0.000,4,0.147,0.064,2965,3696,1513
$GC,11498,0.55,304.1,522.5,13.0,871,11502,0.00,1.85,0.00,0.000,6,0.000,0.042,2972,2516,1513
$GC,11811,0.72,341.1,486.8,10.5,892,11845,0.22,0.00,32.45,1.044,6,0.065,0.000,3063,2513,1368
$GC,12151,0.50,341.1,419.6,20.9,925,12155,0.28,1.95,0.00,0.000,4,0.157,0.065,2984,3698,1363
$GC,12204,0.58,341.1,410.5,14.5,930,12208,0.00,1.85,0.00,0.000,6,0.000,0.043,2992,2525,1363
$GC,12526,0.69,341.1,367.6,13.3,961,12529,0.15,2.22,0.00,0.000,4,0.071,0.054,3067,1115,1363
$GC,12632,0.57,341.1,348.8,19.1,971,12636,0.17,2.25,0.00,0.000,6,0.153,0.050,3009,2506,1361
$GC,12952,0.65,341.1,301.2,13.6,1002,12957,0.00,2.22,0.00,0.000,4,0.000,0.051,3019,1120,1361
$GC,13011,0.73,341.1,293.2,13.9,1012,13018,0.08,2.20,0.00,0.000,6,0.068,0.048,3067,2496,1359
$GC,13338,0.59,341.1,234.4,17.4,1073,13343,0.20,0.00,0.00,0.000,6,0.153,0.000,3010,2496,1359
$GC,13663,0.74,348.7,195.2,11.7,1134,13677,0.15,2.17,6.78,0.705,4,0.069,0.050,3090,1117,1336
$GC,13724,0.63,348.7,185.0,17.3,1145,13731,0.20,2.22,0.00,0.000,6,0.147,0.045,3025,2513,1336
$GC,14051,0.83,380.1,140.0,10.7,1206,14084,0.17,2.28,27.23,0.756,4,0.060,0.049,3120,1122,1207
$GC,14136,0.75,380.1,125.6,17.8,1221,14143,0.17,2.17,0.00,0.000,6,0.137,0.045,3064,2480,1206
$GC,14464,0.88,400.9,87.2,11.1,1282,14489,0.12,1.95,18.15,0.693,4,0.068,0.058,3121,3680,1123
$GC,14504,0.77,400.9,81.6,15.0,1289,14511,0.17,1.88,0.00,0.000,6,0.137,0.038,3073,2480,1123
$GC,14831,1.03,438.9,44.7,10.4,1350,14870,0.22,0.00,32.03,0.658,6,0.054,0.000,3174,2473,967
$STATE,15086,end climb,SURFACE_DEPTH_REACHED
$STATE,15086,begin surface coast
$FINISH,1.6,0.998572
$STATE,15103,end surface coast,CONTROL_FINISHED_OK
$STATE,15103,begin surface
$SM_CCo,15176,0.00,0.000,0,0,962,441.05
$SM_GC,2.31,7.70,0.00,0.00,0.035,0.000,0.000,157,2058,962,-8.23,-0.37,441.05
$IRIDIUM_FIX,2505.59,12253.84,290898,090928
$TT8_MAMPS,0.049088
$HUMID,1552
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,25.00
$XPDR_PINGS,98
$24V_AH,23.5,21.981
$10V_AH,10.7,16.415
$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,29.925,131.825,534.500,0.000,0.000,25.135,39.990,189.838,32.500,0.000,0.000,12.590,0.000,11144.186,689.821,3224.240,442.294,0.000,1900.845,0.000,2707.416,0.000,53.969,0.000
$DEVICE_MAMPS,234.702,69.797,1383.668,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,949.197,958.896,1488.094,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,78988,1400
$CAP_FILE_SIZE,162946,0
$CFSIZE,260165632,250318848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.223, 34.4,1
$GPS,040609,174637,2513.855,12255.825,27,2.0,27,-3.7