version: 66.04
glider: 165
mission: 2
dive: 99
start: 6 4 109 18 2 36
data:
$ID,165
$MISSION,2
$DIVE,99
$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,-118882.94
$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,51
$R_STBD_OVSHOOT,33
$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
$GPS1,174637,2513.855,12255.825,27,2.0,27,-3.7
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.2
$GPS2,180231,2513.977,12255.964,13,1.6,30,-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,192.2,6484,-18.3,-12.000
$D_GRID,1507
$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,-194.7,0.0,0.0,0,66,0.00,0.00,-51.60,0.000,2,0.000,0.000,144,2057,2254
$GC,68,-0.96,-194.7,3.4,-5.4,8,113,9.10,2.22,-32.80,0.000,4,0.234,0.062,2501,678,3555
$GC,353,-0.28,-194.7,96.7,-31.5,60,360,0.73,2.20,0.00,0.000,6,0.161,0.043,2719,2069,3556
$GC,680,-0.75,-194.7,127.2,-5.9,121,686,0.38,2.25,0.00,0.000,4,0.041,0.060,2545,3478,3558
$GC,792,-0.35,-194.7,148.5,-21.6,142,800,0.45,2.12,0.00,0.000,6,0.133,0.038,2698,2098,3558
$GC,1120,-0.78,-194.7,174.5,-7.5,203,1126,0.35,2.22,0.00,0.000,4,0.042,0.054,2533,676,3559
$GC,1141,-0.84,-194.7,177.5,-14.3,207,1148,0.00,2.22,0.00,0.000,6,0.000,0.046,2533,2093,3559
$GC,1467,-0.47,-194.7,245.5,-19.5,268,1474,0.43,2.20,0.00,0.000,4,0.143,0.059,2659,3473,3558
$GC,1494,-0.47,-194.7,249.4,-14.2,273,1501,0.00,2.10,0.00,0.000,6,0.000,0.037,2659,2100,3558
$GC,1820,-0.82,-194.7,272.7,-7.4,334,1828,0.28,2.22,0.00,0.000,4,0.046,0.060,2528,3482,3558
$GC,1859,-0.64,-194.7,277.8,-14.9,341,1866,0.22,2.10,0.00,0.000,6,0.131,0.038,2606,2105,3558
$GC,2186,-0.74,-194.7,316.7,-10.5,389,2189,0.00,2.20,0.00,0.000,4,0.000,0.061,2603,3471,3558
$GC,2207,-0.86,-194.7,318.9,-10.9,391,2211,0.15,2.08,0.00,0.000,6,0.047,0.038,2519,2112,3558
$GC,2528,-0.55,-194.7,376.5,-18.3,422,2532,0.38,2.22,0.00,0.000,4,0.141,0.053,2638,671,3558
$GC,2554,-0.61,-194.7,380.1,-13.2,424,2561,0.00,2.28,0.00,0.000,6,0.000,0.045,2635,2122,3558
$GC,2870,-0.94,-194.7,402.5,-6.8,455,2874,0.28,2.15,0.00,0.000,4,0.048,0.061,2494,3487,3556
$GC,2896,-0.86,-194.7,405.4,-12.8,457,2900,0.12,2.08,0.00,0.000,6,0.142,0.038,2538,2130,3555
$GC,3216,-0.70,-194.7,452.4,-14.1,488,3221,0.17,2.28,0.00,0.000,4,0.147,0.052,2590,677,3554
$GC,3242,-0.70,-194.7,455.8,-12.7,490,3251,0.00,2.33,0.00,0.000,6,0.000,0.047,2589,2155,3554
$GC,3560,-0.83,-194.7,485.0,-8.5,521,3561,0.12,0.00,0.00,0.000,6,0.070,0.000,2526,2156,3552
$GC,3876,-0.70,-194.7,524.2,-12.5,543,3880,0.22,2.12,0.00,0.000,4,0.140,0.064,2590,3479,3549
$GC,3940,-0.94,-194.7,529.5,-7.0,546,3944,0.17,2.05,0.00,0.000,6,0.046,0.040,2494,2149,3549
$GC,4267,-0.68,-194.7,579.8,-16.4,562,4271,0.35,2.12,0.00,0.000,4,0.140,0.065,2602,3475,3547
$GC,4336,-1.02,-194.7,585.8,-6.3,565,4340,0.28,2.03,0.00,0.000,6,0.042,0.041,2468,2159,3546
$GC,4657,-0.69,-194.7,640.8,-16.8,581,4661,0.40,2.33,0.00,0.000,4,0.146,0.056,2591,667,3544
$GC,4715,-0.95,-194.7,646.5,-7.4,584,4719,0.17,2.33,0.00,0.000,6,0.051,0.048,2499,2139,3544
$GC,5042,-0.78,-194.7,691.1,-14.3,600,5045,0.22,2.12,0.00,0.000,4,0.149,0.067,2563,3476,3541
$GC,5073,-0.89,-194.7,695.0,-11.4,601,5077,0.00,2.08,0.00,0.000,6,0.000,0.041,2563,2133,3540
$GC,5389,-1.03,-194.7,724.3,-9.1,617,5393,0.22,2.30,0.00,0.000,4,0.058,0.056,2465,678,3539
$GC,5447,-0.77,-194.7,733.2,-16.7,619,5454,0.30,2.33,0.00,0.000,6,0.148,0.051,2563,2135,3538
$GC,5757,-0.91,-194.7,761.0,-8.3,635,5761,0.12,2.15,0.00,0.000,4,0.076,0.067,2505,3467,3535
$GC,5778,-0.91,-194.7,763.2,-10.8,636,5782,0.00,2.05,0.00,0.000,6,0.000,0.040,2505,2139,3535
$GC,6105,-0.81,-194.7,803.7,-12.6,652,6106,0.17,0.00,0.00,0.000,6,0.146,0.000,2557,2134,3533
$GC,6410,-0.95,-194.7,833.5,-9.2,667,6414,0.12,2.17,0.00,0.000,4,0.076,0.068,2495,3480,3531
$GC,6436,-0.90,-194.7,836.6,-12.3,668,6441,0.08,2.08,0.00,0.000,6,0.150,0.042,2522,2145,3531
$GC,6757,-0.90,-194.7,872.6,-10.9,684,6758,0.00,0.00,0.00,0.000,6,0.000,0.000,2522,2144,3528
$GC,7062,-0.90,-194.7,905.0,-10.6,699,7063,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2142,3527
$GC,7367,-0.90,-194.7,938.3,-11.1,714,7372,0.00,2.35,0.00,0.000,4,0.000,0.061,2522,679,3526
$GC,7393,-0.90,-194.7,941.3,-12.4,715,7398,0.00,2.33,0.00,0.000,6,0.000,0.052,2520,2134,3526
$GC,7715,-0.90,-194.7,978.5,-11.8,731,7715,0.00,0.00,0.00,0.000,6,0.000,0.000,2521,2133,3524
$STATE,7815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7815,begin apogee
$GC,7819,-0.20,0.0,990.0,11.2,736,7979,0.70,0.00,154.90,1.381,6,0.132,0.000,2751,2522,2759
$STATE,7979,end apogee,CONTROL_FINISHED_OK
$STATE,7979,begin climb
$GC,7980,0.96,194.7,996.7,0.0,744,8151,1.05,2.08,165.00,1.336,4,0.048,0.070,3142,3682,1964
$GC,8210,0.23,194.7,965.9,25.8,755,8215,0.88,1.92,0.00,0.000,6,0.176,0.044,2901,2531,1959
$GC,8532,0.59,321.2,940.2,6.8,771,8659,0.30,2.47,112.18,1.279,4,0.054,0.056,3034,1111,1448
$GC,8753,0.52,321.2,905.9,16.7,781,8758,0.12,2.35,0.00,0.000,6,0.144,0.051,2994,2510,1442
$GC,9069,0.52,321.2,860.1,14.5,797,9069,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2510,1440
$GC,9374,0.52,321.2,814.4,14.9,812,9378,0.00,2.28,0.00,0.000,4,0.000,0.054,3003,1116,1439
$GC,9395,0.52,321.2,811.3,15.3,813,9399,0.00,2.25,0.00,0.000,6,0.000,0.050,3003,2505,1438
$GC,9722,0.52,321.2,761.7,14.9,829,9723,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2505,1438
$GC,10027,0.52,321.2,718.0,13.7,844,10031,0.00,2.25,0.00,0.000,4,0.000,0.054,3013,1113,1438
$GC,10074,0.52,321.2,711.3,13.8,846,10079,0.00,2.22,0.00,0.000,6,0.000,0.050,3013,2495,1437
$GC,10396,0.46,321.2,660.0,16.8,862,10397,0.17,0.00,0.00,0.000,6,0.146,0.000,2963,2495,1437
$GC,10701,0.62,321.2,621.5,12.0,877,10705,0.15,2.20,0.00,0.000,4,0.069,0.054,3037,1124,1435
$GC,10765,0.56,321.2,611.2,18.0,880,10769,0.10,2.20,0.00,0.000,6,0.149,0.051,3003,2494,1435
$GC,11090,0.56,321.2,560.1,15.4,896,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2494,1435
$GC,11396,0.56,321.2,512.3,15.7,911,11400,0.00,1.92,0.00,0.000,4,0.000,0.066,3003,3682,1435
$GC,11572,0.51,321.2,481.4,17.6,923,11579,0.00,1.88,0.00,0.000,6,0.000,0.044,3011,2480,1435
$GC,11888,0.51,321.2,434.0,15.1,954,11892,0.00,2.15,0.00,0.000,4,0.000,0.053,3021,1127,1436
$GC,11924,0.51,321.2,428.7,13.6,957,11931,0.10,2.15,0.00,0.000,6,0.140,0.049,2987,2480,1434
$GC,12240,0.63,326.5,390.5,11.8,988,12245,0.12,2.15,0.00,0.000,4,0.077,0.052,3050,1129,1434
$GC,12277,0.56,326.5,385.1,16.1,991,12284,0.12,2.12,0.00,0.000,6,0.149,0.048,3007,2468,1434
$GC,12592,0.56,326.5,343.0,12.3,1022,12597,0.00,1.95,0.00,0.000,4,0.000,0.063,3007,3686,1434
$GC,12629,0.56,326.5,337.9,14.2,1025,12636,0.00,1.90,0.00,0.000,6,0.000,0.041,3015,2452,1434
$GC,12947,0.56,326.5,294.5,14.8,1059,12953,0.00,2.10,0.00,0.000,4,0.000,0.051,3025,1117,1433
$GC,12989,0.56,326.5,288.1,15.3,1067,12995,0.00,2.10,0.00,0.000,6,0.000,0.048,3025,2447,1434
$GC,13314,0.56,326.5,237.0,15.5,1128,13321,0.00,1.98,0.00,0.000,4,0.000,0.061,3025,3688,1434
$GC,13362,0.56,326.5,229.4,16.5,1137,13369,0.08,1.90,0.00,0.000,6,0.143,0.040,3005,2450,1434
$GC,13689,0.81,412.1,197.3,8.5,1198,13766,0.22,2.20,72.95,0.797,4,0.055,0.050,3118,1126,1078
$GC,13798,0.66,412.1,178.8,18.9,1216,13804,0.25,2.17,0.00,0.000,6,0.143,0.045,3038,2452,1076
$GC,14124,0.90,425.7,133.6,11.4,1277,14140,0.20,2.20,12.15,0.696,4,0.055,0.050,3138,1112,1022
$GC,14176,0.77,425.7,125.2,17.8,1286,14184,0.20,2.12,0.00,0.000,6,0.133,0.044,3073,2441,1022
$GC,14504,0.94,428.1,85.9,11.9,1347,14510,0.15,2.10,0.00,0.000,4,0.064,0.048,3152,1121,1020
$GC,14530,0.94,428.1,82.2,14.6,1352,14538,0.08,2.08,0.00,0.000,6,0.146,0.042,3127,2436,1020
$GC,14857,0.94,428.1,36.1,12.5,1413,14864,0.00,2.08,0.00,0.000,4,0.000,0.047,3135,1126,1020
$GC,14911,1.03,438.9,29.4,11.6,1423,14929,0.00,2.03,12.40,0.612,6,0.000,0.041,3135,2421,967
$STATE,15130,end climb,SURFACE_DEPTH_REACHED
$STATE,15130,begin surface coast
$FINISH,1.5,1.011448
$STATE,15152,end surface coast,CONTROL_FINISHED_OK
$STATE,15152,begin surface
$SM_CCo,15225,0.00,0.000,0,0,965,440.07
$SM_GC,2.35,7.57,0.00,0.00,0.039,0.000,0.000,163,2046,965,-8.21,-0.71,440.07
$IRIDIUM_FIX,2507.97,12243.25,290898,181859
$TT8_MAMPS,0.047554
$HUMID,1540
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,25.50
$XPDR_PINGS,115
$24V_AH,23.6,22.203
$10V_AH,10.7,16.550
$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,28.575,139.125,529.575,0.000,0.000,110.913,166.305,366.565,36.750,0.000,0.000,32.245,0.000,11237.575,698.446,3374.597,841.745,0.000,1946.004,0.000,2821.876,0.000,53.973,0.000
$DEVICE_MAMPS,233.935,69.797,1380.600,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,994.227,1006.399,1579.082,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,85132,1468
$CAP_FILE_SIZE,167603,0
$CFSIZE,260165632,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.268, 23.0,1
$GPS,040609,221720,2513.507,12256.538,28,1.2,41,-3.7