version: 66.04
glider: 165
mission: 2
dive: 100
start: 6 4 109 22 23 41
data:
$ID,165
$MISSION,2
$DIVE,100
$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,-118913.05
$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,50
$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
$GPS1,221720,2513.507,12256.538,28,1.2,41,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-70.9
$GPS2,222336,2513.502,12256.500,11,1.1,27,-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,197.1,5271,-18.3,-12.000
$D_GRID,1540
$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,-194.7,0.0,0.0,0,67,0.00,0.00,-52.90,0.000,2,0.000,0.000,161,2043,2277
$GC,68,-0.96,-194.7,3.5,-5.8,8,114,8.98,2.20,-31.73,0.000,4,0.232,0.061,2509,675,3555
$GC,353,-0.30,-194.7,96.9,-33.2,60,360,0.70,2.20,0.00,0.000,6,0.166,0.042,2715,2069,3557
$GC,680,-0.66,-194.7,125.4,-5.0,121,686,0.30,2.25,0.00,0.000,4,0.044,0.058,2569,3474,3559
$GC,696,-0.85,-194.7,126.7,-7.1,124,702,0.00,2.15,0.00,0.000,6,0.000,0.038,2569,2078,3559
$GC,1022,-0.60,-194.7,193.4,-20.4,185,1029,0.20,2.20,0.00,0.000,4,0.142,0.052,2631,673,3560
$GC,1070,-0.67,-194.7,201.1,-14.0,194,1078,0.00,2.22,0.00,0.000,6,0.000,0.043,2630,2094,3561
$GC,1399,-0.77,-194.7,234.2,-8.2,255,1405,0.17,2.17,0.00,0.000,4,0.058,0.059,2534,3482,3561
$GC,1456,-0.54,-194.7,241.6,-14.9,266,1465,0.30,2.12,0.00,0.000,6,0.128,0.037,2638,2090,3561
$GC,1785,-0.76,-194.7,272.6,-11.0,327,1791,0.17,2.20,0.00,0.000,4,0.057,0.059,2549,3485,3561
$GC,1811,-0.76,-194.7,276.5,-16.0,332,1818,0.00,2.10,0.00,0.000,6,0.000,0.037,2549,2109,3561
$GC,2136,-0.56,-194.7,333.6,-16.1,375,2141,0.28,2.25,0.00,0.000,4,0.134,0.052,2637,669,3561
$GC,2162,-0.63,-194.7,336.6,-11.1,377,2169,0.00,2.25,0.00,0.000,6,0.000,0.044,2634,2113,3561
$GC,2479,-0.91,-194.7,355.5,-5.8,408,2482,0.30,2.12,0.00,0.000,4,0.047,0.060,2493,3476,3561
$GC,2510,-0.67,-194.7,359.2,-14.5,411,2514,0.30,2.08,0.00,0.000,6,0.133,0.038,2607,2109,3561
$GC,2830,-0.83,-194.7,389.3,-9.5,442,2835,0.15,2.20,0.00,0.000,4,0.063,0.061,2532,3473,3560
$GC,2863,-0.73,-194.7,393.5,-13.7,445,2867,0.10,2.05,0.00,0.000,6,0.131,0.038,2580,2130,3560
$GC,3183,-0.80,-194.7,433.1,-11.8,476,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2127,3559
$GC,3494,-0.89,-194.7,467.1,-10.1,506,3495,0.15,0.00,0.00,0.000,6,0.064,0.000,2507,2125,3558
$GC,3813,-0.66,-194.7,519.6,-15.5,531,3816,0.32,2.15,0.00,0.000,4,0.136,0.064,2602,3476,3555
$GC,3898,-0.97,-194.7,526.9,-7.1,535,3902,0.20,2.05,0.00,0.000,6,0.044,0.041,2481,2144,3555
$GC,4224,-0.66,-194.7,581.6,-16.8,551,4228,0.40,2.12,0.00,0.000,4,0.141,0.065,2602,3473,3552
$GC,4271,-1.00,-194.7,586.1,-6.5,553,4276,0.25,2.05,0.00,0.000,6,0.041,0.041,2475,2142,3552
$GC,4593,-0.70,-194.7,635.7,-15.9,569,4594,0.38,0.00,0.00,0.000,6,0.143,0.000,2591,2138,3550
$GC,4898,-0.96,-194.7,656.5,-6.6,584,4899,0.22,0.00,0.00,0.000,6,0.057,0.000,2491,2138,3548
$GC,5202,-0.77,-194.7,697.6,-13.7,599,5207,0.25,2.30,0.00,0.000,4,0.141,0.058,2567,685,3545
$GC,5229,-0.82,-194.7,700.5,-11.0,600,5233,0.00,2.28,0.00,0.000,6,0.000,0.050,2566,2120,3546
$GC,5552,-0.98,-194.7,725.2,-7.5,616,5553,0.17,0.00,0.00,0.000,6,0.062,0.000,2484,2120,3543
$GC,5856,-0.78,-194.7,763.7,-12.9,631,5860,0.28,2.28,0.00,0.000,4,0.142,0.059,2568,678,3541
$GC,5903,-0.97,-194.7,768.0,-7.8,633,5907,0.12,2.30,0.00,0.000,6,0.055,0.051,2495,2125,3541
$GC,6225,-0.84,-194.7,805.8,-12.3,649,6226,0.17,0.00,0.00,0.000,6,0.148,0.000,2546,2125,3539
$GC,6530,-0.93,-194.7,834.4,-9.4,664,6533,0.00,2.30,0.00,0.000,4,0.000,0.060,2546,678,3536
$GC,6550,-1.01,-194.7,836.4,-10.2,665,6555,0.12,2.30,0.00,0.000,6,0.056,0.051,2478,2121,3536
$GC,6877,-0.81,-194.7,880.3,-13.1,681,6881,0.25,2.28,0.00,0.000,4,0.153,0.059,2552,681,3534
$GC,6908,-0.86,-194.7,884.0,-10.8,682,6912,0.00,2.30,0.00,0.000,6,0.000,0.050,2550,2128,3534
$GC,7224,-0.98,-194.7,909.5,-7.9,698,7228,0.12,2.20,0.00,0.000,4,0.074,0.067,2482,3482,3532
$GC,7256,-0.85,-194.7,913.0,-11.8,699,7261,0.17,2.10,0.00,0.000,6,0.140,0.043,2541,2130,3532
$GC,7572,-0.92,-194.7,941.0,-8.5,715,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,2128,3530
$GC,7877,-1.01,-194.7,967.0,-8.4,730,7881,0.15,2.17,0.00,0.000,4,0.071,0.070,2468,3473,3528
$GC,7914,-0.82,-194.7,970.9,-11.6,731,7920,0.25,2.08,0.00,0.000,6,0.143,0.044,2551,2142,3528
$STATE,8162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8162,begin apogee
$GC,8165,-0.20,0.0,991.6,7.8,744,8326,0.60,0.00,156.27,1.381,6,0.123,0.000,2751,2522,2759
$STATE,8326,end apogee,CONTROL_FINISHED_OK
$STATE,8326,begin climb
$GC,8328,0.96,194.7,996.4,0.0,752,8500,1.02,2.08,164.98,1.336,4,0.043,0.070,3141,3681,1964
$GC,8719,0.19,194.7,915.6,28.2,770,8724,0.90,1.85,0.00,0.000,6,0.183,0.046,2881,2538,1959
$GC,9035,0.61,301.6,887.7,7.6,786,9134,0.38,2.45,92.50,1.272,4,0.050,0.056,3047,1117,1529
$GC,9183,0.47,301.6,862.1,19.1,793,9187,0.20,2.35,0.00,0.000,6,0.150,0.051,2975,2510,1524
$GC,9508,0.52,301.6,816.5,13.5,809,9513,0.00,2.28,0.00,0.000,4,0.000,0.054,2984,1125,1522
$GC,9540,0.60,301.6,812.3,12.9,810,9545,0.00,2.25,0.00,0.000,6,0.000,0.050,2984,2505,1520
$GC,9856,0.60,301.6,768.9,13.9,826,9860,0.00,1.92,0.00,0.000,4,0.000,0.066,2985,3683,1519
$GC,9877,0.60,301.6,765.9,14.4,827,9881,0.00,1.90,0.00,0.000,6,0.000,0.043,2993,2483,1519
$GC,10203,0.60,301.6,717.6,14.5,843,10207,0.00,2.17,0.00,0.000,4,0.000,0.054,3003,1129,1519
$GC,10272,0.60,301.6,707.7,14.2,846,10277,0.00,2.20,0.00,0.000,6,0.000,0.050,3003,2493,1517
$GC,10594,0.55,301.6,658.2,15.9,862,10598,0.00,2.20,0.00,0.000,4,0.000,0.054,3013,1129,1517
$GC,10614,0.55,301.6,654.7,16.4,863,10619,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2474,1517
$GC,10941,0.47,301.6,597.5,17.8,879,10946,0.15,2.17,0.00,0.000,4,0.150,0.054,2980,1122,1517
$GC,10962,0.47,301.6,594.0,16.1,880,10966,0.00,2.17,0.00,0.000,6,0.000,0.049,2981,2488,1516
$GC,11288,0.54,301.6,547.6,13.2,896,11292,0.00,1.92,0.00,0.000,4,0.000,0.065,2980,3677,1515
$GC,11341,0.54,301.6,540.1,13.7,898,11346,0.00,1.88,0.00,0.000,6,0.000,0.041,2988,2476,1515
$GC,11657,0.54,301.6,500.1,12.1,914,11661,0.00,1.95,0.00,0.000,4,0.000,0.064,2988,3674,1515
$GC,11700,0.56,315.8,494.9,11.4,917,11714,0.00,1.83,11.35,1.009,6,0.000,0.043,2996,2500,1471
$GC,12031,0.57,322.9,458.9,11.7,949,12043,0.00,2.25,7.70,0.915,4,0.000,0.053,3006,1117,1441
$GC,12068,0.65,333.9,454.2,11.5,952,12086,0.00,2.20,11.48,0.955,6,0.000,0.048,3007,2483,1395
$GC,12394,0.65,333.9,407.8,14.6,984,12399,0.00,1.95,0.00,0.000,4,0.000,0.063,3007,3684,1394
$GC,12442,0.65,333.9,400.2,17.1,988,12450,0.00,1.88,0.00,0.000,6,0.000,0.041,3015,2485,1394
$GC,12759,0.65,333.9,349.4,16.9,1019,12762,0.00,2.12,0.00,0.000,4,0.000,0.052,3025,1127,1393
$GC,12827,0.65,333.9,337.5,17.2,1025,12834,0.00,2.15,0.00,0.000,6,0.000,0.048,3025,2472,1392
$GC,13146,0.65,333.9,282.0,17.9,1065,13152,0.00,1.95,0.00,0.000,4,0.000,0.063,3025,3683,1392
$GC,13199,0.65,333.9,272.7,17.7,1075,13206,0.00,1.88,0.00,0.000,6,0.000,0.041,3034,2473,1392
$GC,13526,0.65,333.9,221.0,15.4,1136,13533,0.00,2.12,0.00,0.000,4,0.000,0.050,3044,1126,1392
$GC,13553,0.65,333.9,216.9,14.3,1141,13559,0.00,2.12,0.00,0.000,6,0.000,0.046,3044,2470,1391
$GC,13878,0.65,333.9,164.4,15.2,1202,13879,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2470,1392
$GC,14199,0.75,341.1,117.9,11.7,1262,14214,0.00,2.12,7.20,0.657,4,0.000,0.048,3053,1110,1366
$GC,14287,0.99,427.5,109.0,8.4,1278,14364,0.20,2.15,70.70,0.727,6,0.048,0.044,3151,2474,1016
$GC,14684,0.89,427.5,39.1,16.6,1350,14691,0.15,2.15,0.00,0.000,4,0.149,0.047,3118,1126,1011
$GC,14753,1.01,427.5,29.2,13.0,1363,14761,0.00,2.12,0.00,0.000,6,0.000,0.043,3118,2466,1010
$STATE,14972,end climb,SURFACE_DEPTH_REACHED
$STATE,14972,begin surface coast
$FINISH,1.6,1.016982
$STATE,14999,end surface coast,CONTROL_FINISHED_OK
$STATE,14999,begin surface
$SM_CCo,15012,6.35,0.528,0,0,984,435.16
$SM_GC,3.58,0.00,0.00,6.35,0.000,0.000,0.528,164,2056,984,-8.30,-0.42,435.16
$IRIDIUM_FIX,2503.20,12257.14,290898,181854
$TT8_MAMPS,0.048321
$HUMID,1567
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,24.90
$XPDR_PINGS,102
$24V_AH,23.6,22.403
$10V_AH,10.7,16.675
$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,27.100,138.200,522.175,6.350,0.000,27.628,37.589,196.214,33.500,0.000,0.000,29.475,0.000,10966.119,664.361,3286.142,452.618,0.000,1899.839,0.000,2749.633,0.000,54.692,0.000
$DEVICE_MAMPS,231.634,69.797,1380.600,527.696,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,Optode,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,955.376,945.103,1472.872,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,82129,1409
$CAP_FILE_SIZE,159982,0
$CFSIZE,260165632,250138624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.234, 33.9,1
$GPS,050609,023455,2512.694,12257.011,35,1.7,35,-3.7